fix: resolve basedpyright errors in aruco and tests

py_workspace/aruco/pose_averaging.py

@@ -2,11 +2,12 @@ import numpy as np
 from typing import List, Dict, Tuple, Optional, Any
 
 try:
-    from scipy.spatial.transform import Rotation as R
+    from scipy.spatial.transform import Rotation as R_scipy
 
-    HAS_SCIPY = True
+    has_scipy = True
 except ImportError:
-    HAS_SCIPY = False
+    has_scipy = False
+    R_scipy = None  # type: ignore
 
 
 def rotation_angle_deg(Ra: np.ndarray, Rb: np.ndarray) -> float:
@@ -34,29 +35,29 @@ def matrix_to_quaternion(R_mat: np.ndarray) -> np.ndarray:
     """
     tr = np.trace(R_mat)
     if tr > 0:
-        S = np.sqrt(tr + 1.0) * 2
+        s = np.sqrt(tr + 1.0) * 2
-        qw = 0.25 * S
+        qw = 0.25 * s
-        qx = (R_mat[2, 1] - R_mat[1, 2]) / S
+        qx = (R_mat[2, 1] - R_mat[1, 2]) / s
-        qy = (R_mat[0, 2] - R_mat[2, 0]) / S
+        qy = (R_mat[0, 2] - R_mat[2, 0]) / s
-        qz = (R_mat[1, 0] - R_mat[0, 1]) / S
+        qz = (R_mat[1, 0] - R_mat[0, 1]) / s
     elif (R_mat[0, 0] > R_mat[1, 1]) and (R_mat[0, 0] > R_mat[2, 2]):
-        S = np.sqrt(1.0 + R_mat[0, 0] - R_mat[1, 1] - R_mat[2, 2]) * 2
+        s = np.sqrt(1.0 + R_mat[0, 0] - R_mat[1, 1] - R_mat[2, 2]) * 2
-        qw = (R_mat[2, 1] - R_mat[1, 2]) / S
+        qw = (R_mat[2, 1] - R_mat[1, 2]) / s
-        qx = 0.25 * S
+        qx = 0.25 * s
-        qy = (R_mat[0, 1] + R_mat[1, 0]) / S
+        qy = (R_mat[0, 1] + R_mat[1, 0]) / s
-        qz = (R_mat[0, 2] + R_mat[2, 0]) / S
+        qz = (R_mat[0, 2] + R_mat[2, 0]) / s
     elif R_mat[1, 1] > R_mat[2, 2]:
-        S = np.sqrt(1.0 + R_mat[1, 1] - R_mat[0, 0] - R_mat[2, 2]) * 2
+        s = np.sqrt(1.0 + R_mat[1, 1] - R_mat[0, 0] - R_mat[2, 2]) * 2
-        qw = (R_mat[0, 2] - R_mat[2, 0]) / S
+        qw = (R_mat[0, 2] - R_mat[2, 0]) / s
-        qx = (R_mat[0, 1] + R_mat[1, 0]) / S
+        qx = (R_mat[0, 1] + R_mat[1, 0]) / s
-        qy = 0.25 * S
+        qy = 0.25 * s
-        qz = (R_mat[1, 2] + R_mat[2, 1]) / S
+        qz = (R_mat[1, 2] + R_mat[2, 1]) / s
     else:
-        S = np.sqrt(1.0 + R_mat[2, 2] - R_mat[0, 0] - R_mat[1, 1]) * 2
+        s = np.sqrt(1.0 + R_mat[2, 2] - R_mat[0, 0] - R_mat[1, 1]) * 2
-        qw = (R_mat[1, 0] - R_mat[0, 1]) / S
+        qw = (R_mat[1, 0] - R_mat[0, 1]) / s
-        qx = (R_mat[0, 2] + R_mat[2, 0]) / S
+        qx = (R_mat[0, 2] + R_mat[2, 0]) / s
-        qy = (R_mat[1, 2] + R_mat[2, 1]) / S
+        qy = (R_mat[1, 2] + R_mat[2, 1]) / s
-        qz = 0.25 * S
+        qz = 0.25 * s
     return np.array([qw, qx, qy, qz])
 
 
@@ -211,19 +212,19 @@ class PoseAccumulator:
 
         # Rotation: mean
         rotations = [T[:3, :3] for T in inlier_poses]
-        if HAS_SCIPY:
+        if has_scipy and R_scipy is not None:
-            r_objs = R.from_matrix(rotations)
+            r_objs = R_scipy.from_matrix(rotations)
             R_mean = r_objs.mean().as_matrix()
         else:
             # Quaternion eigen mean fallback
             quats = np.array([matrix_to_quaternion(rot) for rot in rotations])
             # Form the matrix M = sum(q_i * q_i^T)
-            M = np.zeros((4, 4))
+            M_mat = np.zeros((4, 4))
             for i in range(n_inliers):
                 q = quats[i]
-                M += np.outer(q, q)
+                M_mat += np.outer(q, q)
             # The average quaternion is the eigenvector corresponding to the largest eigenvalue
-            evals, evecs = np.linalg.eigh(M)
+            evals, evecs = np.linalg.eigh(M_mat)
             q_mean = evecs[:, -1]
             R_mean = quaternion_to_matrix(q_mean)
 

py_workspace/pyproject.toml

@@ -21,6 +21,7 @@ dependencies = [
     "pandas>=3.0.0",
     "scipy>=1.17.0",
     "typeguard>=4.4.4",
+    "matplotlib>=3.10.8",
 ]
 
