Make triangulation a zero-copy pure function

src/rpt/__init__.py

@@ -3,7 +3,7 @@ from __future__ import annotations
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-from ._core import Camera, Triangulator
+from ._core import Camera, triangulate_poses
 
 if TYPE_CHECKING:
     import numpy as np
@@ -28,7 +28,7 @@ def pack_poses_2d(
 
 __all__ = [
     "Camera",
-    "Triangulator",
     "convert_cameras",
     "pack_poses_2d",
+    "triangulate_poses",
 ]

src/rpt/_helpers.py

@@ -1,19 +1,30 @@
 from __future__ import annotations
 
-from collections.abc import Mapping, Sequence
-from typing import Any, TypeAlias
+from collections.abc import Sequence
+from typing import TypeAlias, TypedDict
 
 import numpy as np
 import numpy.typing as npt
 
 from ._core import Camera
 
-CameraLike = Camera | Mapping[str, Any]
-PoseViewLike: TypeAlias = (
-    npt.NDArray[np.generic]
-    | Sequence[Sequence[Sequence[float]]]
-    | Sequence[Sequence[float]]
-)
+Matrix3x3Like: TypeAlias = Sequence[Sequence[float]]
+VectorLike: TypeAlias = Sequence[float]
+PoseViewLike: TypeAlias = npt.NDArray[np.generic] | Sequence[Sequence[Sequence[float]]] | Sequence[Sequence[float]]
+
+
+class CameraDict(TypedDict, total=False):
+    name: str
+    K: Matrix3x3Like
+    DC: VectorLike
+    R: Matrix3x3Like
+    T: Sequence[Sequence[float]]
+    width: int
+    height: int
+    type: str
+
+
+CameraLike = Camera | CameraDict
 
 
 def convert_cameras(cameras: Sequence[CameraLike]) -> list[Camera]: