Phase A3: harden tracking association (track-id mapping) - #7
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Phase A3 of the 10x roadmap. CameraTracker.update() previously mapped Hungarian row indices back to tracks via `list(self.tracks.keys())[idx]` inside its loops — O(n^2) and implicitly coupled to dict iteration order matching the cost-matrix build order. Correct today, but fragile. - _associate_detections now returns (matched[(track_id, det_idx)], unmatched_track_ids, unmatched_det_indices); update() consumes track ids directly. Behaviour-preserving; removes the ordering coupling and the per-match key-list rebuilds. - Add 6 characterization tests for the CameraTracker lifecycle (create → confirm → coast → remove), including multi-track id-mapping correctness. Coverage: tracking_adapter 46%→85%, total 42%→49%. ruff/mypy clean, 67 tests pass. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This was referenced Jun 19, 2026
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Superseded — all commits from this phase landed on |
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What & why
Phase A3 of the 10× roadmap — robustness hardening of the tracker.
CameraTracker.update()mapped Hungarian row indices back to tracks vialist(self.tracks.keys())[idx]inside its loops — O(n²), and implicitly coupled to dict iteration order matching the cost-matrix build order. It's correct in CPython today, but fragile to any reordering/mutation.Changes
_associate_detectionsnow returns(matched[(track_id, det_idx)], unmatched_track_ids, unmatched_det_indices).update()consumes track ids directly — behaviour-preserving, removes the ordering coupling and the per-match key-list rebuilds.test_camera_tracker.py) pinning the lifecycle: create → confirm → coast → remove, plus the key multi-track id-mapping case (one detection matches only one of two tracks → correct track updates, the other coasts).Method
Wrote the characterization tests first, confirmed they pass on the old code (pinning current behaviour), then refactored and confirmed they still pass. No behaviour change.
Verification
ruffclean ·mypyclean · 67 tests pass (was 61).tracking_adapter46% → 85%, total 42% → 49%.🤖 Generated with Claude Code