def regularize(self, point):
"""Regularize a point to the canonical representation.
Regularize a point to the canonical representation chosen
for the Hyperbolic space, to avoid numerical issues.
Parameters
----------
point : array-like, shape=[n_samples, dimension + 1]
Input points. TODO: confusing: singular or plural
Returns
-------
projected_point : array-like, shape=[n_samples, dimension + 1]
"""
point = gs.to_ndarray(point, to_ndim=2)
sq_norm = self.embedding_metric.squared_norm(point)
real_norm = gs.sqrt(gs.abs(sq_norm))
mask_0 = gs.isclose(real_norm, 0.)
mask_not_0 = ~mask_0
mask_not_0_float = gs.cast(mask_not_0, gs.float32)
projected_point = point
projected_point = mask_not_0_float * (point / real_norm)
return projected_point
def reshape_metric_matrix(self, metric_mat):
"""Reshape diagonal metric matrix to a symmetric matrix of size n.
Reshape a diagonal metric matrix of size `dim x dim` into a symmetric
matrix of size `n x n` where :math: `dim= n (n -1) / 2` is the
dimension of the space of skew symmetric matrices. The
non-diagonal coefficients in the output matrix correspond to the
basis matrices of this space. The diagonal is filled with ones.
This useful to compute a matrix inner product.
Parameters
----------
metric_mat : array-like, shape=[dim, dim]
Diagonal metric matrix.
Returns
-------
symmetric_matrix : array-like, shape=[n, n]
Symmetric matrix.
"""
if Matrices.is_diagonal(metric_mat):
metric_coeffs = gs.diagonal(metric_mat)
metric_mat = gs.abs(self.matrix_representation(metric_coeffs))
return metric_mat
raise ValueError('This is only possible for a diagonal matrix')
def belongs(self, point, tolerance=TOLERANCE):
"""Test if a point belongs to the hyperbolic space.
Test if a point belongs to the hyperbolic space in
its hyperboloid representation.
Parameters
----------
point : array-like, shape=[..., dim]
Point to be tested.
tolerance : float, optional
Tolerance at which to evaluate how close the squared norm
is to the reference value.
Returns
-------
belongs : array-like, shape=[..., 1]
Array of booleans indicating whether the corresponding points
belong to the hyperbolic space.
"""
point_dim = point.shape[-1]
if point_dim is not self.dim + 1:
belongs = False
if point_dim is self.dim and self.coords_type == 'intrinsic':
belongs = True
if gs.ndim(point) == 2:
belongs = gs.tile([belongs], (point.shape[0], ))
return belongs
sq_norm = self.embedding_metric.squared_norm(point)
euclidean_sq_norm = gs.linalg.norm(point, axis=-1)**2
diff = gs.abs(sq_norm + 1)
belongs = diff < tolerance * euclidean_sq_norm
return belongs
def regularize(self, point):
"""Regularize a point to the canonical representation.
Regularize a point to the canonical representation chosen
for the hyperbolic space, to avoid numerical issues.
Parameters
----------
point : array-like, shape=[..., dim + 1]
Point.
Returns
-------
projected_point : array-like, shape=[..., dim + 1]
Point in hyperbolic space in canonical representation
in extrinsic coordinates.
"""
if self.coords_type == 'intrinsic':
point = self.intrinsic_to_extrinsic_coords(point)
point = gs.to_ndarray(point, to_ndim=2)
sq_norm = self.embedding_metric.squared_norm(point)
real_norm = gs.sqrt(gs.abs(sq_norm))
mask_0 = gs.isclose(real_norm, 0.)
mask_not_0 = ~mask_0
mask_not_0_float = gs.cast(mask_not_0, gs.float32)
projected_point = point
normalized_point = gs.einsum('...,...i->...i', 1. / real_norm, point)
projected_point = gs.einsum('...,...i->...i', mask_not_0_float,
normalized_point)
return projected_point
def regularize(self, point):
"""Regularize a point to the canonical representation.
Regularize a point to the canonical representation chosen
for the hyperbolic space, to avoid numerical issues.
Parameters
----------
point : array-like, shape=[..., dim + 1]
Point.
