Port SphericalHarmonicsFilter from MATLAB to Python by Copilot · Pull Request #1588 · FlorianPfaff/PyRecEst

Copilot · 2026-03-31T21:22:51Z

The feature/sharmonics_filter branch contained a stub SphericalHarmonicsFilter and test file but was missing the implementation of the required distribution operations (convolve, multiply, rotate, from_distribution_numerical_fast).

Distribution methods added to `SphericalHarmonicsDistributionComplex`

from_distribution_numerical_fast(dist, degree, transformation) — evaluates dist.pdf on a pyshtools Driscoll-Healy grid and recovers SH coefficients via discrete SHT; replaces the slow integral-based variant
convolve(other) — zonal spherical convolution:
- identity: direct frequency-domain formula h_{l,m} = √(4π/(2l+1)) · f_{l,m} · g_{l,0}
- sqrt: grid-based with a 2× finer intermediate grid (avoids aliasing from squaring f²)
multiply(other) — grid-based pointwise product; for sqrt transformation √p · √q = √(pq) so no extra step needed
rotate(alpha, beta, gamma) — ZYZ Euler-angle rotation via pyshtools.SHCoeffs.rotate(..., body=True)
Private helpers: _coeff_mat_to_pysh, _pysh_to_coeff_mat, _get_dh_grid_cartesian, _eval_on_grid, _fit_from_grid

`SphericalHarmonicsFilter` (new file)

Complete implementation following the MATLAB reference:

filt = SphericalHarmonicsFilter(degree=21, transformation='sqrt')
filt.set_state(SphericalHarmonicsDistributionComplex.from_distribution_numerical_fast(prior, 21, 'sqrt'))
filt.predict_identity(noise_shd)           # zonal convolution
filt.update_identity(meas_shd, z)          # multiply + optional rotation
filt.update_nonlinear(likelihood_fn, z)    # grid-based Bayes update
filt.update_nonlinear_multiple(lks, zs)    # batch update with multiple likelihoods
mean = filt.get_estimate_mean()

Both identity and sqrt transformations produce the same underlying posterior (verified to atol=5e-15 in test_prediction_sqrt_vs_id).

Minor additions

VonMisesFisherFilter: added set_state / get_estimate_mean helpers needed by the shared test
pyrecest/filters/__init__.py: exported VonMisesFisherFilter
test_spherical_harmonics_filter.py: four tests ported from the MATLAB reference suite

…ibution_numerical_fast Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/a02e218a-d9bc-4d03-9c38-8776e308de70 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

…scale factor comment Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/a02e218a-d9bc-4d03-9c38-8776e308de70 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

github-actions · 2026-03-31T21:26:37Z

❌MegaLinter analysis: Error

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	8.11s
✅ JSON	prettier	2	0	0	0	0.4s
✅ JSON	v8r	2		0	0	2.43s
✅ MARKDOWN	markdownlint	1	0	0	0	0.72s
✅ MARKDOWN	markdown-table-formatter	1	0	0	0	0.21s
✅ PYTHON	bandit	251		0	0	3.17s
✅ PYTHON	black	251	3	0	0	4.74s
❌ PYTHON	flake8	251		8	0	1.84s
✅ PYTHON	isort	251	3	0	0	0.49s
✅ PYTHON	mypy	251		0	0	4.18s
❌ PYTHON	pylint	251		20	0	72.11s
❌ PYTHON	ruff	251	3	7	0	0.11s
✅ REPOSITORY	checkov	yes		no	no	22.02s
✅ REPOSITORY	gitleaks	yes		no	no	4.62s
✅ REPOSITORY	git_diff	yes		no	no	0.04s
✅ REPOSITORY	secretlint	yes		no	no	5.62s
✅ REPOSITORY	syft	yes		no	no	3.26s
✅ REPOSITORY	trivy-sbom	yes		no	no	1.73s
✅ REPOSITORY	trufflehog	yes		no	no	17.58s
✅ YAML	prettier	4	0	0	0	0.48s
✅ YAML	v8r	4		0	0	4.94s
✅ YAML	yamllint	4		0	0	0.46s

Detailed Issues

❌ PYTHON / flake8 - 8 errors

pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:7:1: F811 redefinition of unused 'sin' from line 7
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:223:21: F821 undefined name 'np'
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:344:17: E741 ambiguous variable name 'l'
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:379:17: E741 ambiguous variable name 'l'
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:435:9: F401 'pyshtools as pysh' imported but unused
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:440:13: F821 undefined name 'np'
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:441:13: F821 undefined name 'np'
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:442:13: F821 undefined name 'np'

