feat: Add beartype for runtime type checking and update dependencies

- Add beartype dependency to pyproject.toml and uv.lock
- Replace typeguard with beartype in type checking
- Create camera module with type-safe camera parameter definitions
- Migrate utility function to use beartype and JAX numpy

app/utils/__init__.py

@@ -1,23 +1,21 @@
 from typing import Any
 
-import numpy as np
-from jaxtyping import Float, Num, jaxtyped
-from typeguard import typechecked
-
-from app._typing import NDArray
+from jaxtyping import Num, jaxtyped
+from beartype import beartype
+from jax import numpy as jnp, Array
 
 
-@jaxtyped(typechecker=typechecked)
+@jaxtyped(typechecker=beartype)
 def calculate_perpendicular_distance(
-    point: Num[NDArray, "2"],
-    line: Num[NDArray, "2 2"],
-) -> np.floating[Any]:
+    point: Num[Array, "2"],
+    line: Num[Array, "2 2"],
+) -> jnp.floating[Any]:
     """
     Calculate the perpendicular distance between a point and a line.
     """
     line_start, line_end = line
-    distance = np.linalg.norm(
-        np.cross(line_end - line_start, line_start - point)
-    ) / np.linalg.norm(line_end - line_start)
+    distance = jnp.linalg.norm(
+        jnp.cross(line_end - line_start, line_start - point)
+    ) / jnp.linalg.norm(line_end - line_start)
 
     return distance