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
     """

playground.py

@@ -46,6 +46,7 @@ from jaxtyping import Array, Float, Num, jaxtyped
 from matplotlib import pyplot as plt
 from numpy.typing import ArrayLike
 from optax.assignment import hungarian_algorithm as linear_sum_assignment
+from pyrsistent import v, pvector
 from scipy.spatial.transform import Rotation as R
 from typing_extensions import deprecated
 
@@ -544,7 +545,10 @@ class GlobalTrackingState:
         kps_3d, latest_timestamp = triangle_from_cluster(cluster)
         next_id = self._last_id + 1
         tracking = Tracking(
-            id=next_id, keypoints=kps_3d, last_active_timestamp=latest_timestamp
+            id=next_id,
+            keypoints=kps_3d,
+            last_active_timestamp=latest_timestamp,
+            historical_detections=v(*cluster),
         )
         self._trackings[next_id] = tracking
         self._last_id = next_id
@@ -1027,4 +1031,10 @@ affinities = calculate_affinity_matrix(
 )
 display(affinities)
 
+
 # %%
+def update_tracking(tracking: Tracking, detection: Detection):
+    delta_t_ = detection.timestamp - tracking.last_active_timestamp
+    delta_t = max(delta_t_, DELTA_T_MIN)
+
+    return tracking

pyproject.toml

@@ -20,6 +20,7 @@ dependencies = [
     "pandas>=2.2.3",
     "plotly>=6.0.1",
     "pyarrow>=19.0.1",
+    "pyrsistent>=0.20.0",
     "pytest>=8.3.5",
     "scipy>=1.15.2",
     "torch>=2.6.0",

uv.lock

@@ -486,6 +486,7 @@ dependencies = [
     { name = "pandas" },
     { name = "plotly" },
     { name = "pyarrow" },
+    { name = "pyrsistent" },
     { name = "pytest" },
     { name = "scipy" },
     { name = "torch" },
@@ -515,6 +516,7 @@ requires-dist = [
     { name = "pandas", specifier = ">=2.2.3" },
     { name = "plotly", specifier = ">=6.0.1" },
     { name = "pyarrow", specifier = ">=19.0.1" },
+    { name = "pyrsistent", specifier = ">=0.20.0" },
     { name = "pytest", specifier = ">=8.3.5" },
     { name = "scipy", specifier = ">=1.15.2" },
     { name = "torch", specifier = ">=2.6.0" },
@@ -2362,6 +2364,33 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/05/e7/df2285f3d08fee213f2d041540fa4fc9ca6c2d44cf36d3a035bf2a8d2bcc/pyparsing-3.2.3-py3-none-any.whl", hash = "sha256:a749938e02d6fd0b59b356ca504a24982314bb090c383e3cf201c95ef7e2bfcf", size = 111120 },
 ]
 
