diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b35b811f..2464e066 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -18,7 +18,7 @@ jobs:
   # versions of Python.
   #
   unit-tests:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       max-parallel: 3
       matrix:
@@ -38,13 +38,15 @@ jobs:
 
       - name: Install Poetry
         uses: snok/install-poetry@v1
+        with:
+          version: 1.5.1 # to support Python 3.8
 
       - name: Run tests
         run: |
           tox -e py
 
   mot-metrics:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
 
@@ -66,7 +68,7 @@ jobs:
           tox -e mot-py39
 
   build:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
 
@@ -87,14 +89,14 @@ jobs:
           mv norfair-$(poetry version -s) norfair-dist
 
       - name: Save artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: norfair-dist
           path: norfair-dist
 
   install:
     needs: [build]
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       max-parallel: 3
       matrix:
@@ -106,7 +108,7 @@ jobs:
           python-version: ${{ matrix.python-version }}
 
       - name: Download a single artifact
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           name: norfair-dist
           path: ./norfair-dist
@@ -123,7 +125,7 @@ jobs:
   # Executed only if GitHub release is "published".
   #
   release:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     needs: [unit-tests, mot-metrics]
     if: github.event_name == 'release'
     env:
@@ -138,6 +140,8 @@ jobs:
 
       - name: Install Poetry
         uses: snok/install-poetry@v1
+        with:
+          version: 1.5.1 # to support Python 3.8
 
       - name: Release to PyPI
         env:
@@ -148,7 +152,7 @@ jobs:
 
 
   deploy-doc:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     needs: [release]
     if: github.event_name == 'release'
     env:
@@ -163,6 +167,8 @@ jobs:
 
       - name: Install Poetry
         uses: snok/install-poetry@v1
+        with:
+          version: 1.5.1 # to support Python 3.8
 
       - name: Install dependencies
         run: pip install -r docs/requirements.txt
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 50b91fb5..5f386d58 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -16,7 +16,7 @@ concurrency:
 jobs:
   # Single deploy job since we're just deploying
   deploy:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Checkout
         uses: actions/checkout@v3
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 62ff76b6..9c0d7f14 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -4,7 +4,7 @@ on: [pull_request]
 
 jobs:
   linting:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -21,7 +21,7 @@ jobs:
           installer-parallel: true
       - name: Load cached venv
         id: cached-poetry-dependencies
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         with:
           path: .venv
           key: venv-${{ runner.os }}-${{ steps.setup-python.outputs.python-version }}-${{ hashFiles('**/poetry.lock') }}
diff --git a/.github/workflows/release-drafter.yml b/.github/workflows/release-drafter.yml
index a3373592..10e531ed 100644
--- a/.github/workflows/release-drafter.yml
+++ b/.github/workflows/release-drafter.yml
@@ -7,7 +7,7 @@ on:
 
 jobs:
   update_release_draft:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: release-drafter/release-drafter@v5
         env:
diff --git a/poetry.lock b/poetry.lock
index df78c5f2..25e95420 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand.
 
 [[package]]
 name = "astroid"
@@ -6,6 +6,7 @@ version = "2.15.8"
 description = "An abstract syntax tree for Python with inference support."
 optional = false
 python-versions = ">=3.7.2"
+groups = ["test"]
 files = [
     {file = "astroid-2.15.8-py3-none-any.whl", hash = "sha256:1aa149fc5c6589e3d0ece885b4491acd80af4f087baafa3fb5203b113e68cd3c"},
     {file = "astroid-2.15.8.tar.gz", hash = "sha256:6c107453dffee9055899705de3c9ead36e74119cee151e5a9aaf7f0b0e020a6a"},
@@ -25,6 +26,8 @@ version = "1.4.1"
 description = "Atomic file writes."
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+groups = ["test"]
+markers = "sys_platform == \"win32\""
 files = [
     {file = "atomicwrites-1.4.1.tar.gz", hash = "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11"},
 ]
@@ -35,6 +38,7 @@ version = "23.2.0"
 description = "Classes Without Boilerplate"
 optional = false
 python-versions = ">=3.7"
+groups = ["test"]
 files = [
     {file = "attrs-23.2.0-py3-none-any.whl", hash = "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"},
     {file = "attrs-23.2.0.tar.gz", hash = "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30"},
@@ -45,8 +49,8 @@ cov = ["attrs[tests]", "coverage[toml] (>=5.3)"]
 dev = ["attrs[tests]", "pre-commit"]
 docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier", "zope-interface"]
 tests = ["attrs[tests-no-zope]", "zope-interface"]
-tests-mypy = ["mypy (>=1.6)", "pytest-mypy-plugins"]
-tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
+tests-mypy = ["mypy (>=1.6) ; platform_python_implementation == \"CPython\" and python_version >= \"3.8\"", "pytest-mypy-plugins ; platform_python_implementation == \"CPython\" and python_version >= \"3.8\""]
+tests-no-zope = ["attrs[tests-mypy]", "cloudpickle ; platform_python_implementation == \"CPython\"", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
 
