def test_exp_and_log_and_projection_to_tangent_space_edge_case(self):
"""
Test that the riemannian exponential
and the riemannian logarithm are inverse.
Expect their composition to give the identity function.
NB: points on the n-dimensional sphere are
(n+1)-D vectors of norm 1.
"""
# Riemannian Exp then Riemannian Log
# Edge case: tangent vector has norm < epsilon
base_point = tf.convert_to_tensor([10., -2., -.5, 34., 3.])
base_point = base_point / gs.linalg.norm(base_point)
vector = 1e-10 * tf.convert_to_tensor([.06, -51., 6., 5., 3.])
vector = self.space.projection_to_tangent_space(vector=vector,
base_point=base_point)
exp = self.metric.exp(tangent_vec=vector, base_point=base_point)
result = self.metric.log(point=exp, base_point=base_point)
expected = self.space.projection_to_tangent_space(
vector=vector, base_point=base_point)
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected), atol=1e-8)
def test_intrinsic_and_extrinsic_coords(self):
"""
Test that the composition of
intrinsic_to_extrinsic_coords and
extrinsic_to_intrinsic_coords
gives the identity.
"""
point_int = tf.convert_to_tensor([.1, 0., 0., .1])
point_ext = self.space.intrinsic_to_extrinsic_coords(point_int)
result = self.space.extrinsic_to_intrinsic_coords(point_ext)
expected = point_int
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
# TODO(nina): Fix that the test fails if point_ext generated
# with tf.random_uniform
point_ext = (1. / (gs.sqrt(6.)) *
tf.convert_to_tensor([1., 0., 0., 1., 2.]))
point_int = self.space.extrinsic_to_intrinsic_coords(point_ext)
result = self.space.intrinsic_to_extrinsic_coords(point_int)
expected = point_ext
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_intrinsic_and_extrinsic_coords_vectorization(self):
"""
Test that the composition of
intrinsic_to_extrinsic_coords and
extrinsic_to_intrinsic_coords
gives the identity.
"""
point_int = gs.array([[.1, 0., 0., .1, 0.,
0.], [.1, .1, .1, .4, .1, 0.],
[.1, .3, 0., .1, 0., 0.],
[-0.1, .1, -.4, .1, -.01, 0.],
[0., 0., .1, .1, -0.08, -0.1],
[.1, .1, .1, .1, 0., -0.5]])
point_ext = self.space.intrinsic_to_extrinsic_coords(point_int)
result = self.space.extrinsic_to_intrinsic_coords(point_ext)
expected = point_int
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
point_ext = tf.convert_to_tensor([[2.0, 1.0, 1.0, 1.0],
[4.0, 1., 3.0,
math.sqrt(5)], [3.0, 2.0, 0.0,
2.0]])
point_int = self.space.extrinsic_to_intrinsic_coords(point_ext)
result = self.space.intrinsic_to_extrinsic_coords(point_int)
# TODO(nina): Make sure this holds for (x, y, z, ..) AND (-x, y,z)
expected = point_ext
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_intrinsic_and_extrinsic_coords_vectorization(self):
"""
Test that the composition of
intrinsic_to_extrinsic_coords and
extrinsic_to_intrinsic_coords
gives the identity.
"""
point_int = tf.convert_to_tensor([[.1, 0., 0., .1], [.1, .1, .1, .4],
[.1, .3, 0.,
.1], [-0.1, .1, -.4, .1],
[0., 0., .1, .1], [.1, .1, .1, .1]])
point_ext = self.space.intrinsic_to_extrinsic_coords(point_int)
result = self.space.extrinsic_to_intrinsic_coords(point_ext)
expected = point_int
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
sqrt_3 = np.sqrt(3.)