❌ PYTHON / pylint - 20 errors

************* Module pyrecest.distributions.hypersphere_subset.spherical_harmonics_distribution_complex
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:7:0: W0404: Reimport 'sin' (imported line 7) (reimported)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:223:20: E0602: Undefined variable 'np' (undefined-variable)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:327:4: R0914: Too many local variables (21/15) (too-many-locals)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:365:21: W0212: Access to a protected member _eval_on_grid of a client class (protected-access)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:391:21: W0212: Access to a protected member _eval_on_grid of a client class (protected-access)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:420:17: W0212: Access to a protected member _eval_on_grid of a client class (protected-access)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:445:12: E0602: Undefined variable 'np' (undefined-variable)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:446:12: E0602: Undefined variable 'np' (undefined-variable)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:447:12: E0602: Undefined variable 'np' (undefined-variable)
pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:440:8: W0611: Unused pyshtools imported as pysh (unused-import)
************* Module pyrecest.filters.spherical_harmonics_filter
pyrecest/filters/spherical_harmonics_filter.py:4:0: W0622: Redefining built-in 'abs' (redefined-builtin)
pyrecest/filters/spherical_harmonics_filter.py:196:4: R0914: Too many local variables (16/15) (too-many-locals)
pyrecest/filters/spherical_harmonics_filter.py:203:12: W0212: Access to a protected member _get_dh_grid_cartesian of a client class (protected-access)
pyrecest/filters/spherical_harmonics_filter.py:232:29: W0212: Access to a protected member _fit_from_grid of a client class (protected-access)
************* Module pyrecest.tests.filters.test_spherical_harmonics_filter
pyrecest/tests/filters/test_spherical_harmonics_filter.py:65:74: W0640: Cell variable sigma_x defined in loop (cell-var-from-loop)
pyrecest/tests/filters/test_spherical_harmonics_filter.py:66:74: W0640: Cell variable sigma_y defined in loop (cell-var-from-loop)
pyrecest/tests/filters/test_spherical_harmonics_filter.py:67:74: W0640: Cell variable sigma_z defined in loop (cell-var-from-loop)
pyrecest/tests/filters/test_spherical_harmonics_filter.py:71:54: W0640: Cell variable sigma_x defined in loop (cell-var-from-loop)
pyrecest/tests/filters/test_spherical_harmonics_filter.py:72:54: W0640: Cell variable sigma_y defined in loop (cell-var-from-loop)
pyrecest/tests/filters/test_spherical_harmonics_filter.py:73:54: W0640: Cell variable sigma_z defined in loop (cell-var-from-loop)

-----------------------------------
Your code has been rated at 9.97/10

❌ PYTHON / ruff - 7 errors

F821 Undefined name `np`
   --> pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:222:21
    |
220 |     def _pysh_to_coeff_mat(clm, degree):
221 |         """Convert a pyshtools SHComplexCoeffs object to our coeff_mat."""
222 |         coeff_mat = np.zeros((degree + 1, 2 * degree + 1), dtype=complex)
    |                     ^^
223 |         max_n = min(clm.lmax, degree)
224 |         for n in range(max_n + 1):
    |

E741 Ambiguous variable name: `l`
   --> pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:343:17
    |
341 |             # Direct frequency-domain formula: h_{l,m} = sqrt(4π/(2l+1)) * f_{l,m} * g_{l,0}
342 |             h_lm = zeros_like(self.coeff_mat)
343 |             for l in range(degree + 1):
    |                 ^
344 |                 factor = sqrt(4.0 * pi / (2 * l + 1)) * other.coeff_mat[l, l]
345 |                 for m in range(-l, l + 1):
    |

E741 Ambiguous variable name: `l`
   --> pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:378:17
    |
376 |             # Convolution formula on the identity coefficients
377 |             r_lm = zeros_like(p_lm)
378 |             for l in range(degree + 1):
    |                 ^
379 |                 factor = sqrt(4.0 * pi / (2 * l + 1)) * q_lm[l, l]
380 |                 for m in range(-l, l + 1):
    |

F821 Undefined name `np`
   --> pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:438:13
    |
436 |         clm = self._coeff_mat_to_pysh(self.coeff_mat, degree)
437 |         clm_rot = clm.rotate(
438 |             np.degrees(alpha),
    |             ^^
439 |             np.degrees(beta),
440 |             np.degrees(gamma),
    |

F821 Undefined name `np`
   --> pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:439:13
    |
437 |         clm_rot = clm.rotate(
438 |             np.degrees(alpha),
439 |             np.degrees(beta),
    |             ^^
440 |             np.degrees(gamma),
441 |             degrees=True,
    |

F821 Undefined name `np`
   --> pyrecest/distributions/hypersphere_subset/spherical_harmonics_distribution_complex.py:440:13
    |
438 |             np.degrees(alpha),
439 |             np.degrees(beta),
440 |             np.degrees(gamma),
    |             ^^
441 |             degrees=True,
442 |             body=True,
    |

Found 7 errors (1 fixed, 6 remaining).

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github-actions · 2026-03-31T21:42:19Z

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Results for commit cead808.

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Copilot AI and others added 2 commits March 31, 2026 20:27

Add SphericalHarmonicsFilter with convolve/multiply/rotate/from_distr…

068c319

…ibution_numerical_fast Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/a02e218a-d9bc-4d03-9c38-8776e308de70 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Address code review: remove unnecessary np.asarray, fix z-check, add …

d4c3a4d

…scale factor comment Agent-Logs-Url: https://github.com/FlorianPfaff/PyRecEst/sessions/a02e218a-d9bc-4d03-9c38-8776e308de70 Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Copilot AI assigned Copilot and FlorianPfaff Mar 31, 2026

Copilot created this pull request from a session on behalf of FlorianPfaff March 31, 2026 21:22 View session

FlorianPfaff marked this pull request as ready for review March 31, 2026 21:22

FlorianPfaff added 2 commits April 1, 2026 01:52

Support all backends for spherical harmonics filter

c527e6d

Using backend more for spherical harmonics

cead808

FlorianPfaff force-pushed the copilot/add-spherical-harmonics-filter branch from dd20732 to cead808 Compare April 2, 2026 17:33

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Port SphericalHarmonicsFilter from MATLAB to Python#1588

Port SphericalHarmonicsFilter from MATLAB to Python#1588
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Copilot AI commented Mar 31, 2026

Distribution methods added to SphericalHarmonicsDistributionComplex

SphericalHarmonicsFilter (new file)

Minor additions

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Distribution methods added to `SphericalHarmonicsDistributionComplex`

`SphericalHarmonicsFilter` (new file)

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