 [[package]]
 name = "black"
@@ -54,6 +58,7 @@ version = "22.12.0"
 description = "The uncompromising code formatter."
 optional = false
 python-versions = ">=3.7"
+groups = ["dev"]
 files = [
     {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
     {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
@@ -89,6 +94,7 @@ version = "8.1.7"
 description = "Composable command line interface toolkit"
 optional = false
 python-versions = ">=3.7"
+groups = ["dev"]
 files = [
     {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
     {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
@@ -103,10 +109,12 @@ version = "0.4.6"
 description = "Cross-platform colored terminal text."
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+groups = ["dev", "test"]
 files = [
     {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
+markers = {dev = "platform_system == \"Windows\"", test = "sys_platform == \"win32\" or platform_system == \"Windows\""}
 
 [[package]]
 name = "commonmark"
@@ -114,6 +122,7 @@ version = "0.9.1"
 description = "Python parser for the CommonMark Markdown spec"
 optional = false
 python-versions = "*"
+groups = ["main"]
 files = [
     {file = "commonmark-0.9.1-py2.py3-none-any.whl", hash = "sha256:da2f38c92590f83de410ba1a3cbceafbc74fee9def35f9251ba9a971d6d66fd9"},
     {file = "commonmark-0.9.1.tar.gz", hash = "sha256:452f9dc859be7f06631ddcb328b6919c67984aca654e5fefb3914d54691aed60"},
@@ -122,74 +131,13 @@ files = [
 [package.extras]
 test = ["flake8 (==3.7.8)", "hypothesis (==3.55.3)"]
 
-[[package]]
-name = "contourpy"
-version = "1.1.0"
-description = "Python library for calculating contours of 2D quadrilateral grids"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "contourpy-1.1.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:89f06eff3ce2f4b3eb24c1055a26981bffe4e7264acd86f15b97e40530b794bc"},
-    {file = "contourpy-1.1.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:dffcc2ddec1782dd2f2ce1ef16f070861af4fb78c69862ce0aab801495dda6a3"},
-    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:25ae46595e22f93592d39a7eac3d638cda552c3e1160255258b695f7b58e5655"},
-    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:17cfaf5ec9862bc93af1ec1f302457371c34e688fbd381f4035a06cd47324f48"},
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-    {file = "contourpy-1.1.0.tar.gz", hash = "sha256:e53046c3863828d21d531cc3b53786e6580eb1ba02477e8681009b6aa0870b21"},
-]
-
-[package.dependencies]
-numpy = ">=1.16"
-
-[package.extras]
-bokeh = ["bokeh", "selenium"]
-docs = ["furo", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.2.0)", "types-Pillow"]
-test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
-test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
-
 [[package]]
 name = "contourpy"
 version = "1.1.1"
 description = "Python library for calculating contours of 2D quadrilateral grids"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
 files = [
     {file = "contourpy-1.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:46e24f5412c948d81736509377e255f6040e94216bf1a9b5ea1eaa9d29f6ec1b"},
     {file = "contourpy-1.1.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:0e48694d6a9c5a26ee85b10130c77a011a4fedf50a7279fa0bdaf44bafb4299d"},
@@ -246,7 +194,10 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.16,<2.0", markers = "python_version <= \"3.11\""}
+numpy = [
+    {version = ">=1.16,<2.0", markers = "python_version <= \"3.11\""},
+    {version = ">=1.26.0rc1,<2.0", markers = "python_version >= \"3.12\""},
+]
 
 [package.extras]
 bokeh = ["bokeh", "selenium"]
@@ -261,6 +212,7 @@ version = "0.12.1"
 description = "Composable style cycles"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
 files = [
     {file = "cycler-0.12.1-py3-none-any.whl", hash = "sha256:85cef7cff222d8644161529808465972e51340599459b8ac3ccbac5a854e0d30"},
     {file = "cycler-0.12.1.tar.gz", hash = "sha256:88bb128f02ba341da8ef447245a9e138fae777f6a23943da4540077d3601eb1c"},
@@ -276,6 +228,7 @@ version = "0.3.8"
 description = "serialize all of Python"
 optional = false
 python-versions = ">=3.8"
+groups = ["test"]
 files = [
     {file = "dill-0.3.8-py3-none-any.whl", hash = "sha256:c36ca9ffb54365bdd2f8eb3eff7d2a21237f8452b57ace88b1ac615b7e815bd7"},
     {file = "dill-0.3.8.tar.gz", hash = "sha256:3ebe3c479ad625c4553aca177444d89b486b1d84982eeacded644afc0cf797ca"},
@@ -291,6 +244,7 @@ version = "0.3.8"
 description = "Distribution utilities"
 optional = false
 python-versions = "*"
+groups = ["test"]
 files = [
     {file = "distlib-0.3.8-py2.py3-none-any.whl", hash = "sha256:034db59a0b96f8ca18035f36290806a9a6e6bd9d1ff91e45a7f172eb17e51784"},
     {file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"},
@@ -302,6 +256,7 @@ version = "3.13.1"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
+groups = ["test"]
 files = [
     {file = "filelock-3.13.1-py3-none-any.whl", hash = "sha256:57dbda9b35157b05fb3e58ee91448612eb674172fab98ee235ccb0b5bee19a1c"},
     {file = "filelock-3.13.1.tar.gz", hash = "sha256:521f5f56c50f8426f5e03ad3b281b490a87ef15bc6c526f168290f0c7148d44e"},
@@ -310,7 +265,7 @@ files = [
 [package.extras]
 docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.24)"]
 testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"]
-typing = ["typing-extensions (>=4.8)"]
+typing = ["typing-extensions (>=4.8) ; python_version < \"3.11\""]
 