point_ext = tf.convert_to_tensor(
[[1. / sqrt_3, 0., 0., 1. / sqrt_3, 1. / sqrt_3],
[1. / sqrt_3, 1. / sqrt_3, 1. / sqrt_3, 0., 0.],
[0., 0., 1. / sqrt_3, 1. / sqrt_3, 1. / sqrt_3]],
dtype=np.float64)
point_int = self.space.extrinsic_to_intrinsic_coords(point_ext)
result = self.space.intrinsic_to_extrinsic_coords(point_int)
expected = point_ext
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_log_vectorization(self):
n_samples = 3
dim = self.dimension + 1
one_point = tf.convert_to_tensor([2.0, 1.0, 1.0, 1.0])
one_base_point = tf.convert_to_tensor([4.0, 3., 1.0, math.sqrt(5)])
n_points = tf.convert_to_tensor([[2.0, 1.0, 1.0, 1.0],
[4.0, 1., 3.0,
math.sqrt(5)], [3.0, 2.0, 0.0, 2.0]])
n_base_points = tf.convert_to_tensor(
[[2.0, 0.0, 1.0, math.sqrt(2)],
[5.0, math.sqrt(8), math.sqrt(8),
math.sqrt(8)], [1.0, 0.0, 0.0, 0.0]])
result = self.metric.log(one_point, one_base_point)
with self.test_session():
self.assertAllClose(gs.eval(result).shape, (1, dim))
result = self.metric.log(n_points, one_base_point)
with self.test_session():
self.assertAllClose(gs.eval(result).shape, (n_samples, dim))
result = self.metric.log(one_point, n_base_points)
with self.test_session():
self.assertAllClose(gs.eval(result).shape, (n_samples, dim))
result = self.metric.log(n_points, n_base_points)
with self.test_session():
self.assertAllClose(gs.eval(result).shape, (n_samples, dim))
def test_log_vectorization(self):
dim = self.dimension
n_samples = 3
one_point = tf.convert_to_tensor([[-1., 0.]])
one_base_point = tf.convert_to_tensor([[1.0, 0.]])
n_points = tf.convert_to_tensor([[-1., 0.], [1., 0.],
[2., math.sqrt(3)]])
n_base_points = tf.convert_to_tensor([[2., -math.sqrt(3)],
[4.0, math.sqrt(15)],
[-4.0, math.sqrt(15)]])
result = self.metric.log(one_point, one_base_point)
expected = one_point - one_base_point
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
result = self.metric.log(n_points, one_base_point)
self.assertAllClose(gs.eval(result).shape, (n_samples, dim))
result = self.metric.log(one_point, n_base_points)
self.assertAllClose(gs.eval(result).shape, (n_samples, dim))
result = self.metric.log(n_points, n_base_points)
self.assertAllClose(gs.eval(result).shape, (n_samples, dim))
def test_inner_product_vectorization(self):
n_samples = 3
one_point_a = gs.array([[-1., 0.]])
one_point_b = gs.array([[1.0, 0.]])
n_points_a = gs.array([[-1., 0.], [1., 0.], [2., math.sqrt(3)]])
n_points_b = gs.array([[2., -math.sqrt(3)], [4.0, math.sqrt(15)],
[-4.0, math.sqrt(15)]])
result = self.metric.inner_product(one_point_a, one_point_b)
expected = gs.dot(one_point_a, gs.transpose(one_point_b))
expected -= (2 * one_point_a[:, self.time_like_dim] *
one_point_b[:, self.time_like_dim])
expected = helper.to_scalar(expected)
result_no = self.metric.inner_product(n_points_a, one_point_b)
result_on = self.metric.inner_product(one_point_a, n_points_b)
result_nn = self.metric.inner_product(n_points_a, n_points_b)
self.assertAllClose(result, expected)
self.assertAllClose(gs.shape(result_no), (n_samples, 1))
self.assertAllClose(gs.shape(result_on), (n_samples, 1))
self.assertAllClose(gs.shape(result_nn), (n_samples, 1))
with self.session():
expected = np.zeros(n_samples)
for i in range(n_samples):
expected[i] = gs.eval(gs.dot(n_points_a[i], n_points_b[i]))
expected[i] -= (2 *
gs.eval(n_points_a[i, self.time_like_dim]) *
gs.eval(n_points_b[i, self.time_like_dim]))
expected = helper.to_scalar(gs.array(expected))
self.assertAllClose(result_nn, expected)
def test_belongs(self):
point = self.space.random_uniform()
bool_belongs = self.space.belongs(point)
expected = tf.convert_to_tensor([[True]])
