def test_load_poses(self):
"""Test that the poses belong to SE(3)."""
se3 = SpecialEuclidean(n=3, point_type="vector")
data, _ = data_utils.load_poses(only_rotations=False)
result = se3.belongs(data)
self.assertTrue(gs.all(result))
class TestSpecialEuclidean(geomstats.tests.TestCase):
def setUp(self):
gs.random.seed(12)
self.n = 2
self.group = SpecialEuclidean(n=self.n)
self.n_samples = 3
self.point = self.group.random_point(self.n_samples)
self.tangent_vec = self.group.to_tangent(
gs.random.rand(self.n_samples, self.group.n + 1, self.group.n + 1),
self.point)
def test_belongs(self):
theta = gs.pi / 3
point_1 = gs.array([[gs.cos(theta), -gs.sin(theta), 2.],
[gs.sin(theta), gs.cos(theta), 3.], [0., 0., 1.]])
result = self.group.belongs(point_1)
self.assertTrue(result)
point_2 = gs.array([[gs.cos(theta), -gs.sin(theta), 2.],
[gs.sin(theta), gs.cos(theta), 3.], [0., 0., 0.]])
result = self.group.belongs(point_2)
self.assertFalse(result)
point = gs.array([point_1, point_2])
expected = gs.array([True, False])
result = self.group.belongs(point)
self.assertAllClose(result, expected)
point = point_1[0]
result = self.group.belongs(point)
self.assertFalse(result)
point = gs.zeros((2, 3))
result = self.group.belongs(point)
self.assertFalse(result)
point = gs.zeros((2, 2, 3))
result = self.group.belongs(point)
self.assertFalse(gs.all(result))
self.assertAllClose(result.shape, (2, ))
def test_random_point_and_belongs(self):
point = self.group.random_point()
result = self.group.belongs(point)
self.assertTrue(result)
point = self.group.random_point(self.n_samples)
result = self.group.belongs(point)
expected = gs.array([True] * self.n_samples)
self.assertAllClose(result, expected)
def test_identity(self):
result = self.group.identity
expected = gs.eye(self.n + 1)
self.assertAllClose(result, expected)
def test_is_tangent(self):
theta = gs.pi / 3
vec_1 = gs.array([[0., -theta, 2.], [theta, 0., 3.], [0., 0., 0.]])
point = self.group.random_point()
tangent_vec = self.group.compose(point, vec_1)
result = self.group.is_tangent(tangent_vec, point)
self.assertTrue(result)
vec_2 = gs.array([[0., -theta, 2.], [theta, 0., 3.], [0., 0., 1.]])
tangent_vec = self.group.compose(point, vec_2)
result = self.group.is_tangent(tangent_vec, point)
self.assertFalse(result)
vec = gs.array([vec_1, vec_2])
expected = gs.array([True, False])
result = self.group.is_tangent(vec)
self.assertAllClose(result, expected)
def test_to_tangent_vec_vectorization(self):
n = self.group.n
tangent_vecs = gs.arange(self.n_samples * (n + 1)**2)
tangent_vecs = gs.cast(tangent_vecs, gs.float32)
tangent_vecs = gs.reshape(tangent_vecs,
(self.n_samples, ) + (n + 1, ) * 2)
point = self.group.random_point(self.n_samples)
tangent_vecs = Matrices.mul(point, tangent_vecs)
regularized = self.group.to_tangent(tangent_vecs, point)
result = Matrices.mul(
Matrices.transpose(point), regularized) + \
Matrices.mul(Matrices.transpose(regularized), point)
result = result[:, :n, :n]
expected = gs.zeros_like(result)
self.assertAllClose(result, expected)
def test_compose_and_inverse_matrix_form(self):
point = self.group.random_point()
inv_point = self.group.inverse(point)
result = self.group.compose(point, inv_point)
expected = self.group.identity
self.assertAllClose(result, expected)
if not geomstats.tests.tf_backend():
result = self.group.compose(inv_point, point)
expected = self.group.identity
self.assertAllClose(result, expected)
def test_compose_vectorization(self):
n_samples = self.n_samples
n_points_a = self.group.random_point(n_samples=n_samples)
n_points_b = self.group.random_point(n_samples=n_samples)
one_point = self.group.random_point(n_samples=1)
result = self.group.compose(one_point, n_points_a)
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
result = self.group.compose(n_points_a, one_point)
if not geomstats.tests.tf_backend():
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
result = self.group.compose(n_points_a, n_points_b)
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
def test_inverse_vectorization(self):
n_samples = self.n_samples
points = self.group.random_point(n_samples=n_samples)
result = self.group.inverse(points)
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
def test_compose_matrix_form(self):
point = self.group.random_point()
result = self.group.compose(point, self.group.identity)
expected = point
self.assertAllClose(result, expected)
if not geomstats.tests.tf_backend():
# Composition by identity, on the left
# Expect the original transformation
result = self.group.compose(self.group.identity, point)
expected = point
self.assertAllClose(result, expected)
# Composition of translations (no rotational part)
# Expect the sum of the translations
point_a = gs.array([[1., 0., 1.], [0., 1., 1.5], [0., 0., 1.]])