 [[package]]
 name = "filterpy"
@@ -318,6 +273,7 @@ version = "1.4.5"
 description = "Kalman filtering and optimal estimation library"
 optional = false
 python-versions = "*"
+groups = ["main"]
 files = [
     {file = "filterpy-1.4.5.zip", hash = "sha256:4f2a4d39e4ea601b9ab42b2db08b5918a9538c168cff1c6895ae26646f3d73b1"},
 ]
@@ -333,6 +289,7 @@ version = "4.47.2"
 description = "Tools to manipulate font files"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
 files = [
     {file = "fonttools-4.47.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:3b629108351d25512d4ea1a8393a2dba325b7b7d7308116b605ea3f8e1be88df"},
     {file = "fonttools-4.47.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c19044256c44fe299d9a73456aabee4b4d06c6b930287be93b533b4737d70aa1"},
@@ -379,18 +336,18 @@ files = [
 ]
 
 [package.extras]
-all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "pycairo", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=15.1.0)", "xattr", "zopfli (>=0.1.4)"]
+all = ["brotli (>=1.0.1) ; platform_python_implementation == \"CPython\"", "brotlicffi (>=0.8.0) ; platform_python_implementation != \"CPython\"", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres ; platform_python_implementation == \"PyPy\"", "pycairo", "scipy ; platform_python_implementation != \"PyPy\"", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=15.1.0) ; python_version <= \"3.12\"", "xattr ; sys_platform == \"darwin\"", "zopfli (>=0.1.4)"]
 graphite = ["lz4 (>=1.7.4.2)"]
-interpolatable = ["munkres", "pycairo", "scipy"]
+interpolatable = ["munkres ; platform_python_implementation == \"PyPy\"", "pycairo", "scipy ; platform_python_implementation != \"PyPy\""]
 lxml = ["lxml (>=4.0,<5)"]
 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
 repacker = ["uharfbuzz (>=0.23.0)"]
 symfont = ["sympy"]
-type1 = ["xattr"]
+type1 = ["xattr ; sys_platform == \"darwin\""]
 ufo = ["fs (>=2.2.0,<3)"]
-unicode = ["unicodedata2 (>=15.1.0)"]
-woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
+unicode = ["unicodedata2 (>=15.1.0) ; python_version <= \"3.12\""]
+woff = ["brotli (>=1.0.1) ; platform_python_implementation == \"CPython\"", "brotlicffi (>=0.8.0) ; platform_python_implementation != \"CPython\"", "zopfli (>=0.1.4)"]
 
 [[package]]
 name = "importlib-resources"
@@ -398,6 +355,8 @@ version = "6.1.1"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
+markers = "python_version == \"3.9\" or python_version == \"3.8\" or platform_system == \"Linux\" and python_version < \"3.10\" and platform_machine == \"aarch64\""
 files = [
     {file = "importlib_resources-6.1.1-py3-none-any.whl", hash = "sha256:e8bf90d8213b486f428c9c39714b920041cb02c184686a3dee24905aaa8105d6"},
     {file = "importlib_resources-6.1.1.tar.gz", hash = "sha256:3893a00122eafde6894c59914446a512f728a0c1a45f9bb9b63721b6bacf0b4a"},
@@ -408,7 +367,7 @@ zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff", "zipp (>=3.17)"]
+testing = ["pytest (>=6)", "pytest-black (>=0.3.7) ; platform_python_implementation != \"PyPy\"", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1) ; platform_python_implementation != \"PyPy\"", "pytest-ruff", "zipp (>=3.17)"]
 
