Added point set registration

[FlorianPfaff]

No description provided.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	11.8s
✅ JSON	prettier	2	0	0	0	0.76s
✅ JSON	v8r	2		0	0	2.79s
✅ MARKDOWN	markdownlint	1	0	0	0	0.65s
✅ MARKDOWN	markdown-table-formatter	1	0	0	0	0.24s
✅ PYTHON	bandit	333		0	0	4.78s
✅ PYTHON	black	333	8	0	0	8.23s
✅ PYTHON	flake8	333		0	0	2.71s
✅ PYTHON	isort	333	10	0	0	0.65s
✅ PYTHON	mypy	333		0	0	4.6s
✅ PYTHON	pylint	333		0	0	99.73s
✅ PYTHON	ruff	333	10	0	0	0.06s
✅ REPOSITORY	checkov	yes		no	no	21.21s
✅ REPOSITORY	gitleaks	yes		no	no	6.59s
✅ REPOSITORY	git_diff	yes		no	no	0.13s
✅ REPOSITORY	secretlint	yes		no	no	6.47s
✅ REPOSITORY	syft	yes		no	no	3.72s
✅ REPOSITORY	trivy-sbom	yes		no	no	2.25s
✅ REPOSITORY	trufflehog	yes		no	no	19.24s
✅ YAML	prettier	4	0	0	0	0.47s
✅ YAML	v8r	4		0	0	5.53s
✅ YAML	yamllint	4		0	0	0.43s

See detailed reports in MegaLinter artifacts

Your project could benefit from a custom flavor, which would allow you to run only the linters you need, and thus improve runtime performances. (Skip this info by defining FLAVOR_SUGGESTIONS: false)

• Documentation: Custom Flavors
• Command: npx mega-linter-runner@9.4.0 --custom-flavor-setup --custom-flavor-linters PYTHON_PYLINT,PYTHON_BLACK,PYTHON_FLAKE8,PYTHON_ISORT,PYTHON_BANDIT,PYTHON_MYPY,PYTHON_RUFF,COPYPASTE_JSCPD,JSON_V8R,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,REPOSITORY_CHECKOV,REPOSITORY_GIT_DIFF,REPOSITORY_GITLEAKS,REPOSITORY_SECRETLINT,REPOSITORY_SYFT,REPOSITORY_TRIVY_SBOM,REPOSITORY_TRUFFLEHOG,YAML_PRETTIER,YAML_YAMLLINT,YAML_V8R

Show us your support by starring ⭐ the repository

[FlorianPfaff]

@copilot Do not use numpy but rather import from pyrecest.backend (see other files).

[Copilot]

@copilot Do not use numpy but rather import from pyrecest.backend (see other files).

Done in d881dee. Replaced all numpy usage with imports from pyrecest.backend in both the module and test file. Also moved the files to their correct locations under pyrecest/utils/ and pyrecest/tests/ to match the project structure and the import path pyrecest.utils.point_set_registration.

[github-actions]

Test Results

    12 files  ± 0     12 suites  ±0   4h 22m 0s ⏱️ + 3m 37s
   991 tests + 6    991 ✅ + 6      0 💤 ± 0  0 ❌ ±0 
12 176 runs  +72  9 420 ✅ +48  2 756 💤 +24  0 ❌ ±0 

Results for commit 46ca2b6. ± Comparison against base commit 224177b.

♻️ This comment has been updated with latest results.

[FlorianPfaff]

@copilot Fix this (suppress too-many and redefined-builtin linter warnings)

=========================== short test summary info ============================
FAILED pyrecest/tests/test_point_set_registration.py::TestEstimateTransform::test_estimate_affine_transform_recovers_ground_truth - TypeError: full(): argument 'size' (position 1) must be tuple of ints, not int
FAILED pyrecest/tests/test_point_set_registration.py::TestEstimateTransform::test_estimate_rigid_transform_recovers_rotation_and_translation - TypeError: full(): argument 'size' (position 1) must be tuple of ints, not int
FAILED pyrecest/tests/test_point_set_registration.py::TestGatedAssignment::test_solve_gated_assignment_leaves_rows_unmatched - TypeError: isfinite(): argument 'input' (position 1) must be Tensor, not float
FAILED pyrecest/tests/test_point_set_registration.py::TestJointRegistrationAssignment::test_joint_registration_assignment_handles_missing_points_and_outliers - TypeError: isfinite(): argument 'input' (position 1) must be Tensor, not float
FAILED pyrecest/tests/test_point_set_registration.py::TestJointRegistrationAssignment::test_joint_registration_assignment_recovers_permuted_affine_matches - TypeError: isfinite(): argument 'input' (position 1) must be Tensor, not float
FAILED pyrecest/tests/test_point_set_registration.py::TestJointRegistrationAssignment::test_joint_registration_assignment_supports_custom_cost_function - TypeError: isfinite(): argument 'input' (position 1) must be Tensor, not float
= 6 failed, 782 passed, 163 skipped, 5585382 warnings, 18 subtests passed in 2027.88s (0:33:47) =

