Add ability to use external cost mat for GNN

[FlorianPfaff]

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Test Results

    12 files  ± 0     12 suites  ±0   4h 37m 43s ⏱️ + 19m 20s
   987 tests + 2    987 ✅ +2      0 💤 ± 0  0 ❌ ±0 
12 128 runs  +24  9 380 ✅ +8  2 748 💤 +16  0 ❌ ±0 

Results for commit 32ad962. ± Comparison against base commit 224177b.

♻️ This comment has been updated with latest results.

[FlorianPfaff]

@copilot Do not use numpy, import from pyrecest.backend instead (see other fiels).

[Copilot]

@copilot Do not use numpy, import from pyrecest.backend instead (see other fiels).

Fixed in commit 0b0e3eb. Replaced import numpy as _np in global_nearest_neighbor.py with asarray, isfinite, where, and any from pyrecest.backend. Also removed import numpy as np from the test file, replacing np.inf with float("inf").

[FlorianPfaff]

@copilot resolve the merge conflicts in this pull request

[Copilot]

@copilot resolve the merge conflicts in this pull request

Resolved in commit 84c4cb9. Merged origin/main into the branch — the only conflict was in global_nearest_neighbor.py, which I resolved by adopting main's additive pairwise_cost_weight approach while keeping warnings.warn instead of print and adding any to the backend imports. The test file was also updated to use the pairwise_cost_matrix parameter name that matches main's interface. All 14 tests pass.

[FlorianPfaff]

@copilot resolve the merge conflicts in this pull request

[Copilot]

@copilot resolve the merge conflicts in this pull request

Resolved in commit 650b94f. Merged origin/main — the only conflict in global_nearest_neighbor.py was resolved by keeping any in the backend imports and warnings.warn instead of print. All 14 tests pass.

[FlorianPfaff]

@copilot Use skipif to skip these tests for unsupported backends.

=========================== short test summary info ============================
FAILED pyrecest/tests/filters/test_gnn_cost_matrix_interface.py::test_update_linear_accepts_precomputed_cost_matrix_and_overrides_geometry - AssertionError: Only supported for numpy backend
FAILED pyrecest/tests/filters/test_gnn_cost_matrix_interface.py::test_update_linear_skips_dummy_assignment_from_precomputed_cost_matrix - AssertionError: Only supported for numpy backend
= 2 failed, 477 passed, 502 skipped, 29 warnings, 9 subtests passed in 1058.53s (0:17:38) =

[Copilot]

@copilot Use skipif to skip these tests for unsupported backends.

=========================== short test summary info ============================
...

Fixed in commit 76b154e. Converted the two standalone test functions into a unittest.TestCase class decorated with @unittest.skipIf(pyrecest.backend.__backend_name__ != "numpy", reason="Only supported on numpy backend"), following the same pattern used in test_joint_probabilistic_data_association_filter.py and other test files.

[FlorianPfaff]

@copilot Fix this:

************* Module pyrecest.filters.global_nearest_neighbor
pyrecest/filters/global_nearest_neighbor.py:216:4: W0237: Parameter 'association_cost_matrix' has been renamed to 'pairwise_cost_matrix' in overriding 'GlobalNearestNeighbor.update_linear' method (arguments-renamed)

---

Your code has been rated at 10.00/10

[Copilot]

@copilot Fix this:

************* Module pyrecest.filters.global_nearest_neighbor
...

Fixed in commit 32ad962. Renamed association_cost_matrix to pairwise_cost_matrix in AbstractNearestNeighborTracker.update_linear so the base class parameter name matches the overriding method. Pylint now scores 10.00/10 with no arguments-renamed warning.