 [[package]]
 name = "iniconfig"
@@ -416,6 +375,7 @@ version = "2.0.0"
 description = "brain-dead simple config-ini parsing"
 optional = false
 python-versions = ">=3.7"
+groups = ["test"]
 files = [
     {file = "iniconfig-2.0.0-py3-none-any.whl", hash = "sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374"},
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@@ -427,6 +387,7 @@ version = "5.13.2"
 description = "A Python utility / library to sort Python imports."
 optional = false
 python-versions = ">=3.8.0"
+groups = ["dev", "test"]
 files = [
     {file = "isort-5.13.2-py3-none-any.whl", hash = "sha256:8ca5e72a8d85860d5a3fa69b8745237f2939afe12dbf656afbcb47fe72d947a6"},
     {file = "isort-5.13.2.tar.gz", hash = "sha256:48fdfcb9face5d58a4f6dde2e72a1fb8dcaf8ab26f95ab49fab84c2ddefb0109"},
@@ -441,6 +402,7 @@ version = "1.4.5"
 description = "A fast implementation of the Cassowary constraint solver"
 optional = false
 python-versions = ">=3.7"
+groups = ["main"]
 files = [
     {file = "kiwisolver-1.4.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:05703cf211d585109fcd72207a31bb170a0f22144d68298dc5e61b3c946518af"},
     {file = "kiwisolver-1.4.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:146d14bebb7f1dc4d5fbf74f8a6cb15ac42baadee8912eb84ac0b3b2a3dc6ac3"},
@@ -554,6 +516,7 @@ version = "1.10.0"
 description = "A fast and thorough lazy object proxy."
 optional = false
 python-versions = ">=3.8"
+groups = ["test"]
 files = [
     {file = "lazy-object-proxy-1.10.0.tar.gz", hash = "sha256:78247b6d45f43a52ef35c25b5581459e85117225408a4128a3daf8bf9648ac69"},
     {file = "lazy_object_proxy-1.10.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:855e068b0358ab916454464a884779c7ffa312b8925c6f7401e952dcf3b89977"},
@@ -600,6 +563,7 @@ version = "3.7.4"
 description = "Python plotting package"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
 files = [
     {file = "matplotlib-3.7.4-cp310-cp310-macosx_10_12_universal2.whl", hash = "sha256:b71079239bd866bf56df023e5146de159cb0c7294e508830901f4d79e2d89385"},
     {file = "matplotlib-3.7.4-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:bf91a42f6274a64cb41189120b620c02e574535ff6671fa836cade7701b06fbd"},
@@ -668,6 +632,7 @@ version = "0.7.0"
 description = "McCabe checker, plugin for flake8"
 optional = false
 python-versions = ">=3.6"
+groups = ["test"]
 files = [
     {file = "mccabe-0.7.0-py2.py3-none-any.whl", hash = "sha256:6c2d30ab6be0e4a46919781807b4f0d834ebdd6c6e3dca0bda5a15f863427b6e"},
     {file = "mccabe-0.7.0.tar.gz", hash = "sha256:348e0240c33b60bbdf4e523192ef919f28cb2c3d7d5c7794f74009290f236325"},
@@ -679,6 +644,8 @@ version = "1.4.0"
 description = "Metrics for multiple object tracker benchmarking."
 optional = true
 python-versions = "*"
+groups = ["main"]
+markers = "extra == \"metrics\""
 files = [
     {file = "motmetrics-1.4.0-py3-none-any.whl", hash = "sha256:cd4d691bd787360f1cd0a2127fe8a14d0646fb2912b344a9498719e132b25738"},
 ]
@@ -695,6 +662,7 @@ version = "1.0.0"
 description = "Type system extensions for programs checked with the mypy type checker."
 optional = false
 python-versions = ">=3.5"
+groups = ["dev"]
 files = [
     {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"},
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@@ -706,6 +674,8 @@ version = "1.24.4"
 description = "Fundamental package for array computing in Python"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
+markers = "python_version == \"3.9\" or python_version == \"3.8\" or python_version == \"3.10\" or platform_system == \"Linux\" and python_version < \"3.12\" and platform_machine == \"aarch64\" or python_version == \"3.11\""
 files = [
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@@ -738,30 +708,60 @@ files = [
 ]
 
 [[package]]
-name = "opencv-python"
-version = "4.8.1.78"
-description = "Wrapper package for OpenCV python bindings."
-optional = true
-python-versions = ">=3.6"
+name = "numpy"
+version = "1.26.4"
+description = "Fundamental package for array computing in Python"
+optional = false
+python-versions = ">=3.9"
+groups = ["main"]
+markers = "python_version >= \"3.12\""
 files = [
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+    {file = "numpy-1.26.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7e50d0a0cc3189f9cb0aeb3a6a6af18c16f59f004b866cd2be1c14b36134a4a0"},
+    {file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"},
 ]
 
-[package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
-
 [[package]]
 name = "opencv-python"
 version = "4.9.0.80"
 description = "Wrapper package for OpenCV python bindings."
 optional = true
 python-versions = ">=3.6"
+groups = ["main"]
+markers = "extra == \"video\""
 files = [
     {file = "opencv-python-4.9.0.80.tar.gz", hash = "sha256:1a9f0e6267de3a1a1db0c54213d022c7c8b5b9ca4b580e80bdc58516c922c9e1"},
     {file = "opencv_python-4.9.0.80-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:7e5f7aa4486651a6ebfa8ed4b594b65bd2d2f41beeb4241a3e4b1b85acbbbadb"},
@@ -774,12 +774,13 @@ files = [
 
