Add triangulation & Refactor #414

Job	Run time
Run Unit Tests (3.8, airo-typing)	25s
Run Unit Tests (3.8, airo-spatial-algebra)	35s
Run Unit Tests (3.8, airo-camera-toolkit)	2m 0s
Run Unit Tests (3.8, airo-robots)	42s
Run Unit Tests (3.8, airo-teleop)	40s
Run Unit Tests (3.8, airo-dataset-tools)	1m 33s
Run Unit Tests (3.9, airo-typing)	23s
Run Unit Tests (3.9, airo-spatial-algebra)	39s
Run Unit Tests (3.9, airo-camera-toolkit)	1m 55s
Run Unit Tests (3.9, airo-robots)	41s
Run Unit Tests (3.9, airo-teleop)	46s
Run Unit Tests (3.9, airo-dataset-tools)	1m 28s
Run Unit Tests (3.10, airo-typing)	22s
Run Unit Tests (3.10, airo-spatial-algebra)	45s
Run Unit Tests (3.10, airo-camera-toolkit)	1m 47s
Run Unit Tests (3.10, airo-robots)	40s
Run Unit Tests (3.10, airo-teleop)	39s
Run Unit Tests (3.10, airo-dataset-tools)	1m 29s
	17m 29s

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