Implemented fisheye camera triangulation.

tests/test_interface.py

@@ -100,6 +100,28 @@ def main():
     print(np.array(poses_3d))
     print("")
 
+    # Load input data
+    roomparams = [[6.0, 5.0, 2.0], [1.5, 1.0, -0.5]]
+    cpath = "/SimplePoseTriangulation/data/e1/sample.json"
+    ppath = "/SimplePoseTriangulation/tests/poses_e1.json"
+    with open(cpath, "r") as file:
+        cdata = json.load(file)
+    with open(ppath, "r") as file:
+        pdata = json.load(file)
+    cams = cdata["cameras"]
+    poses_2d = pdata["2D"]
+    cameras = spt.convert_cameras(cams)
+
+    # Run triangulation
+    triangulator.reset()
+    stime = time.time()
+    poses_3d = triangulator.triangulate_poses(
+        poses_2d, cameras, roomparams, joint_names
+    )
+    print("3D time:", time.time() - stime)
+    print(np.array(poses_3d))
+    print("")
+
     triangulator.print_stats()
     print("")