Returns
-------
projected_point : array-like, shape=[..., dim + 1]
Point in hyperbolic space in canonical representation
in extrinsic coordinates.
"""
if self.coords_type == 'intrinsic':
point = self.intrinsic_to_extrinsic_coords(point)
sq_norm = self.embedding_metric.squared_norm(point)
if not gs.all(sq_norm):
raise ValueError('Cannot project a vector of norm 0. in the '
'Minkowski space to the hyperboloid')
real_norm = gs.sqrt(gs.abs(sq_norm))
projected_point = gs.einsum('...i,...->...i', point, 1. / real_norm)
return projected_point
def belongs(self, point, tolerance=TOLERANCE):
"""Test if a point belongs to the hypersphere.
This tests whether the point's squared norm in Euclidean space is 1.
Parameters
----------
point : array-like, shape=[n_samples, dimension + 1]
Points in Euclidean space.
tolerance : float, optional
Tolerance at which to evaluate norm == 1 (default: TOLERANCE).
Returns
-------
belongs : array-like, shape=[n_samples, 1]
Array of booleans evaluating if each point belongs to
the hypersphere.
"""
point = gs.asarray(point)
point_dim = point.shape[-1]
if point_dim != self.dimension + 1:
if point_dim is self.dimension:
logging.warning('Use the extrinsic coordinates to '
'represent points on the hypersphere.')
return gs.array([[False]])
sq_norm = self.embedding_metric.squared_norm(point)
diff = gs.abs(sq_norm - 1)
return gs.less_equal(diff, tolerance)
def belongs(self, point, tolerance=TOLERANCE):
"""Test if a point belongs to the hypersphere.
This tests whether the point's squared norm in Euclidean space is 1.
Parameters
----------
point : array-like, shape=[..., dim + 1]
Point in Euclidean space.
tolerance : float
Tolerance at which to evaluate norm == 1.
Optional, default: 1e-6.
Returns
-------
belongs : array-like, shape=[...,]
Boolean evaluating if point belongs to the hypersphere.
"""
point_dim = gs.shape(point)[-1]
if point_dim != self.dim + 1:
if point_dim is self.dim:
logging.warning('Use the extrinsic coordinates to '
'represent points on the hypersphere.')
belongs = False
if gs.ndim(point) == 2:
belongs = gs.tile([belongs], (point.shape[0], ))
return belongs
sq_norm = self.embedding_metric.squared_norm(point)
diff = gs.abs(sq_norm - 1)
return gs.less_equal(diff, tolerance)
def find_normalization_factor(variances, variances_range,
normalization_factor_var):
"""Find the normalization factor given some variances.
Parameters
----------
variances : array-like, shape=[n_gaussians,]
Array of standard deviations for each component
of some GMM.
variances_range : array-like, shape=[n_variances,]
Array of standard deviations.
normalization_factor_var : array-like, shape=[n_variances,]
Array of computed normalization factor.
Returns
-------
norm_factor : array-like, shape=[n_gaussians,]
Array of normalization factors for the given
variances.
"""
n_gaussians, precision = variances.shape[0], variances_range.shape[0]
ref = gs.expand_dims(variances_range, 0)
ref = gs.repeat(ref, n_gaussians, axis=0)
val = gs.expand_dims(variances, 1)
val = gs.repeat(val, precision, axis=1)
difference = gs.abs(ref - val)
index = gs.argmin(difference, axis=-1)
norm_factor = normalization_factor_var[index]
return norm_factor
def random_gaussian_rotation_orbit_noisy(self, mean_spd=None,
eigensummary=None,
var_rotations=1.,
var_eigenvalues=None,
n_samples=1):
r"""
Define a Gaussian-like random sample of SPD matrices.
Formally speaking, sample an orbit for given rotations in the SPD
manifold. For all means and purposes, it looks rather Gaussian.
Parameters
----------
mean_spd : array-like, shape = [n, n]
Mean SPD matrix.
var_rotations : float
Variance in rotation.
var_eigenvalues : array-like, shape = [n,]
Additional variance in eigenvalues.
eigensummary : EigenSummary
Represents the mean SPD matrix decomposed in eigenspace and
eigenvalues.