with self.test_session():
self.assertAllClose(gs.eval(expected), gs.eval(bool_belongs))
def test_squared_dist_vectorization(self):
n_samples = self.n_samples
one_point_a = self.space.random_uniform()
one_point_b = self.space.random_uniform()
n_points_a = self.space.random_uniform(n_samples=n_samples)
n_points_b = self.space.random_uniform(n_samples=n_samples)
result = self.metric.squared_dist(one_point_a, one_point_b)
point_numpy = np.random.uniform(size=(1, 1))
with self.test_session():
# TODO(nina): Fix that this test fails with assertShapeEqual
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
result = self.metric.squared_dist(n_points_a, one_point_b)
point_numpy = np.random.uniform(size=(n_samples, 1))
with self.test_session():
# TODO(nina): Fix that this test fails with assertShapeEqual
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
result = self.metric.squared_dist(one_point_a, n_points_b)
point_numpy = np.random.uniform(size=(n_samples, 1))
with self.test_session():
# TODO(nina): Fix that this test fails with assertShapeEqual
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
result = self.metric.squared_dist(n_points_a, n_points_b)
point_numpy = np.random.uniform(size=(n_samples, 1))
with self.test_session():
# TODO(nina): Fix that this test fails with assertShapeEqual
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
def test_inner_product_vectorization(self):
n_samples = 3
one_point_a = tf.convert_to_tensor([0., 1.])
one_point_b = tf.convert_to_tensor([2., 10.])
n_points_a = tf.convert_to_tensor([[2., 1.], [-2., -4.], [-5., 1.]])
n_points_b = tf.convert_to_tensor([[2., 10.], [8., -1.], [-3., 6.]])
result = self.metric.inner_product(one_point_a, one_point_b)
expected = gs.dot(one_point_a, gs.transpose(one_point_b))
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
result = self.metric.inner_product(n_points_a, one_point_b)
point_numpy = np.random.uniform(size=(n_samples, 1))
# TODO(nina): Fix this test with assertShapeEqual
with self.test_session():
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
result = self.metric.inner_product(one_point_a, n_points_b)
point_numpy = np.random.uniform(size=(n_samples, 1))
# TODO(nina): Fix this test with assertShapeEqual
with self.test_session():
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
result = self.metric.inner_product(n_points_a, n_points_b)
point_numpy = np.random.uniform(size=(n_samples, 1))
# TODO(nina): Fix this test with assertShapeEqual
with self.test_session():
self.assertAllClose(point_numpy.shape, gs.eval(gs.shape(result)))
def test_compose_and_inverse(self):
# 1. Compose transformation by its inverse on the right
# Expect the group identity
rot_vec = tf.convert_to_tensor([0.2, 0.1, 0.1])
mat = self.so3_group.matrix_from_rotation_vector(rot_vec)
inv_mat = self.group.inverse(mat)
result = self.group.compose(mat, inv_mat)
expected = self.group.identity
expected = helper.to_matrix(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
# 2. Compose transformation by its inverse on the left
# Expect the group identity
rot_vec = tf.convert_to_tensor([0.7, 0.1, 0.1])
mat = self.so3_group.matrix_from_rotation_vector(rot_vec)
inv_mat = self.group.inverse(mat)
result = self.group.compose(inv_mat, mat)
expected = self.group.identity
expected = helper.to_matrix(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_log_and_exp_edge_case(self):
"""
Test that the riemannian exponential
and the riemannian logarithm are inverse.
Expect their composition to give the identity function.
NB: points on the n-dimensional sphere are
(n+1)-D vectors of norm 1.
