def test_space_derivative(
self, dim, n_points, n_discretized_curves, n_sampling_points
):
"""Test space derivative.
Check result on an example and vectorization.
"""
n_points = 3
dim = 3
srv_metric_r3 = SRVMetric(Euclidean(dim))
curve = gs.random.rand(n_points, dim)
result = srv_metric_r3.space_derivative(curve)
delta = 1 / n_points
d_curve_1 = (curve[1] - curve[0]) / delta
d_curve_2 = (curve[2] - curve[0]) / (2 * delta)
d_curve_3 = (curve[2] - curve[1]) / delta
expected = gs.squeeze(
gs.vstack(
(
gs.to_ndarray(d_curve_1, 2),
gs.to_ndarray(d_curve_2, 2),
gs.to_ndarray(d_curve_3, 2),
)
)
)
self.assertAllClose(result, expected)
path_of_curves = gs.random.rand(n_discretized_curves, n_sampling_points, dim)
result = srv_metric_r3.space_derivative(path_of_curves)
expected = []
for i in range(n_discretized_curves):
expected.append(srv_metric_r3.space_derivative(path_of_curves[i]))
expected = gs.stack(expected)
self.assertAllClose(result, expected)
def test_srv_inner_product_elastic(self, dim, n_sampling_points, curve_a):
"""Test inner product of SRVMetric.
Check that the pullback metric gives an elastic metric
with parameters a=1, b=1/2.
"""
tangent_vec_a = gs.random.rand(n_sampling_points, dim)
tangent_vec_b = gs.random.rand(n_sampling_points, dim)
r3 = Euclidean(dim)
srv_metric_r3 = SRVMetric(r3)
result = srv_metric_r3.inner_product(tangent_vec_a, tangent_vec_b, curve_a)
d_vec_a = (n_sampling_points - 1) * (
tangent_vec_a[1:, :] - tangent_vec_a[:-1, :]
)
d_vec_b = (n_sampling_points - 1) * (
tangent_vec_b[1:, :] - tangent_vec_b[:-1, :]
)
velocity_vec = (n_sampling_points - 1) * (curve_a[1:, :] - curve_a[:-1, :])
velocity_norm = r3.metric.norm(velocity_vec)
unit_velocity_vec = gs.einsum("ij,i->ij", velocity_vec, 1 / velocity_norm)
a_param = 1
b_param = 1 / 2
integrand = (
a_param**2 * gs.sum(d_vec_a * d_vec_b, axis=1)
- (a_param**2 - b_param**2)
* gs.sum(d_vec_a * unit_velocity_vec, axis=1)
* gs.sum(d_vec_b * unit_velocity_vec, axis=1)
) / velocity_norm
expected = gs.sum(integrand) / n_sampling_points
self.assertAllClose(result, expected)
def test_split_horizontal_vertical(
self, times, n_discretized_curves, curve_a, curve_b
):
"""Test split horizontal vertical.
Check that horizontal and vertical parts of any tangent
vector are othogonal with respect to the SRVMetric inner
product, and check vectorization.
"""
srv_metric_r3 = SRVMetric(r3)
quotient_srv_metric_r3 = DiscreteCurves(ambient_manifold=r3).quotient_srv_metric
geod = srv_metric_r3.geodesic(initial_curve=curve_a, end_curve=curve_b)
geod = geod(times)
tangent_vec = n_discretized_curves * (geod[1, :, :] - geod[0, :, :])
(
tangent_vec_hor,
tangent_vec_ver,
_,
) = quotient_srv_metric_r3.split_horizontal_vertical(tangent_vec, curve_a)
result = srv_metric_r3.inner_product(tangent_vec_hor, tangent_vec_ver, curve_a)
expected = 0.0
self.assertAllClose(result, expected, atol=1e-4)
tangent_vecs = n_discretized_curves * (geod[1:] - geod[:-1])
_, _, result = quotient_srv_metric_r3.split_horizontal_vertical(
tangent_vecs, geod[:-1]
)
expected = []
for i in range(n_discretized_curves - 1):
_, _, res = quotient_srv_metric_r3.split_horizontal_vertical(
tangent_vecs[i], geod[i]
)
expected.append(res)
expected = gs.stack(expected)
self.assertAllClose(result, expected)
def test_aux_differential_srv_transform_inverse(
self, dim, n_sampling_points, curve_a
):
"""Test inverse of differential of square root velocity transform.