 [package.dependencies]
 numpy = [
-    {version = ">=1.21.0", markers = "python_version <= \"3.9\" and platform_system == \"Darwin\" and platform_machine == \"arm64\" and python_version >= \"3.8\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\" and python_version < \"3.11\""},
-    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\" and python_version < \"3.11\""},
-    {version = ">=1.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"aarch64\" and python_version >= \"3.8\" and python_version < \"3.10\" or python_version > \"3.9\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_system != \"Darwin\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_machine != \"arm64\" and python_version < \"3.10\""},
-    {version = ">=1.17.3", markers = "(platform_system != \"Darwin\" and platform_system != \"Linux\") and python_version >= \"3.8\" and python_version < \"3.9\" or platform_system != \"Darwin\" and python_version >= \"3.8\" and python_version < \"3.9\" and platform_machine != \"aarch64\" or platform_machine != \"arm64\" and python_version >= \"3.8\" and python_version < \"3.9\" and platform_system != \"Linux\" or (platform_machine != \"arm64\" and platform_machine != \"aarch64\") and python_version >= \"3.8\" and python_version < \"3.9\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.21.0", markers = "(python_version == \"3.9\" or python_version == \"3.8\") and platform_system == \"Darwin\" and platform_machine == \"arm64\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
+    {version = ">=1.19.3", markers = "(platform_system == \"Linux\" or python_version == \"3.9\") and (platform_system != \"Darwin\" or platform_machine != \"arm64\" or python_version > \"3.9\") and python_version < \"3.10\" and (platform_machine == \"aarch64\" or python_version == \"3.9\") and python_version >= \"3.8\""},
+    {version = ">=1.17.3", markers = "(platform_system != \"Darwin\" or platform_machine != \"arm64\") and python_version == \"3.8\" and (platform_system != \"Linux\" or platform_machine != \"aarch64\")"},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
+    {version = ">=1.23.5", markers = "python_version == \"3.11\""},
 ]
 
 [[package]]
@@ -788,6 +789,7 @@ version = "23.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.7"
+groups = ["main", "test"]
 files = [
     {file = "packaging-23.2-py3-none-any.whl", hash = "sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7"},
     {file = "packaging-23.2.tar.gz", hash = "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5"},
@@ -799,6 +801,8 @@ version = "2.0.3"
 description = "Powerful data structures for data analysis, time series, and statistics"
 optional = true
 python-versions = ">=3.8"
+groups = ["main"]
+markers = "extra == \"metrics\""
 files = [
     {file = "pandas-2.0.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e4c7c9f27a4185304c7caf96dc7d91bc60bc162221152de697c98eb0b2648dd8"},
     {file = "pandas-2.0.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:f167beed68918d62bffb6ec64f2e1d8a7d297a038f86d4aed056b9493fca407f"},
@@ -830,7 +834,7 @@ files = [
 [package.dependencies]
 numpy = [
     {version = ">=1.20.3", markers = "python_version < \"3.10\""},
-    {version = ">=1.21.0", markers = "python_version >= \"3.10\" and python_version < \"3.11\""},
+    {version = ">=1.21.0", markers = "python_version >= \"3.10\""},
     {version = ">=1.23.2", markers = "python_version >= \"3.11\""},
 ]
 python-dateutil = ">=2.8.2"
@@ -866,6 +870,7 @@ version = "0.12.1"
 description = "Utility library for gitignore style pattern matching of file paths."
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
     {file = "pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08"},
     {file = "pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712"},
@@ -877,6 +882,7 @@ version = "10.2.0"
 description = "Python Imaging Library (Fork)"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
 files = [
     {file = "pillow-10.2.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:7823bdd049099efa16e4246bdf15e5a13dbb18a51b68fa06d6c1d4d8b99a796e"},
     {file = "pillow-10.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:83b2021f2ade7d1ed556bc50a399127d7fb245e725aa0113ebd05cfe88aaf588"},
@@ -953,7 +959,7 @@ docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline
 fpx = ["olefile"]
 mic = ["olefile"]
 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
-typing = ["typing-extensions"]
+typing = ["typing-extensions ; python_version < \"3.10\""]
 xmp = ["defusedxml"]
 