"""
# Riemannian Log then Riemannian Exp
# Edge case: two very close points, base_point_2 and point_2,
# form an angle < epsilon
base_point = tf.convert_to_tensor([1., 2., 3., 4., 6.])
base_point = base_point / gs.linalg.norm(base_point)
point = (base_point +
1e-12 * tf.convert_to_tensor([-1., -2., 1., 1., .1]))
point = point / gs.linalg.norm(point)
log = self.metric.log(point=point, base_point=base_point)
result = self.metric.exp(tangent_vec=log, base_point=base_point)
expected = point
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_squared_dist_and_squared_norm_right_metrics(self):
result = self.right_metric.squared_dist(self.point_1, self.point_2)
log = self.right_diag_metric.log(base_point=self.point_1,
point=self.point_2)
expected = self.right_metric.squared_norm(vector=log,
base_point=self.point_1)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_left_log_and_log_from_identity_left_diag_metrics(self):
left_log_from_id = self.left_diag_metric.left_log_from_identity(
self.point_1)
log_from_id = self.left_diag_metric.log_from_identity(self.point_1)
with self.test_session():
self.assertAllClose(gs.eval(left_log_from_id),
gs.eval(log_from_id))
def test_inner_product_matrix(self):
result = self.metric.inner_product_matrix()
expected = gs.eye(self.dimension)
expected = helper.to_matrix(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_exp_vectorization(self):
n_samples = 3
dim = self.dimension + 1
one_vec = gs.array([2.0, 1.0, 1.0, 1.0])
one_base_point = gs.array([4.0, 3., 1.0, math.sqrt(5)])
n_vecs = gs.array([[2., 1., 1., 1.], [4., 1., 3.,
math.sqrt(5.)], [3., 2., 0.,
2.]])
n_base_points = gs.array(
[[2.0, 0.0, 1.0, math.sqrt(2)],
[5.0, math.sqrt(8), math.sqrt(8),
math.sqrt(8)], [1.0, 0.0, 0.0, 0.0]])
one_tangent_vec = self.space.projection_to_tangent_space(
one_vec, base_point=one_base_point)
result = self.metric.exp(one_tangent_vec, one_base_point)
self.assertAllClose(gs.shape(result), (1, dim))
n_tangent_vecs = self.space.projection_to_tangent_space(
n_vecs, base_point=one_base_point)
result = self.metric.exp(n_tangent_vecs, one_base_point)
self.assertAllClose(gs.shape(result), (n_samples, dim))
expected = np.zeros((n_samples, dim))
with self.session():
for i in range(n_samples):
expected[i] = gs.eval(
self.metric.exp(n_tangent_vecs[i], one_base_point))
expected = helper.to_vector(gs.array(expected))
self.assertAllClose(result, expected)
one_tangent_vec = self.space.projection_to_tangent_space(
one_vec, base_point=n_base_points)
result = self.metric.exp(one_tangent_vec, n_base_points)
self.assertAllClose(gs.shape(result), (n_samples, dim))
expected = np.zeros((n_samples, dim))
with self.session():
for i in range(n_samples):
expected[i] = gs.eval(
self.metric.exp(one_tangent_vec[i], n_base_points[i]))
expected = helper.to_vector(gs.array(expected))
self.assertAllClose(result, expected)
n_tangent_vecs = self.space.projection_to_tangent_space(
n_vecs, base_point=n_base_points)
result = self.metric.exp(n_tangent_vecs, n_base_points)
self.assertAllClose(gs.shape(result), (n_samples, dim))
expected = np.zeros((n_samples, dim))
with self.session():
for i in range(n_samples):
expected[i] = gs.eval(
self.metric.exp(n_tangent_vecs[i], n_base_points[i]))
expected = helper.to_vector(gs.array(expected))
self.assertAllClose(result, expected)
def test_squared_norm(self):
point = tf.convert_to_tensor([-2., 4.])
result = self.metric.squared_norm(point)
expected = gs.dot(point, point)
expected -= 2 * point[self.time_like_dim] * point[self.time_like_dim]
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_exp(self):
base_point = tf.convert_to_tensor([1.0, 0.])
vector = tf.convert_to_tensor([2., math.sqrt(3)])
result = self.metric.exp(tangent_vec=vector, base_point=base_point)
expected = base_point + vector
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_log(self):
base_point = tf.convert_to_tensor([-1., 0.])