Notes
-----
:math:'mean_spd' is the mean SPD matrix; :math:'var_rotations' is the
scalar variance by which the mean is rotated:
:math:'\Sigma_{mid} \sim \mathcal{N}(\Sigma_{in}, \sigma_{eig}';
:math:'X_{out} = R \Sigma_{in} R^T'.
mean_spd and eigensummary are mutually exclusive; an error is thrown
if both are not None, or if both are None.
"""
n = self.n
if var_eigenvalues is None:
var_eigenvalues = gs.ones(n)
if mean_spd is not None and eigensummary is not None:
raise NotImplementedError
if mean_spd is None and eigensummary is None:
raise NotImplementedError
if eigensummary is None:
eigenvalues, eigenspace = gs.linalg.eigh(mean_spd)
eigenvalues = gs.diag(eigenvalues)
if mean_spd is None:
eigenvalues, eigenspace\
= eigensummary.eigenvalues, eigensummary.eigenspace
rotations = SpecialOrthogonal(n).random_gaussian(
eigenspace, var_rotations, n_samples=n_samples)
eigenvalues =\
gs.abs(gs.diag(gs.random.multivariate_normal(
gs.diag(eigenvalues), gs.diag(var_eigenvalues))))
spd_mat = Matrices.mul(rotations, eigenvalues, Matrices.transpose(
rotations))
return spd_mat
def plot(self, points, ax=None, space=None, **point_draw_kwargs):
if space == "SE3_GROUP":
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, 3:6]))
elif space == "SO3_GROUP":
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, :3]))
ax_s = float(ax_s)
bounds = (-ax_s, ax_s)
plt.setp(
ax,
xlim=bounds,
ylim=bounds,
zlim=bounds,
xlabel="X",
ylabel="Y",
zlabel="Z",
)
trihedrons = convert_to_trihedron(points, space=space)
for t in trihedrons:
t.draw(ax, **point_draw_kwargs)
def regularize(self, point):
assert gs.all(self.belongs(point))
point = gs.to_ndarray(point, to_ndim=2)
sq_norm = self.embedding_metric.squared_norm(point)
real_norm = gs.sqrt(gs.abs(sq_norm))
mask_0 = gs.isclose(real_norm, 0)
mask_0 = gs.squeeze(mask_0, axis=1)
mask_not_0 = ~mask_0
projected_point = point
projected_point[mask_not_0] = (point[mask_not_0] /
real_norm[mask_not_0])
return projected_point
def belongs(self, point, tolerance=TOLERANCE):
"""
Evaluate if a point belongs to the Hypersphere,
i.e. evaluate if its squared norm in the Euclidean space is 1.
"""
point = gs.asarray(point)
point_dim = point.shape[-1]
if point_dim != self.dimension + 1:
if point_dim is self.dimension:
logging.warning('Use the extrinsic coordinates to '
'represent points on the hypersphere.')
return gs.array([[False]])
sq_norm = self.embedding_metric.squared_norm(point)
diff = gs.abs(sq_norm - 1)
return gs.less_equal(diff, tolerance)
def belongs(self, point, tolerance=TOLERANCE):
"""
By definition, a point on the Hypersphere has squared norm 1
in the embedding Euclidean space.
Note: point must be given in extrinsic coordinates.
"""
point = gs.asarray(point)
point_dim = point.shape[-1]
if point_dim != self.dimension + 1:
if point_dim is self.dimension:
logging.warning('Use the extrinsic coordinates to '
'represent points on the hypersphere.')
return False
sq_norm = self.embedding_metric.squared_norm(point)
diff = gs.abs(sq_norm - 1)
return gs.less_equal(diff, tolerance)
def plot(points, ax=None, space=None, **point_draw_kwargs):
"""Plot trihedrons."""
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, :3]))
ax_s = float(ax_s)
bounds = (-ax_s, ax_s)
plt.setp(
ax,
xlim=bounds,
ylim=bounds,
zlim=bounds,
xlabel="X",
ylabel="Y",
zlabel="Z",
)
trihedrons = convert_to_trihedron(points, space=space)
for t in trihedrons:
t.draw(ax, **point_draw_kwargs)
def regularize(self, point):
"""
Regularize a point to the canonical representation
chosen for the Hyperbolic space, to avoid numerical issues.