+[[package]]
+name = "pyrsistent"
+version = "0.20.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ce/3a/5031723c09068e9c8c2f0bc25c3a9245f2b1d1aea8396c787a408f2b95ca/pyrsistent-0.20.0.tar.gz", hash = "sha256:4c48f78f62ab596c679086084d0dd13254ae4f3d6c72a83ffdf5ebdef8f265a4", size = 103642 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/c7/19/c343b14061907b629b765444b6436b160e2bd4184d17d4804bbe6381f6be/pyrsistent-0.20.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8c3aba3e01235221e5b229a6c05f585f344734bd1ad42a8ac51493d74722bbce", size = 83416 },
+    { url = "https://files.pythonhosted.org/packages/9f/4f/8342079ea331031ef9ed57edd312a9ad283bcc8adfaf268931ae356a09a6/pyrsistent-0.20.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1beb78af5423b879edaf23c5591ff292cf7c33979734c99aa66d5914ead880f", size = 118021 },
+    { url = "https://files.pythonhosted.org/packages/d7/b7/64a125c488243965b7c5118352e47c6f89df95b4ac306d31cee409153d57/pyrsistent-0.20.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:21cc459636983764e692b9eba7144cdd54fdec23ccdb1e8ba392a63666c60c34", size = 117747 },
+    { url = "https://files.pythonhosted.org/packages/fe/a5/43c67bd5f80df9e7583042398d12113263ec57f27c0607abe9d78395d18f/pyrsistent-0.20.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f5ac696f02b3fc01a710427585c855f65cd9c640e14f52abe52020722bb4906b", size = 114524 },
+    { url = "https://files.pythonhosted.org/packages/8a/98/b382a87e89ca839106d874f7bf78d226b3eedb26735eb6f751f1a3375f21/pyrsistent-0.20.0-cp310-cp310-win32.whl", hash = "sha256:0724c506cd8b63c69c7f883cc233aac948c1ea946ea95996ad8b1380c25e1d3f", size = 60780 },
+    { url = "https://files.pythonhosted.org/packages/37/8a/23e2193f7adea6901262e3cf39c7fe18ac0c446176c0ff0e19aeb2e9681e/pyrsistent-0.20.0-cp310-cp310-win_amd64.whl", hash = "sha256:8441cf9616d642c475684d6cf2520dd24812e996ba9af15e606df5f6fd9d04a7", size = 63310 },
+    { url = "https://files.pythonhosted.org/packages/df/63/7544dc7d0953294882a5c587fb1b10a26e0c23d9b92281a14c2514bac1f7/pyrsistent-0.20.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0f3b1bcaa1f0629c978b355a7c37acd58907390149b7311b5db1b37648eb6958", size = 83481 },
+    { url = "https://files.pythonhosted.org/packages/ae/a0/49249bc14d71b1bf2ffe89703acfa86f2017c25cfdabcaea532b8c8a5810/pyrsistent-0.20.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5cdd7ef1ea7a491ae70d826b6cc64868de09a1d5ff9ef8d574250d0940e275b8", size = 120222 },
+    { url = "https://files.pythonhosted.org/packages/a1/94/9808e8c9271424120289b9028a657da336ad7e43da0647f62e4f6011d19b/pyrsistent-0.20.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cae40a9e3ce178415040a0383f00e8d68b569e97f31928a3a8ad37e3fde6df6a", size = 120002 },
+    { url = "https://files.pythonhosted.org/packages/3f/f6/9ecfb78b2fc8e2540546db0fe19df1fae0f56664a5958c21ff8861b0f8da/pyrsistent-0.20.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6288b3fa6622ad8a91e6eb759cfc48ff3089e7c17fb1d4c59a919769314af224", size = 116850 },
+    { url = "https://files.pythonhosted.org/packages/83/c8/e6d28bc27a0719f8eaae660357df9757d6e9ca9be2691595721de9e8adfc/pyrsistent-0.20.0-cp311-cp311-win32.whl", hash = "sha256:7d29c23bdf6e5438c755b941cef867ec2a4a172ceb9f50553b6ed70d50dfd656", size = 60775 },
+    { url = "https://files.pythonhosted.org/packages/98/87/c6ef52ff30388f357922d08de012abdd3dc61e09311d88967bdae23ab657/pyrsistent-0.20.0-cp311-cp311-win_amd64.whl", hash = "sha256:59a89bccd615551391f3237e00006a26bcf98a4d18623a19909a2c48b8e986ee", size = 63306 },
+    { url = "https://files.pythonhosted.org/packages/15/ee/ff2ed52032ac1ce2e7ba19e79bd5b05d152ebfb77956cf08fcd6e8d760ea/pyrsistent-0.20.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:09848306523a3aba463c4b49493a760e7a6ca52e4826aa100ee99d8d39b7ad1e", size = 83537 },
+    { url = "https://files.pythonhosted.org/packages/80/f1/338d0050b24c3132bcfc79b68c3a5f54bce3d213ecef74d37e988b971d8a/pyrsistent-0.20.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a14798c3005ec892bbada26485c2eea3b54109cb2533713e355c806891f63c5e", size = 122615 },
+    { url = "https://files.pythonhosted.org/packages/07/3a/e56d6431b713518094fae6ff833a04a6f49ad0fbe25fb7c0dc7408e19d20/pyrsistent-0.20.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b14decb628fac50db5e02ee5a35a9c0772d20277824cfe845c8a8b717c15daa3", size = 122335 },
+    { url = "https://files.pythonhosted.org/packages/4a/bb/5f40a4d5e985a43b43f607250e766cdec28904682c3505eb0bd343a4b7db/pyrsistent-0.20.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2e2c116cc804d9b09ce9814d17df5edf1df0c624aba3b43bc1ad90411487036d", size = 118510 },
+    { url = "https://files.pythonhosted.org/packages/1c/13/e6a22f40f5800af116c02c28e29f15c06aa41cb2036f6a64ab124647f28b/pyrsistent-0.20.0-cp312-cp312-win32.whl", hash = "sha256:e78d0c7c1e99a4a45c99143900ea0546025e41bb59ebc10182e947cf1ece9174", size = 60865 },
+    { url = "https://files.pythonhosted.org/packages/75/ef/2fa3b55023ec07c22682c957808f9a41836da4cd006b5f55ec76bf0fbfa6/pyrsistent-0.20.0-cp312-cp312-win_amd64.whl", hash = "sha256:4021a7f963d88ccd15b523787d18ed5e5269ce57aa4037146a2377ff607ae87d", size = 63239 },
+    { url = "https://files.pythonhosted.org/packages/23/88/0acd180010aaed4987c85700b7cc17f9505f3edb4e5873e4dc67f613e338/pyrsistent-0.20.0-py3-none-any.whl", hash = "sha256:c55acc4733aad6560a7f5f818466631f07efc001fd023f34a6c203f8b6df0f0b", size = 58106 },
+]
+
 [[package]]
 name = "pytest"
 version = "8.3.5"