point = tf.convert_to_tensor([2., math.sqrt(3)])
result = self.metric.log(point=point, base_point=base_point)
expected = point - base_point
expected = helper.to_vector(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_dist(self):
# Distance between a point and itself is 0.
point_a = tf.convert_to_tensor([4.0, 1., 3.0, math.sqrt(5)])
point_b = point_a
result = self.metric.dist(point_a, point_b)
expected = tf.convert_to_tensor([[0]])
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_inner_product_matrix_and_its_inverse(self):
inner_prod_mat = self.left_diag_metric.inner_product_mat_at_identity
inv_inner_prod_mat = gs.linalg.inv(inner_prod_mat)
result = gs.matmul(inv_inner_prod_mat, inner_prod_mat)
expected = gs.eye(self.group.dimension)
expected = gs.to_ndarray(expected, to_ndim=3, axis=0)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_norm(self):
point = tf.convert_to_tensor([-2., 4.])
result = self.metric.norm(point)
expected = gs.linalg.norm(point)
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_inverse(self):
mat = tf.convert_to_tensor([[1., 2., 3.], [4., 5., 6.], [7., 8., 10.]])
result = self.group.inverse(mat)
expected = 1. / 3. * tf.convert_to_tensor(
[[-2., -4., 3.], [-2., 11., -6.], [3., -6., 3.]])
expected = helper.to_matrix(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_dist(self):
point_a = tf.convert_to_tensor([0., 1.])
point_b = tf.convert_to_tensor([2., 10.])
result = self.metric.dist(point_a, point_b)
expected = gs.linalg.norm(point_b - point_a)
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_inner_product(self):
point_a = tf.convert_to_tensor([0., 1.])
point_b = tf.convert_to_tensor([2., 10.])
result = self.metric.inner_product(point_a, point_b)
expected = gs.dot(point_a, point_b)
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_squared_dist(self):
point_a = tf.convert_to_tensor([-1., 4.])
point_b = tf.convert_to_tensor([1., 1.])
result = self.metric.squared_dist(point_a, point_b)
vec = point_b - point_a
expected = gs.dot(vec, vec)
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_squared_dist(self):
point_a = tf.convert_to_tensor([2., -math.sqrt(3)])
point_b = tf.convert_to_tensor([4.0, math.sqrt(15)])
result = self.metric.squared_dist(point_a, point_b)
vec = point_b - point_a
expected = gs.dot(vec, vec)
expected -= 2 * vec[self.time_like_dim] * vec[self.time_like_dim]
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_variance(self):
points = tf.convert_to_tensor([[1., 0.], [2., math.sqrt(3)],
[3., math.sqrt(8)], [4.,
math.sqrt(24)]])
weights = tf.convert_to_tensor([1., 2., 1., 2.])
base_point = tf.convert_to_tensor([-1., 0.])
result = self.metric.variance(points, weights, base_point)
# we expect the average of the points' Minkowski sq norms.
expected = helper.to_scalar(tf.convert_to_tensor([True]))
with self.test_session():
self.assertAllClose(gs.eval(result) != 0, gs.eval(expected))
def test_dist_point_and_itself(self):
# Distance between a point and itself is 0
point_a = (1. / gs.sqrt(129.) *
tf.convert_to_tensor([10., -2., -5., 0., 0.]))
point_b = point_a
result = self.metric.dist(point_a, point_b)
expected = 0.
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
def test_variance(self):
points = tf.convert_to_tensor([[1., 2.], [2., 3.], [3., 4.], [4., 5.]])
weights = tf.convert_to_tensor([1., 2., 1., 2.])
base_point = gs.zeros(2)
result = self.metric.variance(points, weights, base_point)
# we expect the average of the points' sq norms.
expected = (1 * 5. + 2 * 13. + 1 * 25. + 2 * 41.) / 6.
expected = helper.to_scalar(expected)
with self.test_session():
self.assertAllClose(gs.eval(result), gs.eval(expected))