"""
point = gs.to_ndarray(point, to_ndim=2)
sq_norm = self.embedding_metric.squared_norm(point)
real_norm = gs.sqrt(gs.abs(sq_norm))
mask_0 = gs.isclose(real_norm, 0.)
mask_not_0 = ~mask_0
mask_not_0_float = gs.cast(mask_not_0, gs.float32)
projected_point = point
projected_point = mask_not_0_float * (point / real_norm)
return projected_point
def regularize(self, point):
"""
Regularize a point to the canonical representation
chosen for the Hyperbolic space, to avoid numerical issues.
"""
assert gs.all(self.belongs(point))
point = gs.to_ndarray(point, to_ndim=2)
sq_norm = self.embedding_metric.squared_norm(point)
real_norm = gs.sqrt(gs.abs(sq_norm))
mask_0 = gs.isclose(real_norm, 0)
mask_0 = gs.squeeze(mask_0, axis=1)
mask_not_0 = ~mask_0
projected_point = point
projected_point[mask_not_0] = (point[mask_not_0] /
real_norm[mask_not_0])
return projected_point
def find_variance_from_index(weighted_distances, variances_range,
phi_inv_var):
r"""Return the variance given weighted distances.
Parameters
----------
weighted_distances : array-like, shape=[n_gaussians,]
Mean of the weighted distances between training data
and current barycentres. The weights of each data sample
corresponds to the probability of belonging to a component
of the Gaussian mixture model.
variances_range : array-like, shape=[n_variances,]
Array of standard deviations.
phi_inv_var : array-like, shape=[n_variances,]
Array of the computed inverse of a function phi
whose expression is closed-form
:math:`\sigma\mapsto \sigma^3 \times \frac{d }
{\mathstrut d\sigma}\log \zeta_m(\sigma)'
where :math:'\sigma' denotes the variance
and :math:'\zeta' the normalization coefficient
and :math:'m' the dimension.
Returns
-------
var : array-like, shape=[n_gaussians,]
Estimated variances for each component of the GMM.
"""
n_gaussians, precision = \
weighted_distances.shape[0], variances_range.shape[0]
ref = gs.expand_dims(phi_inv_var, 0)
ref = gs.repeat(ref, n_gaussians, axis=0)
val = gs.expand_dims(weighted_distances, 1)
val = gs.repeat(val, precision, axis=1)
abs_difference = gs.abs(ref - val)
index = gs.argmin(abs_difference, -1)
var = variances_range[index]
return var
def belongs(self, point, tolerance=TOLERANCE):
"""
Evaluate if a point belongs to the Hyperbolic space,
i.e. evaluate if its squared norm in the Minkowski space is -1.
"""
point = gs.to_ndarray(point, to_ndim=2)
_, point_dim = point.shape
if point_dim is not self.dimension + 1:
if point_dim is self.dimension:
logging.warning('Use the extrinsic coordinates to '
'represent points on the hyperbolic space.')
return gs.array([[False]])
sq_norm = self.embedding_metric.squared_norm(point)
euclidean_sq_norm = gs.linalg.norm(point, axis=-1)**2
euclidean_sq_norm = gs.to_ndarray(euclidean_sq_norm, to_ndim=2, axis=1)
diff = gs.abs(sq_norm + 1)
belongs = diff < tolerance * euclidean_sq_norm
return belongs
def gradient_descent(
start, loss, grad, manifold, lr=0.01, max_iter=256, precision=1e-5
):
"""Operate a gradient descent on a given manifold.
Until either max_iter or a given precision is reached.
"""
x = start
for i in range(max_iter):
x_prev = x
euclidean_grad = -lr * grad(x)
tangent_vec = manifold.to_tangent(vector=euclidean_grad, base_point=x)
x = manifold.metric.exp(base_point=x, tangent_vec=tangent_vec)
if gs.abs(loss(x, use_gs=True) - loss(x_prev, use_gs=True)) <= precision:
logging.info("x: %s", x)
logging.info("reached precision %s", precision)
logging.info("iterations: %d", i)
break
yield x, loss(x)
def belongs(self, point, atol=gs.atol):
"""Check if a matrix is invertible and of the right shape.
Parameters
----------
point : array-like, shape=[..., n, n]
Matrix to be checked.
atol : float
Tolerance threshold for the determinant.
Returns
-------
belongs : array-like, shape=[...,]
Boolean denoting if point is in GL(n).
"""
has_right_size = self.ambient_space.belongs(point)
if gs.all(has_right_size):
det = gs.linalg.det(point)
return det > atol if self.positive_det else gs.abs(det) > atol
return has_right_size
def belongs(self, point, tolerance=TOLERANCE):
"""Test if a point belongs to the hyperbolic space.
Test if a point belongs to the hyperbolic space according
to the current representation.
Parameters
----------
point : array-like, shape=[n_samples, dimension]
or shape=[n_samples, dimension + 1]
Point.
tolerance : float, optional
Tolerance at which to evaluate how close is the squared norm
compared to the reference value.
Returns
-------
belongs : array-like, shape=[n_samples, 1]
Array of booleans evaluating if the corresponding points
belong to the hyperbolic space.
"""
if self.point_type == 'ball':
return self.belongs_to[self.point_type](point, tolerance=tolerance)
else:
point = gs.to_ndarray(point, to_ndim=2)
_, point_dim = point.shape
if point_dim is not self.dimension + 1:
if point_dim is self.dimension:
logging.warning(
'Use the extrinsic coordinates to '
'represent points in the hyperbolic space.')
return gs.array([[False]])
sq_norm = self.embedding_metric.squared_norm(point)
euclidean_sq_norm = gs.linalg.norm(point, axis=-1)**2
euclidean_sq_norm = gs.to_ndarray(euclidean_sq_norm,
to_ndim=2,
axis=1)
diff = gs.abs(sq_norm + 1)
belongs = diff < tolerance * euclidean_sq_norm
return belongs
def projection(self, point):
"""Project a matrix to the Cholesksy space.
First it is projected to space lower triangular matrices
and then diagonal elements are exponentiated to make it positive.
Parameters
----------
point : array-like, shape=[..., n, n]
Matrix to project.
Returns
-------
projected: array-like, shape=[..., n, n]
SPD matrix.
"""
vec_diag = gs.abs(Matrices.diagonal(point) - 0.1) + 0.1
diag = gs.vec_to_diag(vec_diag)
strictly_lower_triangular = Matrices.to_lower_triangular(point)
projection = diag + strictly_lower_triangular
return projection
def belongs(self, point, tolerance=TOLERANCE):
"""Evaluate if a point belongs to the Hyperbolic space.
Evaluate if a point belongs to the Hyperbolic space according
to the current representation
Parameters
----------
point : array-like, shape=[n_samples, dimension] or
shape=[n_samples, dimension + 1] for extrinsic
coordinates
Input points.
tolerance : float, optional
Returns
-------
belongs : array-like, shape=[n_samples, 1]
"""
if self.point_type == 'ball':
return self.belongs_to[self.point_type](point, tolerance=tolerance)
else:
point = gs.to_ndarray(point, to_ndim=2)
_, point_dim = point.shape
if point_dim is not self.dimension + 1:
if point_dim is self.dimension:
logging.warning(
'Use the extrinsic coordinates to '
'represent points on the hyperbolic space.')
return gs.array([[False]])
sq_norm = self.embedding_metric.squared_norm(point)
euclidean_sq_norm = gs.linalg.norm(point, axis=-1)**2
euclidean_sq_norm = gs.to_ndarray(euclidean_sq_norm,
to_ndim=2,
axis=1)
diff = gs.abs(sq_norm + 1)
belongs = diff < tolerance * euclidean_sq_norm
return belongs
def gradient_descent(start,
loss,
grad,
manifold,
lr=0.01,
max_iter=256,
precision=1e-5):
"""Operate a gradient descent on a given manifold until either max_iter or
a given precision is reached."""
x = start
for i in range(max_iter):
x_prev = x
euclidean_grad = - lr * grad(x)
tangent_vec = manifold.projection_to_tangent_space(
vector=euclidean_grad, base_point=x)
x = manifold.metric.exp(base_point=x, tangent_vec=tangent_vec)[0]
if (gs.abs(loss(x, use_gs=True) - loss(x_prev, use_gs=True))
<= precision):
print('x: %s' % x)
print('reached precision %s' % precision)
print('iterations: %d' % i)
break
yield x, loss(x)
def random_point(self, n_samples=1):
r"""Compute a random point of the spider set.