❌ PYTHON / mypy - 3 errors
pyrecest/utils/point_set_registration.py:74: error: "object" has no attribute "shape" [attr-defined]
pyrecest/utils/point_set_registration.py:402: error: Unsupported left operand type for - ("object") [operator]
pyrecest/utils/point_set_registration.py:403: error: Unsupported left operand type for - ("object") [operator]
Found 3 errors in 1 file (checked 333 source files)
❌ PYTHON / pylint - 8 errors
************* Module pyrecest.tests.test_point_set_registration
pyrecest/tests/test_point_set_registration.py:105:30: E1136: Value 'result.assignment' is unsubscriptable (unsubscriptable-object)
************* Module pyrecest.utils.point_set_registration
pyrecest/utils/point_set_registration.py:19:0: W0622: Redefining built-in 'any' (redefined-builtin)
pyrecest/utils/point_set_registration.py:19:0: W0622: Redefining built-in 'sum' (redefined-builtin)
pyrecest/utils/point_set_registration.py:74:15: E1101: Instance of 'object' has no 'shape' member (no-member)
pyrecest/utils/point_set_registration.py:99:0: R0902: Too many instance attributes (9/7) (too-many-instance-attributes)
pyrecest/utils/point_set_registration.py:156:0: R0914: Too many local variables (25/15) (too-many-locals)
pyrecest/utils/point_set_registration.py:277:0: R0913: Too many arguments (10/6) (too-many-arguments)
pyrecest/utils/point_set_registration.py:277:0: R0914: Too many local variables (31/15) (too-many-locals)

[Copilot]

@copilot Fix this (suppress too-many and redefined-builtin linter warnings)

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

Fixed in 3d1f550:

• Test failures: full(n, ...) → full((n,), ...) (backend requires tuple); isfinite(float) → math.isfinite(float) (backend isfinite only accepts tensors, not Python float)
• mypy errors: Changed object type hints to Any on AffineTransform.matrix/offset and RegistrationResult array fields
• pylint redefined-builtin: Added # pylint: disable=redefined-builtin,no-name-in-module,no-member to the backend import blocks in both files
• pylint too-many-*: Added inline suppressions on RegistrationResult (too-many-instance-attributes), estimate_transform (too-many-locals), and joint_registration_assignment (too-many-arguments,too-many-positional-arguments,too-many-locals)

[FlorianPfaff]

@copilot fix what happened below for the pytorch backend

=========================== short test summary info ============================
FAILED pyrecest/tests/test_point_set_registration.py::TestJointRegistrationAssignment::test_joint_registration_assignment_handles_missing_points_and_outliers - TypeError: '<' not supported between instances of 'builtin_function_or_method' and 'int'
FAILED pyrecest/tests/test_point_set_registration.py::TestJointRegistrationAssignment::test_joint_registration_assignment_recovers_permuted_affine_matches - TypeError: '<' not supported between instances of 'builtin_function_or_method' and 'int'
FAILED pyrecest/tests/test_point_set_registration.py::TestJointRegistrationAssignment::test_joint_registration_assignment_supports_custom_cost_function - TypeError: '<' not supported between instances of 'builtin_function_or_method' and '

[Copilot]

@copilot fix what happened below for the pytorch backend

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

Fixed in 6332aa2. Two PyTorch incompatibilities were causing the failures:

1. .size is a method in PyTorch (not a property like in NumPy), so tensor.size < int was comparing a bound method to an integer. Replaced all five .size usages with len(), which is backend-agnostic.

2. .astype(int64) is NumPy-only — PyTorch uses .to(dtype). Replaced all four .astype(int64) calls with cast(x, int64) from pyrecest.backend, which works on both backends.

All 6 tests now pass on both numpy and pytorch backends.

[FlorianPfaff]

@copilot suppress this warning

************* Module pyrecest.utils.point_set_registration
pyrecest/utils/point_set_registration.py:102:0: R0902: Too many instance attributes (9/7) (too-many-instance-attributes)

---

Your code has been rated at 10.00/10

[Copilot]

@copilot suppress this warning

************* Module pyrecest.utils.point_set_registration
...

Fixed in d64753b. Moved the # pylint: disable=too-many-instance-attributes comment from the decorator line to the class RegistrationResult: line, where pylint actually reports the warning.

[FlorianPfaff]

@copilot Can you make the respective function calls fail with an assertion for the jax backend? Use skipif for the test cases (see other files).

[Copilot]

@copilot Can you make the respective function calls fail with an assertion for the jax backend? Use skipif for the test cases (see other files).

Done in bcd9d50. Added assert pyrecest.backend.__backend_name__ != "jax", "Not supported for the JAX backend." at the start of estimate_transform, solve_gated_assignment, and joint_registration_assignment. All 6 test methods now have @unittest.skipIf(pyrecest.backend.__backend_name__ == "jax", reason="Not supported on this backend") decorators, matching the pattern used in other test files.