point_b = gs.array([[1., 0., 2.], [0., 1., 2.5], [0., 0., 1.]])
result = self.group.compose(point_a, point_b)
last_line_0 = gs.array_from_sparse([(0, 2), (1, 2)], [1., 1.],
(3, 3))
expected = point_a + point_b * last_line_0
self.assertAllClose(result, expected)
def test_left_exp_coincides(self):
vector_group = SpecialEuclidean(n=2, point_type='vector')
theta = gs.pi / 3
initial_vec = gs.array([theta, 2., 2.])
initial_matrix_vec = self.group.lie_algebra.matrix_representation(
initial_vec)
vector_exp = vector_group.left_canonical_metric.exp(initial_vec)
result = self.group.left_canonical_metric.exp(initial_matrix_vec)
expected = vector_group.matrix_from_vector(vector_exp)
self.assertAllClose(result, expected)
def test_right_exp_coincides(self):
vector_group = SpecialEuclidean(n=2, point_type='vector')
theta = gs.pi / 2
initial_vec = gs.array([theta, 1., 1.])
initial_matrix_vec = self.group.lie_algebra.matrix_representation(
initial_vec)
vector_exp = vector_group.right_canonical_metric.exp(initial_vec)
result = self.group.right_canonical_metric.exp(initial_matrix_vec,
n_steps=25)
expected = vector_group.matrix_from_vector(vector_exp)
self.assertAllClose(result, expected, atol=1e-6)
def test_basis_belongs(self):
lie_algebra = self.group.lie_algebra
result = lie_algebra.belongs(lie_algebra.basis)
self.assertTrue(gs.all(result))
def test_basis_has_the_right_dimension(self):
for n in range(2, 5):
algebra = SpecialEuclideanMatrixLieAlgebra(n)
self.assertEqual(int(n * (n + 1) / 2), algebra.dim)
def test_belongs_lie_algebra(self):
theta = gs.pi / 3
vec_1 = gs.array([[0., -theta, 2.], [theta, 0., 3.], [0., 0., 0.]])
result = self.group.lie_algebra.belongs(vec_1)
expected = True
self.assertAllClose(result, expected)
vec_2 = gs.array([[0., -theta, 2.], [theta, 0., 3.], [0., 0., 1.]])
result = self.group.lie_algebra.belongs(vec_2)
expected = False
self.assertAllClose(result, expected)
vec = gs.array([vec_1, vec_2])
expected = gs.array([True, False])
result = self.group.lie_algebra.belongs(vec)
self.assertAllClose(result, expected)
def test_basis_representation_is_correctly_vectorized(self):
for n in range(2, 5):
algebra = SpecialEuclideanMatrixLieAlgebra(n)
shape = gs.shape(algebra.basis_representation(algebra.basis))
dim = int(n * (n + 1) / 2)
self.assertAllClose(shape, (dim, dim))
def test_left_metric_wrong_group(self):
group = self.group.rotations
self.assertRaises(
ValueError,
lambda: SpecialEuclideanMatrixCannonicalLeftMetric(group))
group = SpecialEuclidean(3, point_type='vector')
self.assertRaises(
ValueError,
lambda: SpecialEuclideanMatrixCannonicalLeftMetric(group))
def test_exp_and_belongs(self):
exp = self.group.left_canonical_metric.exp(self.tangent_vec,
self.point)
result = self.group.belongs(exp)
self.assertTrue(gs.all(result))
exp = self.group.left_canonical_metric.exp(self.tangent_vec[0],
self.point[0])
result = self.group.belongs(exp)
self.assertTrue(result)
@geomstats.tests.np_and_tf_only
def test_log_and_is_tan(self):
exp = self.group.left_canonical_metric.exp(self.tangent_vec,
self.point)
log = self.group.left_canonical_metric.log(exp, self.point)
result = self.group.is_tangent(log, self.point)
self.assertTrue(gs.all(result))
exp = self.group.left_canonical_metric.exp(self.tangent_vec[0],
self.point[0])
log = self.group.left_canonical_metric.log(exp, self.point)
result = self.group.is_tangent(log, self.point)
self.assertTrue(gs.all(result))
log = self.group.left_canonical_metric.log(exp, self.point[0])
result = self.group.is_tangent(log, self.point[0])
self.assertTrue(result)
@geomstats.tests.np_and_tf_only
def test_exp_log(self):
exp = self.group.left_canonical_metric.exp(self.tangent_vec,
self.point)
result = self.group.left_canonical_metric.log(exp, self.point)
self.assertAllClose(result, self.tangent_vec)
exp = self.group.left_canonical_metric.exp(self.tangent_vec[0],
self.point[0])
result = self.group.left_canonical_metric.log(exp, self.point[0])
self.assertAllClose(result, self.tangent_vec[0])
def test_parallel_transport(self):
metric = self.group.left_canonical_metric
shape = (self.n_samples, self.group.n + 1, self.group.n + 1)
results = helper.test_parallel_transport(self.group, metric, shape)
for res in results:
self.assertTrue(res)
def test_lie_algebra_basis_belongs(self):
basis = self.group.lie_algebra.basis
result = self.group.lie_algebra.belongs(basis)
self.assertTrue(gs.all(result))
def test_lie_algebra_projection_and_belongs(self):
vec = gs.random.rand(self.n_samples, self.group.n + 1,
self.group.n + 1)
tangent_vec = self.group.lie_algebra.projection(vec)
result = self.group.lie_algebra.belongs(tangent_vec)
self.assertTrue(gs.all(result))
def test_basis_representation(self):
vec = gs.random.rand(self.n_samples, self.group.dim)
tangent_vec = self.group.lie_algebra.matrix_representation(vec)
result = self.group.lie_algebra.basis_representation(tangent_vec)
self.assertAllClose(result, vec)
result = self.group.lie_algebra.basis_representation(tangent_vec[0])
self.assertAllClose(result, vec[0])
def test_metrics_expected_point_type(self):
left = self.group.left_canonical_metric
right = self.group.right_canonical_metric
metric = self.group.metric
for m in [left, right, metric]:
self.assertTrue(m.default_point_type == 'matrix')
def test_metric_left_invariant(self):
group = self.group
point = group.random_point()
expected = group.left_canonical_metric.norm(self.tangent_vec)
translated = group.tangent_translation_map(point)(self.tangent_vec)
result = group.left_canonical_metric.norm(translated)
self.assertAllClose(result, expected)
def test_projection_and_belongs(self):
shape = (self.n_samples, self.n + 1, self.n + 1)
result = helper.test_projection_and_belongs(self.group, shape)
for res in result:
self.assertTrue(res)
class TestSpecialEuclidean(geomstats.tests.TestCase):
def setUp(self):
self.n = 2
self.group = SpecialEuclidean(n=self.n)
self.n_samples = 4
def test_belongs(self):
theta = gs.pi / 3
point_1 = gs.array([[gs.cos(theta), -gs.sin(theta), 2.],
[gs.sin(theta), gs.cos(theta), 3.], [0., 0., 1.]])
result = self.group.belongs(point_1)
expected = True
self.assertAllClose(result, expected)
point_2 = gs.array([[gs.cos(theta), -gs.sin(theta), 2.],
[gs.sin(theta), gs.cos(theta), 3.], [0., 0., 0.]])
result = self.group.belongs(point_2)
expected = False
self.assertAllClose(result, expected)
point = gs.array([point_1, point_2])
expected = gs.array([True, False])
result = self.group.belongs(point)
self.assertAllClose(result, expected)
def test_random_uniform_and_belongs(self):
point = self.group.random_uniform()
result = self.group.belongs(point)
expected = True
self.assertAllClose(result, expected)
point = self.group.random_uniform(self.n_samples)
result = self.group.belongs(point)
expected = gs.array([True] * self.n_samples)
self.assertAllClose(result, expected)
def test_identity(self):
result = self.group.identity
expected = gs.eye(self.n + 1)
self.assertAllClose(result, expected)
def test_is_in_lie_algebra(self):
theta = gs.pi / 3
vec_1 = gs.array([[0., -theta, 2.], [theta, 0., 3.], [0., 0., 0.]])
result = self.group.is_tangent(vec_1)
expected = True
self.assertAllClose(result, expected)
vec_2 = gs.array([[0., -theta, 2.], [theta, 0., 3.], [0., 0., 1.]])
result = self.group.is_tangent(vec_2)
expected = False
self.assertAllClose(result, expected)
vec = gs.array([vec_1, vec_2])
expected = gs.array([True, False])
result = self.group.is_tangent(vec)
self.assertAllClose(result, expected)
def test_to_tangent_vec_vectorization(self):
n = self.group.n
tangent_vecs = gs.arange(self.n_samples * (n + 1)**2)
tangent_vecs = gs.cast(tangent_vecs, gs.float32)
tangent_vecs = gs.reshape(tangent_vecs,
(self.n_samples, ) + (n + 1, ) * 2)
point = self.group.random_uniform(self.n_samples)
tangent_vecs = self.group.compose(point, tangent_vecs)
regularized = self.group.to_tangent(tangent_vecs, point)
result = self.group.compose(
self.group.transpose(point), regularized) + \
self.group.compose(self.group.transpose(regularized), point)
result = result[:, :n, :n]
expected = gs.zeros_like(result)
self.assertAllClose(result, expected)
def test_compose_and_inverse_matrix_form(self):
point = self.group.random_uniform()
inv_point = self.group.inverse(point)
result = self.group.compose(point, inv_point)
expected = self.group.identity
self.assertAllClose(result, expected)
if not geomstats.tests.tf_backend():
result = self.group.compose(inv_point, point)
expected = self.group.identity
self.assertAllClose(result, expected)
def test_compose_vectorization(self):
n_samples = self.n_samples
n_points_a = self.group.random_uniform(n_samples=n_samples)
n_points_b = self.group.random_uniform(n_samples=n_samples)
one_point = self.group.random_uniform(n_samples=1)
result = self.group.compose(one_point, n_points_a)
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
result = self.group.compose(n_points_a, one_point)
if not geomstats.tests.tf_backend():
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
result = self.group.compose(n_points_a, n_points_b)
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
def test_inverse_vectorization(self):
n_samples = self.n_samples
points = self.group.random_uniform(n_samples=n_samples)
result = self.group.inverse(points)
self.assertAllClose(gs.shape(result),
(n_samples, ) + (self.group.n + 1, ) * 2)
def test_compose_matrix_form(self):
point = self.group.random_uniform()
result = self.group.compose(point, self.group.identity)
expected = point
self.assertAllClose(result, expected)
if not geomstats.tests.tf_backend():
# Composition by identity, on the left
# Expect the original transformation
result = self.group.compose(self.group.identity, point)
expected = point
self.assertAllClose(result, expected)
# Composition of translations (no rotational part)
# Expect the sum of the translations
point_a = gs.array([[1., 0., 1.], [0., 1., 1.5], [0., 0., 1.]])
point_b = gs.array([[1., 0., 2.], [0., 1., 2.5], [0., 0., 1.]])
result = self.group.compose(point_a, point_b)
last_line_0 = gs.array_from_sparse([(0, 2), (1, 2)], [1., 1.],
(3, 3))
expected = point_a + point_b * last_line_0
self.assertAllClose(result, expected)
class TestExponentialBarycenter(geomstats.tests.TestCase):
def setUp(self):
logger = logging.getLogger()
logger.disabled = True
self.se_mat = SpecialEuclidean(n=3)
self.so_vec = SpecialOrthogonal(n=3, point_type='vector')
self.so = SpecialOrthogonal(n=3)
self.n_samples = 4
@geomstats.tests.np_only
def test_estimate_and_belongs_se(self):
point = self.se_mat.random_point(self.n_samples)
estimator = ExponentialBarycenter(self.se_mat)
estimator.fit(point)
barexp = estimator.estimate_
result = self.se_mat.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
def test_estimate_one_sample_se(self):
point = self.se_mat.random_point()
estimator = ExponentialBarycenter(self.se_mat)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(1)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_and_reach_max_iter_se(self):
point = self.se_mat.random_point(1)
estimator = ExponentialBarycenter(self.se_mat, max_iter=2)
points = gs.array([point, point])
estimator.fit(points)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(1)
estimator = ExponentialBarycenter(self.so_vec, max_iter=2)
points = gs.array([point, point])
estimator.fit(points)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_so_matrix(self):
points = self.so.random_uniform(2)
mean_vec = ExponentialBarycenter(group=self.so)
mean_vec.fit(points)
logs = self.so.log(points, mean_vec.estimate_)
result = gs.sum(logs, axis=0)
expected = gs.zeros_like(points[0])
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_and_belongs_so(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_one_sample_so(self):
point = self.so.random_uniform(1)
estimator = ExponentialBarycenter(self.so)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(1)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_and_reach_max_iter_so(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so, max_iter=2)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec, max_iter=2)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_coincides_with_frechet_so(self):
gs.random.seed(0)
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so, max_iter=40, epsilon=1e-10)
estimator.fit(point)
result = estimator.estimate_
frechet_estimator = FrechetMean(self.so.bi_invariant_metric,
max_iter=40,
epsilon=1e-10,
lr=1.,
method='adaptive')
frechet_estimator.fit(point)
expected = frechet_estimator.estimate_
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_weights(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so, verbose=True)
weights = gs.arange(self.n_samples)
estimator.fit(point, weights=weights)
barexp = estimator.estimate_
result = self.so.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point, weights=weights)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
def test_linear_mean(self):
euclidean = Euclidean(3)
point = euclidean.random_point(self.n_samples)
estimator = ExponentialBarycenter(euclidean)
estimator.fit(point)
result = estimator.estimate_
expected = gs.mean(point, axis=0)
self.assertAllClose(result, expected)
class TestExponentialBarycenter(geomstats.tests.TestCase):
def setUp(self):
self.se_mat = SpecialEuclidean(n=3, default_point_type='matrix')
self.so_vec = SpecialOrthogonal(n=3, default_point_type='vector')
self.so = SpecialOrthogonal(n=3, default_point_type='matrix')
self.n_samples = 3
@geomstats.tests.np_only
def test_estimate_and_belongs_se(self):
point = self.se_mat.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.se_mat)
estimator.fit(point)
barexp = estimator.estimate_
result = self.se_mat.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
def test_estimate_one_sample_se(self):
point = self.se_mat.random_uniform(1)
estimator = ExponentialBarycenter(self.se_mat)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(1)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_and_reach_max_iter_se(self):
point = self.se_mat.random_uniform(1)
estimator = ExponentialBarycenter(self.se_mat, max_iter=2)
points = gs.array([point, point])
estimator.fit(points)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(1)
estimator = ExponentialBarycenter(self.so_vec, max_iter=2)
points = gs.array([point, point])
estimator.fit(points)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_and_belongs_so(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_one_sample_so(self):
point = self.so.random_uniform(1)
estimator = ExponentialBarycenter(self.so)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(1)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point)
result = estimator.estimate_
expected = point
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_and_reach_max_iter_so(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so, max_iter=2)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec, max_iter=2)
estimator.fit(point)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_coincides_with_frechet_so(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so, max_iter=32, epsilon=1e-12)
estimator.fit(point)
result = estimator.estimate_
print(self.so.default_point_type)
so_vector = SpecialOrthogonal(3, default_point_type='vector')
frechet_estimator = FrechetMean(so_vector.bi_invariant_metric,
max_iter=32,
epsilon=1e-10,
point_type='vector')
vector_point = so_vector.rotation_vector_from_matrix(point)
frechet_estimator.fit(vector_point)
mean = frechet_estimator.estimate_
expected = so_vector.matrix_from_rotation_vector(mean)
result = estimator.estimate_
self.assertAllClose(result, expected)
@geomstats.tests.np_only
def test_estimate_weights(self):
point = self.so.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so, verbose=True)
weights = gs.arange(self.n_samples)
estimator.fit(point, weights=weights)
barexp = estimator.estimate_
result = self.so.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
point = self.so_vec.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(self.so_vec)
estimator.fit(point, weights=weights)
barexp = estimator.estimate_
result = self.so_vec.belongs(barexp)
expected = True
self.assertAllClose(result, expected)
def test_linear_mean(self):
euclidean = Euclidean(3)
point = euclidean.random_uniform(self.n_samples)
estimator = ExponentialBarycenter(euclidean)
estimator.fit(point)
result = estimator.estimate_
expected = gs.mean(point, axis=0)
self.assertAllClose(result, expected)