Parameters
----------
n_samples : int
Number of samples.
Optional, default: 1.
Returns
-------
samples : list of SpiderPoint, shape=[...]
List of SpiderPoints randomly sampled from the Spider.
"""
if self.n_rays != 0:
s = gs.random.randint(low=0, high=self.n_rays, size=n_samples)
x = gs.abs(gs.random.normal(loc=10, scale=1, size=n_samples))
x[s == 0] = 0
return [
SpiderPoint(stratum=s[k], stratum_coord=x[k])
for k in range(n_samples)
]
return [SpiderPoint(stratum=0, stratum_coord=0)] * n_samples
def from_vector_to_diagonal_matrix(vector, num_diag=0):
"""Create diagonal matrices from rows of a matrix.
Parameters
----------
vector : array-like, shape=[m, n]
num_diag : int
number of diagonal in result matrix. If 0, the result matrix is a
diagonal matrix; if positive, the result matrix has an upper-right
non-zero diagonal; if negative, the result matrix has a lower-left
non-zero diagonal.
Optional, Default: 0.
Returns
-------
diagonals : array-like, shape=[m, n, n]
3-dimensional array where the `i`-th n-by-n array `diagonals[i, :, :]`
is a diagonal matrix containing the `i`-th row of `vector`.
"""
num_columns = gs.shape(vector)[-1]
identity = gs.eye(num_columns)
identity = gs.cast(identity, vector.dtype)
diagonals = gs.einsum("...i,ij->...ij", vector, identity)
diagonals = gs.to_ndarray(diagonals, to_ndim=3)
num_lines = diagonals.shape[0]
if num_diag > 0:
left_zeros = gs.zeros((num_lines, num_columns, num_diag))
lower_zeros = gs.zeros((num_lines, num_diag, num_columns + num_diag))
diagonals = gs.concatenate((left_zeros, diagonals), axis=2)
diagonals = gs.concatenate((diagonals, lower_zeros), axis=1)
elif num_diag < 0:
num_diag = gs.abs(num_diag)
right_zeros = gs.zeros((num_lines, num_columns, num_diag))
upper_zeros = gs.zeros((num_lines, num_diag, num_columns + num_diag))
diagonals = gs.concatenate((diagonals, right_zeros), axis=2)
diagonals = gs.concatenate((upper_zeros, diagonals), axis=1)
return gs.squeeze(diagonals) if gs.ndim(vector) == 1 else diagonals
def belongs(self, point, tolerance=TOLERANCE):
"""
By definition, a point on the Hyperbolic space
has Minkowski squared norm -1.
We use a tolerance relative to the Euclidean norm of
the point.
Note: point must be given in extrinsic coordinates.
"""
point = gs.to_ndarray(point, to_ndim=2)
_, point_dim = point.shape
if point_dim is not self.dimension + 1:
if point_dim is self.dimension:
logging.warning('Use the extrinsic coordinates to '
'represent points on the hyperbolic space.')
return False
sq_norm = self.embedding_metric.squared_norm(point)
euclidean_sq_norm = gs.linalg.norm(point, axis=-1)**2
euclidean_sq_norm = gs.to_ndarray(euclidean_sq_norm, to_ndim=2, axis=1)
diff = gs.abs(sq_norm + 1)
belongs = diff < tolerance * euclidean_sq_norm
return belongs
def belongs(self, point, atol=TOLERANCE):
"""Test if a point belongs to the pre-shape space.
This tests whether the point is centered and whether the point's
Frobenius norm is 1.
Parameters
----------
point : array-like, shape=[..., k_landmarks, m_ambient]
Point in Matrices space.
atol : float
Tolerance at which to evaluate norm == 1 and mean == 0.
Optional, default: 1e-6.
