From d0064433afc58be69d943eb7063d3a97abae05a4 Mon Sep 17 00:00:00 2001
From: Florian Pfaff <6773539+FlorianPfaff@users.noreply.github.com>
Date: Mon, 13 Jul 2026 12:52:03 +0200
Subject: [PATCH 1/2] Stabilize point-registration weight normalization

---
 src/pyrecest/utils/point_set_registration.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/pyrecest/utils/point_set_registration.py b/src/pyrecest/utils/point_set_registration.py
index caa72e7534..5eeebf5472 100644
--- a/src/pyrecest/utils/point_set_registration.py
+++ b/src/pyrecest/utils/point_set_registration.py
@@ -148,10 +148,13 @@ def _normalize_weights(weights, n_points):
         raise ValueError("weights must be finite.")
     if any(weights_array < 0.0):
         raise ValueError("weights must be non-negative.")
-    weight_sum = float(weights_array.sum())
-    if weight_sum <= 0.0:
+
+    weight_scale = weights_array.max()
+    if not bool(weight_scale > 0.0):
         raise ValueError("weights must sum to a positive value.")
-    return weights_array / weight_sum
+
+    scaled_weights = weights_array / weight_scale
+    return scaled_weights / scaled_weights.sum()
 
 
 def _minimum_required_matches(model: TransformModel, dim: int) -> int:

From 76bb1b9b9629e7e8dc8ea3e4023d09c683f9df4c Mon Sep 17 00:00:00 2001
From: Florian Pfaff <6773539+FlorianPfaff@users.noreply.github.com>
Date: Mon, 13 Jul 2026 12:52:31 +0200
Subject: [PATCH 2/2] Add regression for overflowing registration weights

---
 ..._point_set_registration_weight_overflow.py | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 tests/test_point_set_registration_weight_overflow.py

diff --git a/tests/test_point_set_registration_weight_overflow.py b/tests/test_point_set_registration_weight_overflow.py
new file mode 100644
index 0000000000..9cd8f256a3
--- /dev/null
+++ b/tests/test_point_set_registration_weight_overflow.py
@@ -0,0 +1,40 @@
+import unittest
+
+import numpy as np
+import numpy.testing as npt
+
+import pyrecest.backend
+from pyrecest.backend import array
+from pyrecest.utils.point_set_registration import estimate_transform
+
+
+class TestPointSetRegistrationWeightOverflow(unittest.TestCase):
+    @unittest.skipIf(
+        pyrecest.backend.__backend_name__ == "jax",
+        reason="Not supported on this backend",
+    )
+    def test_estimate_transform_normalizes_maximum_finite_weights(self):
+        source = array([[0.0, 0.0], [2.0, 1.0]])
+        true_offset = array([3.0, -4.0])
+        target = source + true_offset
+
+        backend_dtype = pyrecest.backend.to_numpy(array([1.0])).dtype
+        maximum_finite_weight = np.finfo(backend_dtype).max
+
+        estimated = estimate_transform(
+            source,
+            target,
+            model="translation",
+            weights=array([maximum_finite_weight, maximum_finite_weight]),
+        )
+
+        npt.assert_allclose(
+            pyrecest.backend.to_numpy(estimated.offset),
+            pyrecest.backend.to_numpy(true_offset),
+            rtol=1e-6,
+            atol=1e-6,
+        )
+
+
+if __name__ == "__main__":
+    unittest.main()