feat: Integrate pyrsistent for enhanced tracking state management

- Added `pyrsistent` as a dependency to manage historical detections in the `Tracking` class, improving data integrity and immutability.
- Updated the `GlobalTrackingState` to include historical detections using `PVector`, facilitating better tracking of past detections.
- Introduced a new `update_tracking` function to handle timestamp updates for tracking objects, enhancing the tracking logic.
- Refactored imports and type hints for improved organization and clarity across the codebase.

app/tracking/__init__.py

@@ -13,12 +13,12 @@ from typing import (
     overload,
 )
 
-import jax
 import jax.numpy as jnp
 from beartype import beartype
 from beartype.typing import Mapping, Sequence
 from jax import Array
 from jaxtyping import Array, Float, Int, jaxtyped
+from pyrsistent import PVector
 
 from app.camera import Detection
 
@@ -33,8 +33,20 @@ class Tracking:
     keypoints: Float[Array, "J 3"]
     """
     The 3D keypoints of the tracking
+
+    Used for calculate affinity 3D
     """
     last_active_timestamp: datetime
+    """
+    The last active timestamp of the tracking
+    """
+
+    historical_detections: PVector[Detection]
+    """
+    Historical detections of the tracking.
+
+    Used for 3D re-triangulation
+    """
 
     velocity: Optional[Float[Array, "3"]] = None
     """