Returns
-------
belongs : array-like, shape=[...,]
Boolean evaluating if point belongs to the pre-shape space.
"""
shape = point.shape[-2:] == (self.k_landmarks, self.m_ambient)
frob_norm = self.ambient_metric.norm(point)
diff = gs.abs(frob_norm - 1)
is_centered = gs.logical_and(self.is_centered(point, atol), shape)
return gs.logical_and(gs.less_equal(diff, atol), is_centered)
def plot(points,
ax=None,
space=None,
point_type='extrinsic',
**point_draw_kwargs):
"""Plot points in the 3D Special Euclidean Group.
Plot points in the 3D Special Euclidean Group,
by showing them as trihedrons.
"""
if space not in IMPLEMENTED:
raise NotImplementedError(
'The plot function is not implemented'
' for space {}. The spaces available for visualization'
' are: {}.'.format(space, IMPLEMENTED))
if points is None:
raise ValueError("No points given for plotting.")
points = gs.to_ndarray(points, to_ndim=2)
if space in ('SO3_GROUP', 'SE3_GROUP'):
if ax is None:
ax = plt.subplot(111, projection='3d')
if space == 'SE3_GROUP':
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, 3:6]))
elif space == 'SO3_GROUP':
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, :3]))
plt.setp(ax,
xlim=(-ax_s, ax_s),
ylim=(-ax_s, ax_s),
zlim=(-ax_s, ax_s),
xlabel='X',
ylabel='Y',
zlabel='Z')
trihedrons = convert_to_trihedron(points, space=space)
for t in trihedrons:
t.draw(ax, **point_draw_kwargs)
elif space == 'S1':
circle = Circle()
ax = circle.set_ax(ax=ax)
circle.add_points(points)
circle.draw(ax, **point_draw_kwargs)
elif space == 'S2':
sphere = Sphere()
ax = sphere.set_ax(ax=ax)
sphere.add_points(points)
sphere.draw(ax, **point_draw_kwargs)
elif space == 'H2_poincare_disk':
poincare_disk = PoincareDisk(point_type=point_type)
ax = poincare_disk.set_ax(ax=ax)
poincare_disk.add_points(points)
poincare_disk.draw(ax, **point_draw_kwargs)
elif space == 'poincare_polydisk':
n_disks = points.shape[1]
poincare_poly_disk = PoincarePolyDisk(point_type=point_type,
n_disks=n_disks)
n_columns = gs.ceil(n_disks**0.5)
n_rows = gs.ceil(n_disks / n_columns)
axis_list = []
for i_disk in range(n_disks):
axis_list.append(ax.add_subplot(n_rows, n_columns, i_disk + 1))
for i_disk, ax in enumerate(axis_list):
ax = poincare_poly_disk.set_ax(ax=ax)
poincare_poly_disk.clear_points()
poincare_poly_disk.add_points(points[:, i_disk, ...])
poincare_poly_disk.draw(ax, **point_draw_kwargs)
elif space == 'H2_poincare_half_plane':
poincare_half_plane = PoincareHalfPlane()
ax = poincare_half_plane.set_ax(ax=ax)
poincare_half_plane.add_points(points)
poincare_half_plane.draw(ax, **point_draw_kwargs)
elif space == 'H2_klein_disk':
klein_disk = KleinDisk()
ax = klein_disk.set_ax(ax=ax)
klein_disk.add_points(points)
klein_disk.draw(ax, **point_draw_kwargs)
return ax
def plot(points, ax=None, space=None, point_type=None, **point_draw_kwargs):
"""Plot points in one of the implemented manifolds.