 [tool.uv.sources]
@@ -29,6 +30,7 @@ pyzed = { path = "libs/pyzed_pkg" }
 [dependency-groups]
 dev = [
     "basedpyright>=1.37.4",
+    "pylint>=4.0.4",
     "pytest>=9.0.2",
 ]
 
@@ -36,3 +38,12 @@ dev = [
 testpaths = ["tests"]
 norecursedirs = ["loguru", "tmp", "libs"]
 
+[tool.basedpyright]
+exclude = [
+    "libs",
+    "loguru",
+    "tmp",
+    ".venv",
+    "ogl_viewer",
+]
+

py_workspace/tests/test_alignment.py

@@ -18,14 +18,14 @@ def test_compute_face_normal_valid_quad():
     # normal = [1, 0, 0] x [0, 1, 0] = [0, 0, 1]
 
     normal = compute_face_normal(corners)
-    np.testing.assert_allclose(normal, [0, 0, 1], atol=1e-10)
+    np.testing.assert_allclose(normal, np.array([0, 0, 1]), atol=1e-10)
 
 
 def test_compute_face_normal_valid_triangle():
     corners = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0]], dtype=np.float64)
 
     normal = compute_face_normal(corners)
-    np.testing.assert_allclose(normal, [0, 0, 1], atol=1e-10)
+    np.testing.assert_allclose(normal, np.array([0, 0, 1]), atol=1e-10)
 
 
 def test_compute_face_normal_degenerate():
@@ -104,7 +104,8 @@ def test_get_face_normal_from_geometry():
     }
 
     normal = get_face_normal_from_geometry("top", marker_geometry, face_marker_map)
-    np.testing.assert_allclose(normal, [0, 0, 1], atol=1e-10)
+    assert normal is not None
+    np.testing.assert_allclose(normal, np.array([0, 0, 1]), atol=1e-10)
 
     # Missing face map
     assert get_face_normal_from_geometry("top", marker_geometry, None) is None
@@ -145,14 +146,14 @@ def test_detect_ground_face():
     assert res is not None
     face_name, normal = res
     assert face_name == "bottom"
-    np.testing.assert_allclose(normal, [0, -1, 0], atol=1e-10)
+    np.testing.assert_allclose(normal, np.array([0, -1, 0]), atol=1e-10)
 
     # Only top visible
     res = detect_ground_face({2}, marker_geometry, camera_up, face_marker_map)
     assert res is not None
     face_name, normal = res
     assert face_name == "top"
-    np.testing.assert_allclose(normal, [0, 1, 0], atol=1e-10)
+    np.testing.assert_allclose(normal, np.array([0, 1, 0]), atol=1e-10)
 
     # None visible
     assert (

py_workspace/tests/test_depth_pool_integration.py

@@ -64,10 +64,10 @@ def test_pool_size_1_equivalence(mock_dependencies):
 
     # Run with pool_size=1
     apply_depth_verify_refine_postprocess(
-        results=results,
+        results=results,  # type: ignore
-        verification_frames=verification_frames,
+        verification_frames=verification_frames,  # pyright: ignore
         marker_geometry=marker_geometry,
-        camera_matrices=camera_matrices,
+        camera_matrices=camera_matrices,  # pyright: ignore
         verify_depth=True,
         refine_depth=False,
         use_confidence_weights=False,
@@ -122,10 +122,10 @@ def test_pool_size_5_integration(mock_dependencies):
 
     # Run with pool_size=3
     apply_depth_verify_refine_postprocess(
-        results=results,
+        results=results,  # type: ignore
-        verification_frames=verification_frames,
+        verification_frames=verification_frames,  # pyright: ignore
         marker_geometry=marker_geometry,
-        camera_matrices=camera_matrices,
+        camera_matrices=camera_matrices,  # pyright: ignore
         verify_depth=True,
         refine_depth=False,
         use_confidence_weights=False,
@@ -148,8 +148,8 @@ def test_pool_size_5_integration(mock_dependencies):
 
     # Verify metadata was added
     assert "depth_pool" in results[serial]
-    assert results[serial]["depth_pool"]["pooled"] is True
+    assert results[serial]["depth_pool"]["pooled"] is True  # pyright: ignore
-    assert results[serial]["depth_pool"]["pool_size_actual"] == 3
+    assert results[serial]["depth_pool"]["pool_size_actual"] == 3  # pyright: ignore
 
 
 def test_pool_fallback_insufficient_valid(mock_dependencies):
@@ -222,10 +222,10 @@ def test_pool_fallback_insufficient_valid(mock_dependencies):
         camera_matrices = {serial: np.eye(3)}
 
         apply_depth_verify_refine_postprocess(
-            results=results,
+            results=results,  # type: ignore
-            verification_frames=verification_frames,
+            verification_frames=verification_frames,  # pyright: ignore
             marker_geometry=marker_geometry,
-            camera_matrices=camera_matrices,
+            camera_matrices=camera_matrices,  # pyright: ignore
             verify_depth=True,
             refine_depth=False,
             use_confidence_weights=False,
@@ -246,8 +246,8 @@ def test_pool_fallback_insufficient_valid(mock_dependencies):
         assert passed_depth_map is d1
 
         # Verify metadata
-        assert results[serial]["depth_pool"]["pooled"] is False
+        assert results[serial]["depth_pool"]["pooled"] is False  # pyright: ignore
         assert (
-            results[serial]["depth_pool"]["fallback_reason"]
+            results[serial]["depth_pool"]["fallback_reason"]  # pyright: ignore
             == "insufficient_valid_points"
         )