Geo3d

- Fix minor Python typing issues with numpy inputs by introducing `MultipleVectorLike` type, which also includes `np.ndarray`.

- Add Python 3.9 compatibility by bumping requirement for Numba to >=0.53
- Bump NumPy & SciPy requirements

- Fix `Frame.from_orthogonal_vectors` 416d5c0d5b5b45bfa5fa3c164bfb67a58257f252
- Improve and fix type hints

- Fix `Point` initializer used in `express_point_in_frame` (cbb7e23). This lead to wrong internal storage of array when `Point.express_in_frame` was used.

- Improved typing
- Improved setuptools packaging (add python version requirement)

- Bug fix: `express_vector_in_frame` & `express_point(s)_in_frame` now return the correct transformations again, when `original_frame` is provided. (41e1d72)
- Implement regression tests for these functions
- More type information in function signatures
- Updated documentation notebooks