The implemented manifolds are:
- the special orthogonal group SO(3)
- the special Euclidean group SE(3)
- the circle S1 and the sphere S2
- the hyperbolic plane (the Poincare disk, the Poincare
half plane and the Klein disk)
- the Poincare polydisk
- the Kendall shape space of 2D triangles
- the Kendall shape space of 3D triangles
Parameters
----------
points : array-like, shape=[..., dim]
Points to be plotted.
space: str, optional, {'SO3_GROUP', 'SE3_GROUP', 'S1', 'S2',
'H2_poincare_disk', 'H2_poincare_half_plane', 'H2_klein_disk',
'poincare_polydisk', 'S32', 'M32', 'S33', 'M33'}
point_type: str, optional, {'extrinsic', 'ball', 'half-space', 'pre-shape'}
"""
if space not in IMPLEMENTED:
raise NotImplementedError(
'The plot function is not implemented'
' for space {}. The spaces available for visualization'
' are: {}.'.format(space, IMPLEMENTED))
if points is None:
raise ValueError("No points given for plotting.")
if points.ndim < 2:
points = gs.expand_dims(points, 0)
if space in ('SO3_GROUP', 'SE3_GROUP'):
if ax is None:
ax = plt.subplot(111, projection='3d')
if space == 'SE3_GROUP':
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, 3:6]))
elif space == 'SO3_GROUP':
ax_s = AX_SCALE * gs.amax(gs.abs(points[:, :3]))
ax_s = float(ax_s)
bounds = (-ax_s, ax_s)
plt.setp(ax,
xlim=bounds,
ylim=bounds,
zlim=bounds,
xlabel='X',
ylabel='Y',
zlabel='Z')
trihedrons = convert_to_trihedron(points, space=space)
for t in trihedrons:
t.draw(ax, **point_draw_kwargs)
elif space == 'S1':
circle = Circle()
ax = circle.set_ax(ax=ax)
circle.add_points(points)
circle.draw(ax, **point_draw_kwargs)
elif space == 'S2':
sphere = Sphere()
ax = sphere.set_ax(ax=ax)
sphere.add_points(points)
sphere.draw(ax, **point_draw_kwargs)
elif space == 'H2_poincare_disk':
if point_type is None:
point_type = 'extrinsic'
poincare_disk = PoincareDisk(point_type=point_type)
ax = poincare_disk.set_ax(ax=ax)
poincare_disk.add_points(points)
poincare_disk.draw(ax, **point_draw_kwargs)
plt.axis('off')
elif space == 'poincare_polydisk':
if point_type is None:
point_type = 'extrinsic'
n_disks = points.shape[1]
poincare_poly_disk = PoincarePolyDisk(point_type=point_type,
n_disks=n_disks)
n_columns = int(gs.ceil(n_disks**0.5))
n_rows = int(gs.ceil(n_disks / n_columns))
axis_list = []
for i_disk in range(n_disks):
axis_list.append(ax.add_subplot(n_rows, n_columns, i_disk + 1))
for i_disk, one_ax in enumerate(axis_list):
ax = poincare_poly_disk.set_ax(ax=one_ax)
poincare_poly_disk.clear_points()
poincare_poly_disk.add_points(points[:, i_disk, ...])
poincare_poly_disk.draw(ax, **point_draw_kwargs)
elif space == 'H2_poincare_half_plane':
if point_type is None:
point_type = 'half-space'
poincare_half_plane = PoincareHalfPlane(point_type=point_type)
ax = poincare_half_plane.set_ax(points=points, ax=ax)
poincare_half_plane.add_points(points)
poincare_half_plane.draw(ax, **point_draw_kwargs)
elif space == 'H2_klein_disk':
klein_disk = KleinDisk()
ax = klein_disk.set_ax(ax=ax)
klein_disk.add_points(points)
klein_disk.draw(ax, **point_draw_kwargs)
elif space == 'SE2_GROUP':
plane = SpecialEuclidean2()
ax = plane.set_ax(ax=ax)
plane.add_points(points)
plane.draw(ax, **point_draw_kwargs)
elif space == 'S32':
sphere = KendallSphere()
sphere.add_points(points)
sphere.draw()
sphere.draw_points()
ax = sphere.ax
elif space == 'M32':
sphere = KendallSphere(point_type='extrinsic')
sphere.add_points(points)
sphere.draw()
sphere.draw_points()
ax = sphere.ax
elif space == 'S33':
disk = KendallDisk()
disk.add_points(points)
disk.draw()
disk.draw_points()
ax = disk.ax
elif space == 'M33':
disk = KendallDisk(point_type='extrinsic')
disk.add_points(points)
disk.draw()
disk.draw_points()
ax = disk.ax
return ax