Check that it is the inverse of aux_differential_srv_transform.
"""
tangent_vec = gs.transpose(
gs.tile(gs.linspace(0.0, 1.0, n_sampling_points), (dim, 1))
)
srv_metric_r3 = SRVMetric(r3)
d_srv = srv_metric_r3.aux_differential_srv_transform(tangent_vec, curve_a)
result = srv_metric_r3.aux_differential_srv_transform_inverse(d_srv, curve_a)
expected = tangent_vec
self.assertAllClose(result, expected, atol=1e-3, rtol=1e-3)
def test_srv_transform_and_srv_transform_inverse(self, rtol, atol):
"""Test that srv and its inverse are inverse."""
metric = SRVMetric(ambient_manifold=r3)
curve = DiscreteCurves(r3).random_point(n_samples=2)
srv = metric.srv_transform(curve)
srv_inverse = metric.srv_transform_inverse(srv, curve[:, 0])
result = srv.shape
expected = (curve.shape[0], curve.shape[1] - 1, 3)
self.assertAllClose(result, expected)
result = srv_inverse
expected = curve
self.assertAllClose(result, expected, rtol, atol)
def test_srv_transform_and_inverse(self, times, curve_a, curve_b):
"""Test of SRVT and its inverse.
N.B: Here curves_ab are seen as curves in R3 and not S2.
"""
l2_metric_s2 = L2CurvesMetric(ambient_manifold=s2)
srv_metric_r3 = SRVMetric(ambient_manifold=r3)
curves_ab = l2_metric_s2.geodesic(curve_a, curve_b)
curves_ab = curves_ab(times)
curves = curves_ab
srv_curves = srv_metric_r3.srv_transform(curves)
starting_points = curves[:, 0, :]
result = srv_metric_r3.srv_transform_inverse(srv_curves, starting_points)
expected = curves
self.assertAllClose(result, expected)
def test_srv_inner_product_and_dist(self, dim, curve_a, curve_b):
"""Test that norm of log and dist coincide
for curves with same / different starting points, and for
the translation invariant / non invariant SRV metric.
"""
r3 = Euclidean(dim=dim)
curve_b_transl = curve_b + gs.array([1.0, 0.0, 0.0])
curve_b = [curve_b, curve_b_transl]
translation_invariant = [True, False]
for curve in curve_b:
for param in translation_invariant:
srv_metric = SRVMetric(ambient_manifold=r3, translation_invariant=param)
log = srv_metric.log(point=curve, base_point=curve_a)
result = srv_metric.norm(vector=log, base_point=curve_a)
expected = srv_metric.dist(curve_a, curve)
self.assertAllClose(result, expected)
def test_aux_differential_srv_transform_vectorization(
self, dim, n_sampling_points, curve_a, curve_b
):
"""Test differential of square root velocity transform.
Check vectorization.
"""
dim = 3
curves = gs.stack((curve_a, curve_b))
tangent_vecs = gs.random.rand(2, n_sampling_points, dim)
srv_metric_r3 = SRVMetric(r3)
result = srv_metric_r3.aux_differential_srv_transform(tangent_vecs, curves)
res_a = srv_metric_r3.aux_differential_srv_transform(tangent_vecs[0], curve_a)
res_b = srv_metric_r3.aux_differential_srv_transform(tangent_vecs[1], curve_b)
expected = gs.stack([res_a, res_b])
self.assertAllClose(result, expected)
def test_srv_metric_pointwise_inner_products(self, times, curve_a, curve_b,
curve_c, n_discretized_curves,
n_sampling_points):
l2_metric_s2 = L2CurvesMetric(ambient_manifold=s2)
srv_metric_r3 = SRVMetric(ambient_manifold=r3)
curves_ab = l2_metric_s2.geodesic(curve_a, curve_b)
curves_bc = l2_metric_s2.geodesic(curve_b, curve_c)
curves_ab = curves_ab(times)
curves_bc = curves_bc(times)
tangent_vecs = l2_metric_s2.log(point=curves_bc, base_point=curves_ab)
result = srv_metric_r3.l2_metric.pointwise_inner_products(
tangent_vec_a=tangent_vecs,
