diff --git a/uv.lock b/uv.lock
index 10641cc..ce9771d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -304,7 +304,7 @@ name = "cuda-bindings"
 version = "13.2.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cuda-pathfinder", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "cuda-pathfinder", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/52/c8/b2589d68acf7e3d63e2be330b84bc25712e97ed799affbca7edd7eae25d6/cuda_bindings-13.2.0-cp312-cp312-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:e865447abfb83d6a98ad5130ed3c70b1fc295ae3eeee39fd07b4ddb0671b6788", size = 5722404, upload-time = "2026-03-11T00:12:44.041Z" },
@@ -329,37 +329,37 @@ wheels = [
 
 [package.optional-dependencies]
 cublas = [
-    { name = "nvidia-cublas", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cublas", marker = "sys_platform == 'linux'" },
 ]
 cudart = [
-    { name = "nvidia-cuda-runtime", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cuda-runtime", marker = "sys_platform == 'linux'" },
 ]
 cufft = [
-    { name = "nvidia-cufft", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cufft", marker = "sys_platform == 'linux'" },
 ]
 cufile = [
     { name = "nvidia-cufile", marker = "sys_platform == 'linux'" },
 ]
 cupti = [
-    { name = "nvidia-cuda-cupti", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cuda-cupti", marker = "sys_platform == 'linux'" },
 ]
 curand = [
-    { name = "nvidia-curand", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-curand", marker = "sys_platform == 'linux'" },
 ]
 cusolver = [
-    { name = "nvidia-cusolver", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cusolver", marker = "sys_platform == 'linux'" },
 ]
 cusparse = [
-    { name = "nvidia-cusparse", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cusparse", marker = "sys_platform == 'linux'" },
 ]
 nvjitlink = [
-    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux'" },
 ]
 nvrtc = [
-    { name = "nvidia-cuda-nvrtc", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cuda-nvrtc", marker = "sys_platform == 'linux'" },
 ]
 nvtx = [
-    { name = "nvidia-nvtx", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-nvtx", marker = "sys_platform == 'linux'" },
 ]
 
 [[package]]
@@ -1340,7 +1340,7 @@ name = "nvidia-cudnn-cu13"
 version = "9.19.0.56"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cublas", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/f1/84/26025437c1e6b61a707442184fa0c03d083b661adf3a3eecfd6d21677740/nvidia_cudnn_cu13-9.19.0.56-py3-none-manylinux_2_27_aarch64.whl", hash = "sha256:6ed29ffaee1176c612daf442e4dd6cfeb6a0caa43ddcbeb59da94953030b1be4", size = 433781201, upload-time = "2026-02-03T20:40:53.805Z" },
@@ -1352,7 +1352,7 @@ name = "nvidia-cufft"
 version = "12.0.0.61"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/8b/ae/f417a75c0259e85c1d2f83ca4e960289a5f814ed0cea74d18c353d3e989d/nvidia_cufft-12.0.0.61-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:2708c852ef8cd89d1d2068bdbece0aa188813a0c934db3779b9b1faa8442e5f5", size = 214053554, upload-time = "2025-09-04T08:31:38.196Z" },
@@ -1382,9 +1382,9 @@ name = "nvidia-cusolver"
 version = "12.0.4.66"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
-    { name = "nvidia-cusparse", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
-    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-cublas", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-cusparse", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/c8/c3/b30c9e935fc01e3da443ec0116ed1b2a009bb867f5324d3f2d7e533e776b/nvidia_cusolver-12.0.4.66-py3-none-manylinux_2_27_aarch64.whl", hash = "sha256:02c2457eaa9e39de20f880f4bd8820e6a1cfb9f9a34f820eb12a155aa5bc92d2", size = 223467760, upload-time = "2025-09-04T08:33:04.222Z" },
@@ -1396,7 +1396,7 @@ name = "nvidia-cusparse"
 version = "12.6.3.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
+    { name = "nvidia-nvjitlink", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/f8/94/5c26f33738ae35276672f12615a64bd008ed5be6d1ebcb23579285d960a9/nvidia_cusparse-12.6.3.3-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:80bcc4662f23f1054ee334a15c72b8940402975e0eab63178fc7e670aa59472c", size = 162155568, upload-time = "2025-09-04T08:33:42.864Z" },
@@ -1953,14 +1953,21 @@ name = "rapid-pose-triangulation"
 version = "0.2.0"
 source = { editable = "../RapidPoseTriangulation" }
 dependencies = [
+    { name = "jaxtyping" },
     { name = "numpy" },
 ]
 
 [package.metadata]
-requires-dist = [{ name = "numpy", specifier = ">=2.0" }]
+requires-dist = [
+    { name = "jaxtyping" },
+    { name = "numpy", specifier = ">=2.0" },
+]
 
 [package.metadata.requires-dev]
-dev = [{ name = "pytest", specifier = ">=8.3" }]
+dev = [
+    { name = "basedpyright", specifier = ">=1.38.3" },
+    { name = "pytest", specifier = ">=8.3" },
+]
 
 [[package]]
 name = "referencing"