 [[package]]
@@ -962,6 +968,7 @@ version = "4.1.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 optional = false
 python-versions = ">=3.8"
+groups = ["dev", "test"]
 files = [
     {file = "platformdirs-4.1.0-py3-none-any.whl", hash = "sha256:11c8f37bcca40db96d8144522d925583bdb7a31f7b0e37e3ed4318400a8e2380"},
     {file = "platformdirs-4.1.0.tar.gz", hash = "sha256:906d548203468492d432bcb294d4bc2fff751bf84971fbb2c10918cc206ee420"},
@@ -977,6 +984,7 @@ version = "1.4.0"
 description = "plugin and hook calling mechanisms for python"
 optional = false
 python-versions = ">=3.8"
+groups = ["test"]
 files = [
     {file = "pluggy-1.4.0-py3-none-any.whl", hash = "sha256:7db9f7b503d67d1c5b95f59773ebb58a8c1c288129a88665838012cfb07b8981"},
     {file = "pluggy-1.4.0.tar.gz", hash = "sha256:8c85c2876142a764e5b7548e7d9a0e0ddb46f5185161049a79b7e974454223be"},
@@ -992,6 +1000,7 @@ version = "1.11.0"
 description = "library with cross-python path, ini-parsing, io, code, log facilities"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+groups = ["test"]
 files = [
     {file = "py-1.11.0-py2.py3-none-any.whl", hash = "sha256:607c53218732647dff4acdfcd50cb62615cedf612e72d1724fb1a0cc6405b378"},
     {file = "py-1.11.0.tar.gz", hash = "sha256:51c75c4126074b472f746a24399ad32f6053d1b34b68d2fa41e558e6f4a98719"},
@@ -1003,13 +1012,14 @@ version = "2.17.2"
 description = "Pygments is a syntax highlighting package written in Python."
 optional = false
 python-versions = ">=3.7"
+groups = ["main"]
 files = [
     {file = "pygments-2.17.2-py3-none-any.whl", hash = "sha256:b27c2826c47d0f3219f29554824c30c5e8945175d888647acd804ddd04af846c"},
     {file = "pygments-2.17.2.tar.gz", hash = "sha256:da46cec9fd2de5be3a8a784f434e4c4ab670b4ff54d605c4c2717e9d49c4c367"},
 ]
 