tangent_vec_b=tangent_vecs,
base_curve=curves_ab)
expected_shape = (n_discretized_curves, n_sampling_points)
self.assertAllClose(gs.shape(result), expected_shape)
result = srv_metric_r3.l2_metric.pointwise_inner_products(
tangent_vec_a=tangent_vecs[0],
tangent_vec_b=tangent_vecs[0],
base_curve=curves_ab[0],
)
expected_shape = (n_sampling_points, )
self.assertAllClose(gs.shape(result), expected_shape)
def test_srv_norm(self, curve_a, curve_b, times):
l2_metric_s2 = L2CurvesMetric(ambient_manifold=s2)
srv_metric_r3 = SRVMetric(ambient_manifold=r3)
curves_ab = l2_metric_s2.geodesic(curve_a, curve_b)
curves_ab = curves_ab(times)
srvs_ab = srv_metric_r3.srv_transform(curves_ab)
result = srv_metric_r3.l2_curves_metric.norm(srvs_ab)
products = srvs_ab * srvs_ab
sums = [gs.sum(product) for product in products]
squared_norm = gs.array(sums) / (srvs_ab.shape[-2] + 1)
expected = gs.sqrt(squared_norm)
self.assertAllClose(result, expected)
result = result.shape
expected = [srvs_ab.shape[0]]
self.assertAllClose(result, expected)
def test_srv_inner_product_vectorization(self, dim, n_sampling_points,
curve_a, curve_b):
"""Test inner product of SRVMetric.
Check vectorization.
"""
curves = gs.stack((curve_a, curve_b))
tangent_vecs_1 = gs.random.rand(2, n_sampling_points, dim)
tangent_vecs_2 = gs.random.rand(2, n_sampling_points, dim)
srv_metric_r3 = SRVMetric(r3)
result = srv_metric_r3.inner_product(tangent_vecs_1, tangent_vecs_2,
curves)
res_a = srv_metric_r3.inner_product(tangent_vecs_1[0],
tangent_vecs_2[0], curve_a)
res_b = srv_metric_r3.inner_product(tangent_vecs_1[1],
tangent_vecs_2[1], curve_b)
expected = gs.stack((res_a, res_b))
self.assertAllClose(result, expected)
def test_srv_inner_product(self, curve_a, curve_b, curve_c, times):
l2_metric_s2 = L2CurvesMetric(ambient_manifold=s2)
srv_metric_r3 = SRVMetric(ambient_manifold=r3)
curves_ab = l2_metric_s2.geodesic(curve_a, curve_b)
curves_bc = l2_metric_s2.geodesic(curve_b, curve_c)
curves_ab = curves_ab(times)
curves_bc = curves_bc(times)
srvs_ab = srv_metric_r3.srv_transform(curves_ab)
srvs_bc = srv_metric_r3.srv_transform(curves_bc)
result = srv_metric_r3.l2_curves_metric.inner_product(srvs_ab, srvs_bc)
products = srvs_ab * srvs_bc
expected = [gs.sum(product) for product in products]
expected = gs.array(expected) / (srvs_ab.shape[-2] + 1)
self.assertAllClose(result, expected)
result = result.shape
expected = [srvs_ab.shape[0]]
self.assertAllClose(result, expected)
def test_aux_differential_srv_transform(self, dim, n_sampling_points,
n_curves, curve_fun_a):
"""Test differential of square root velocity transform.
Check that its value at (curve, tangent_vec) coincides
with the derivative at zero of the square root velocity
transform of a path of curves starting at curve with
initial derivative tangent_vec.
"""
srv_metric_r3 = SRVMetric(r3)
sampling_times = gs.linspace(0.0, 1.0, n_sampling_points)
curve_a = curve_fun_a(sampling_times)
tangent_vec = gs.transpose(
gs.tile(gs.linspace(1.0, 2.0, n_sampling_points), (dim, 1)))
result = srv_metric_r3.aux_differential_srv_transform(
tangent_vec, curve_a)
times = gs.linspace(0.0, 1.0, n_curves)
path_of_curves = curve_a + gs.einsum("i,jk->ijk", times, tangent_vec)
srv_path = srv_metric_r3.srv_transform(path_of_curves)
expected = n_curves * (srv_path[1] - srv_path[0])
self.assertAllClose(result, expected, atol=1e-3, rtol=1e-3)
