Add tracked triangulation association reports

tests/test_interface.py

@@ -119,11 +119,19 @@ def test_triangulate_accepts_empty_previous_poses():
     poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
     config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
     empty_previous = np.zeros((0, len(JOINT_NAMES), 4), dtype=np.float32)
+    empty_previous_ids = np.zeros((0,), dtype=np.int64)
 
     baseline = rpt.triangulate_poses(poses_2d, person_counts, config)
-    with_previous = rpt.triangulate_poses(poses_2d, person_counts, config, empty_previous)
+    result = rpt.triangulate_with_report(
+        poses_2d,
+        person_counts,
+        config,
+        empty_previous,
+        empty_previous_ids,
+    )
 
-    np.testing.assert_allclose(with_previous, baseline, rtol=1e-5, atol=1e-5)
+    np.testing.assert_allclose(result.poses_3d, baseline, rtol=1e-5, atol=1e-5)
+    assert result.association.unmatched_previous_track_ids == []
 
 
 def test_triangulate_debug_matches_final_output():
@@ -135,6 +143,7 @@ def test_triangulate_debug_matches_final_output():
 
     np.testing.assert_allclose(trace.final_poses, final_poses, rtol=1e-5, atol=1e-5)
     assert len(trace.pairs) >= len(trace.core_proposals)
+    assert trace.association.pose_previous_track_ids == []
     for group in trace.grouping.groups:
         assert all(0 <= index < len(trace.core_proposals) for index in group.proposal_indices)
     for merge_indices in trace.merge.group_proposal_indices:
@@ -145,18 +154,67 @@ def test_filter_pairs_with_previous_poses_returns_debug_matches():
     poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
     config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
     previous_poses = rpt.triangulate_poses(poses_2d, person_counts, config)
+    previous_track_ids = np.arange(previous_poses.shape[0], dtype=np.int64) + 100
 
     debug = rpt.filter_pairs_with_previous_poses(
         poses_2d,
         person_counts,
         config,
         previous_poses,
+        previous_track_ids,
     )
 
     assert debug.used_previous_poses is True
     assert len(debug.matches) == len(rpt.build_pair_candidates(poses_2d, person_counts))
     assert len(debug.kept_pairs) == len(debug.kept_pair_indices)
     assert any(match.matched_view1 or match.matched_view2 for match in debug.matches)
+    assert any(match.previous_track_id >= 100 for match in debug.matches if match.previous_pose_index >= 0)
+
+
+def test_triangulate_with_report_resolves_previous_track_ids():
+    poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
+    config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
+    previous_poses = rpt.triangulate_poses(poses_2d, person_counts, config)
+    previous_track_ids = np.arange(previous_poses.shape[0], dtype=np.int64) + 100
+
+    result = rpt.triangulate_with_report(
+        poses_2d,
+        person_counts,
+        config,
+        previous_poses,
+        previous_track_ids,
+    )
+
+    assert result.poses_3d.shape == previous_poses.shape
+    assert len(result.association.pose_previous_track_ids) == result.poses_3d.shape[0]
+    matched_track_ids = sorted(
+        track_id for track_id in result.association.pose_previous_track_ids if track_id >= 0
+    )
+    unmatched_track_ids = sorted(result.association.unmatched_previous_track_ids)
+
+    for pose_index in result.association.new_pose_indices:
+        assert result.association.pose_previous_track_ids[pose_index] == -1
+    for pose_index in result.association.ambiguous_pose_indices:
+        assert result.association.pose_previous_track_ids[pose_index] == -1
+
+    assert matched_track_ids == sorted(set(matched_track_ids))
+    assert sorted(matched_track_ids + unmatched_track_ids) == list(previous_track_ids)
+
+
+def test_triangulate_with_report_rejects_duplicate_previous_track_ids():
+    poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
+    config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
+    previous_poses = rpt.triangulate_poses(poses_2d, person_counts, config)
+    duplicate_ids = np.zeros((previous_poses.shape[0],), dtype=np.int64)
+
+    with pytest.raises(ValueError, match="unique"):
+        rpt.triangulate_with_report(
+            poses_2d,
+            person_counts,
+            config,
+            previous_poses,
+            duplicate_ids,
+        )
 
 
 def test_triangulate_does_not_mutate_inputs():