 [package.extras]
-plugins = ["importlib-metadata"]
+plugins = ["importlib-metadata ; python_version < \"3.8\""]
 windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
@@ -1018,6 +1028,7 @@ version = "2.17.7"
 description = "python code static checker"
 optional = false
 python-versions = ">=3.7.2"
+groups = ["test"]
 files = [
     {file = "pylint-2.17.7-py3-none-any.whl", hash = "sha256:27a8d4c7ddc8c2f8c18aa0050148f89ffc09838142193fdbe98f172781a3ff87"},
     {file = "pylint-2.17.7.tar.gz", hash = "sha256:f4fcac7ae74cfe36bc8451e931d8438e4a476c20314b1101c458ad0f05191fad"},
@@ -1047,6 +1058,7 @@ version = "3.1.1"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.6.8"
+groups = ["main"]
 files = [
     {file = "pyparsing-3.1.1-py3-none-any.whl", hash = "sha256:32c7c0b711493c72ff18a981d24f28aaf9c1fb7ed5e9667c9e84e3db623bdbfb"},
     {file = "pyparsing-3.1.1.tar.gz", hash = "sha256:ede28a1a32462f5a9705e07aea48001a08f7cf81a021585011deba701581a0db"},
@@ -1061,6 +1073,7 @@ version = "6.2.5"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.6"
+groups = ["test"]
 files = [
     {file = "pytest-6.2.5-py3-none-any.whl", hash = "sha256:7310f8d27bc79ced999e760ca304d69f6ba6c6649c0b60fb0e04a4a77cacc134"},
     {file = "pytest-6.2.5.tar.gz", hash = "sha256:131b36680866a76e6781d13f101efb86cf674ebb9762eb70d3082b6f29889e89"},
@@ -1085,6 +1098,7 @@ version = "2.8.2"
 description = "Extensions to the standard Python datetime module"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
+groups = ["main"]
 files = [
     {file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
     {file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
@@ -1099,6 +1113,8 @@ version = "2023.4"
 description = "World timezone definitions, modern and historical"
 optional = true
 python-versions = "*"
+groups = ["main"]
+markers = "extra == \"metrics\""
 files = [
     {file = "pytz-2023.4-py2.py3-none-any.whl", hash = "sha256:f90ef520d95e7c46951105338d918664ebfd6f1d995bd7d153127ce90efafa6a"},
     {file = "pytz-2023.4.tar.gz", hash = "sha256:31d4583c4ed539cd037956140d695e42c033a19e984bfce9964a3f7d59bc2b40"},
@@ -1110,6 +1126,7 @@ version = "12.6.0"
 description = "Render rich text, tables, progress bars, syntax highlighting, markdown and more to the terminal"
 optional = false
 python-versions = ">=3.6.3,<4.0.0"
+groups = ["main"]
 files = [
     {file = "rich-12.6.0-py3-none-any.whl", hash = "sha256:a4eb26484f2c82589bd9a17c73d32a010b1e29d89f1604cd9bf3a2097b81bb5e"},
     {file = "rich-12.6.0.tar.gz", hash = "sha256:ba3a3775974105c221d31141f2c116f4fd65c5ceb0698657a11e9f295ec93fd0"},
@@ -1129,6 +1146,8 @@ version = "1.9.3"
 description = "Fundamental algorithms for scientific computing in Python"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
+markers = "python_version == \"3.9\" or python_version == \"3.8\" or python_version == \"3.10\" or platform_system == \"Linux\" and python_version < \"3.12\" and platform_machine == \"aarch64\" or python_version == \"3.11\""
 files = [
     {file = "scipy-1.9.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1884b66a54887e21addf9c16fb588720a8309a57b2e258ae1c7986d4444d3bc0"},
     {file = "scipy-1.9.3-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:83b89e9586c62e787f5012e8475fbb12185bafb996a03257e9675cd73d3736dd"},
@@ -1161,12 +1180,78 @@ dev = ["flake8", "mypy", "pycodestyle", "typing_extensions"]
 doc = ["matplotlib (>2)", "numpydoc", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-panels (>=0.5.2)", "sphinx-tabs"]
 test = ["asv", "gmpy2", "mpmath", "pytest", "pytest-cov", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
+[[package]]
+name = "scipy"
+version = "1.15.2"
+description = "Fundamental algorithms for scientific computing in Python"
+optional = false
+python-versions = ">=3.10"
+groups = ["main"]
+markers = "python_version >= \"3.12\""
+files = [
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+    {file = "scipy-1.15.2-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:6f223753c6ea76983af380787611ae1291e3ceb23917393079dcc746ba60cfb5"},
+    {file = "scipy-1.15.2-cp310-cp310-macosx_14_0_arm64.whl", hash = "sha256:ecf797d2d798cf7c838c6d98321061eb3e72a74710e6c40540f0e8087e3b499e"},
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+    {file = "scipy-1.15.2.tar.gz", hash = "sha256:cd58a314d92838f7e6f755c8a2167ead4f27e1fd5c1251fd54289569ef3495ec"},
+]
+
+[package.dependencies]
+numpy = ">=1.23.5,<2.5"
+
+[package.extras]
+dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy (==1.10.0)", "pycodestyle", "pydevtool", "rich-click", "ruff (>=0.0.292)", "types-psutil", "typing_extensions"]
+doc = ["intersphinx_registry", "jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.16.5)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0,<8.0.0)", "sphinx-copybutton", "sphinx-design (>=0.4.0)"]
+test = ["Cython", "array-api-strict (>=2.0,<2.1.1)", "asv", "gmpy2", "hypothesis (>=6.30)", "meson", "mpmath", "ninja ; sys_platform != \"emscripten\"", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
+
 [[package]]
 name = "six"
 version = "1.16.0"
 description = "Python 2 and 3 compatibility utilities"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
+groups = ["main", "test"]
 files = [
     {file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
     {file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
@@ -1178,6 +1263,7 @@ version = "0.10.2"
 description = "Python Library for Tom's Obvious, Minimal Language"
 optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+groups = ["test"]
 files = [
     {file = "toml-0.10.2-py2.py3-none-any.whl", hash = "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b"},
     {file = "toml-0.10.2.tar.gz", hash = "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f"},
@@ -1189,6 +1275,8 @@ version = "2.0.1"
 description = "A lil' TOML parser"
 optional = false
 python-versions = ">=3.7"
+groups = ["dev", "test"]
+markers = "python_version == \"3.9\" or python_version == \"3.8\" or python_version == \"3.10\" or platform_system == \"Linux\" and python_version <= \"3.10\" and platform_machine == \"aarch64\""
 files = [
     {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
     {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
@@ -1200,6 +1288,7 @@ version = "0.12.3"
 description = "Style preserving TOML library"
 optional = false
 python-versions = ">=3.7"
+groups = ["test"]
 files = [
     {file = "tomlkit-0.12.3-py3-none-any.whl", hash = "sha256:b0a645a9156dc7cb5d3a1f0d4bab66db287fcb8e0430bdd4664a095ea16414ba"},
     {file = "tomlkit-0.12.3.tar.gz", hash = "sha256:75baf5012d06501f07bee5bf8e801b9f343e7aac5a92581f20f80ce632e6b5a4"},
@@ -1211,6 +1300,7 @@ version = "3.28.0"
 description = "tox is a generic virtualenv management and test command line tool"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+groups = ["test"]
 files = [
     {file = "tox-3.28.0-py2.py3-none-any.whl", hash = "sha256:57b5ab7e8bb3074edc3c0c0b4b192a4f3799d3723b2c5b76f1fa9f2d40316eea"},
     {file = "tox-3.28.0.tar.gz", hash = "sha256:d0d28f3fe6d6d7195c27f8b054c3e99d5451952b54abdae673b71609a581f640"},
@@ -1228,7 +1318,7 @@ virtualenv = ">=16.0.0,<20.0.0 || >20.0.0,<20.0.1 || >20.0.1,<20.0.2 || >20.0.2,
 
 [package.extras]
 docs = ["pygments-github-lexers (>=0.0.5)", "sphinx (>=2.0.0)", "sphinxcontrib-autoprogram (>=0.1.5)", "towncrier (>=18.5.0)"]
-testing = ["flaky (>=3.4.0)", "freezegun (>=0.3.11)", "pathlib2 (>=2.3.3)", "psutil (>=5.6.1)", "pytest (>=4.0.0)", "pytest-cov (>=2.5.1)", "pytest-mock (>=1.10.0)", "pytest-randomly (>=1.0.0)"]
+testing = ["flaky (>=3.4.0)", "freezegun (>=0.3.11)", "pathlib2 (>=2.3.3) ; python_version < \"3.4\"", "psutil (>=5.6.1) ; platform_python_implementation == \"cpython\"", "pytest (>=4.0.0)", "pytest-cov (>=2.5.1)", "pytest-mock (>=1.10.0)", "pytest-randomly (>=1.0.0)"]
 
 [[package]]
 name = "typing-extensions"
@@ -1236,10 +1326,12 @@ version = "4.9.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
+groups = ["main", "dev", "test"]
 files = [
     {file = "typing_extensions-4.9.0-py3-none-any.whl", hash = "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"},
     {file = "typing_extensions-4.9.0.tar.gz", hash = "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783"},
 ]
+markers = {main = "python_version == \"3.8\"", dev = "python_version == \"3.9\" or python_version == \"3.8\" or platform_system == \"Linux\" and python_version < \"3.10\" and platform_machine == \"aarch64\"", test = "python_version == \"3.9\" or python_version == \"3.8\" or python_version == \"3.10\" or platform_system == \"Linux\" and python_version <= \"3.10\" and platform_machine == \"aarch64\""}
 
 [[package]]
 name = "tzdata"
@@ -1247,6 +1339,8 @@ version = "2023.4"
 description = "Provider of IANA time zone data"
 optional = true
 python-versions = ">=2"
+groups = ["main"]
+markers = "extra == \"metrics\""
 files = [
     {file = "tzdata-2023.4-py2.py3-none-any.whl", hash = "sha256:aa3ace4329eeacda5b7beb7ea08ece826c28d761cda36e747cfbf97996d39bf3"},
     {file = "tzdata-2023.4.tar.gz", hash = "sha256:dd54c94f294765522c77399649b4fefd95522479a664a0cec87f41bebc6148c9"},
@@ -1258,6 +1352,7 @@ version = "20.25.0"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
+groups = ["test"]
 files = [
     {file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
     {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
@@ -1270,7 +1365,7 @@ platformdirs = ">=3.9.1,<5"
 
 [package.extras]
 docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
-test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
+test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8) ; platform_python_implementation == \"PyPy\"", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10) ; platform_python_implementation == \"CPython\""]
 
 [[package]]
 name = "wrapt"
@@ -1278,6 +1373,7 @@ version = "1.16.0"
 description = "Module for decorators, wrappers and monkey patching."
 optional = false
 python-versions = ">=3.6"
+groups = ["test"]
 files = [
     {file = "wrapt-1.16.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ffa565331890b90056c01db69c0fe634a776f8019c143a5ae265f9c6bc4bd6d4"},
     {file = "wrapt-1.16.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:e4fdb9275308292e880dcbeb12546df7f3e0f96c6b41197e0cf37d2826359020"},
@@ -1357,6 +1453,8 @@ version = "0.13.0"
 description = "Makes working with XML feel like you are working with JSON"
 optional = true
 python-versions = ">=3.4"
+groups = ["main"]
+markers = "extra == \"metrics\""
 files = [
     {file = "xmltodict-0.13.0-py2.py3-none-any.whl", hash = "sha256:aa89e8fd76320154a40d19a0df04a4695fb9dc5ba977cbb68ab3e4eb225e7852"},
     {file = "xmltodict-0.13.0.tar.gz", hash = "sha256:341595a488e3e01a85a9d8911d8912fd922ede5fecc4dce437eb4b6c8d037e56"},
@@ -1368,6 +1466,8 @@ version = "3.17.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
+markers = "python_version == \"3.9\" or python_version == \"3.8\" or platform_system == \"Linux\" and python_version < \"3.10\" and platform_machine == \"aarch64\""
 files = [
     {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
     {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
@@ -1375,13 +1475,13 @@ files = [
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7) ; platform_python_implementation != \"PyPy\"", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1) ; platform_python_implementation != \"PyPy\"", "pytest-ruff"]
 
 [extras]
 metrics = ["motmetrics"]
 video = ["opencv-python"]
 
 [metadata]
-lock-version = "2.0"
+lock-version = "2.1"
 python-versions = "^3.8"
-content-hash = "e5bedf726031b8338027c868038e6f6d7518338fb379d75b6345ddd1ab73f2f9"
+content-hash = "f49624157aa13dff488f49de5e21e219977de24e5c0a8ae9223086e2f0234794"
diff --git a/pyproject.toml b/pyproject.toml
index 021791bb..d0d7b65e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -37,7 +37,7 @@ classifiers = [
 [tool.poetry.dependencies]
 python = "^3.8"
 filterpy = "^1.4.5"
-rich = ">=9.10.0, <13.0.0"
+rich = ">=9.10.0, <15.0.0"
 scipy = ">=1.5.4"
 numpy = [
     {version = "^1.19.0", python = "<3.8"},