def transform_frames(self, x_ma, rot_mad, orthogonalize="cross"):
"""
orthogonalize: none, svd, qr
"""
m, d = x_ma.shape
grad_mga = tps.tps_grad(x_ma, self.lin_ag, self.trans_g, self.w_ng,
self.x_na)
newrot_mgd = np.array([
grad_ga.dot(rot_ad)
for (grad_ga, rot_ad) in zip(grad_mga, rot_mad)
])
newpt_mg = tps.tps_eval(x_ma, self.lin_ag, self.trans_g, self.w_ng,
self.x_na)
if orthogonalize == "qr":
newrot_mgd = orthogonalize3_qr(newrot_mgd)
elif orthogonalize == "svd":
newrot_mgd = orthogonalize3_svd(newrot_mgd)
elif orthogonalize == "cross":
newrot_mgd = orthogonalize3_cross(newrot_mgd)
elif orthogonalize == "none":
pass
else:
raise Exception("unknown orthogonalization method %s" %
orthogonalize)
return newpt_mg, newrot_mgd
def transform_frames(self, x_ma, rot_mad, orthogonalize="cross"):
"""
orthogonalize: none, svd, qr
"""
m,d = x_ma.shape
grad_mga = tps.tps_grad(x_ma, self.lin_ag, self.trans_g, self.w_ng, self.x_na)
newrot_mgd = np.array([grad_ga.dot(rot_ad) for (grad_ga, rot_ad) in zip(grad_mga, rot_mad)])
newpt_mg = tps.tps_eval(x_ma, self.lin_ag, self.trans_g, self.w_ng, self.x_na)
if orthogonalize == "qr":
newrot_mgd = orthogonalize3_qr(newrot_mgd)
elif orthogonalize == "svd":
newrot_mgd = orthogonalize3_svd(newrot_mgd)
elif orthogonalize == "cross":
newrot_mgd = orthogonalize3_cross(newrot_mgd)
elif orthogonalize == "none":
pass
else: raise Exception("unknown orthogonalization method %s"%orthogonalize)
return newpt_mg, newrot_mgd
def transform_frames(self, x_ma, rot_mda, orthogonalize="cross"):
"""
orthogonalize: none, svd, qr
"""
m,d = x_ma.shape
grad_mga = tps.tps_grad(x_ma, self.lin_ag, self.trans_g, self.w_ng, self.x_na)
newrot_mdg = (rot_mda[:,:,None,:] * grad_mga[:,None,:,:]).sum(axis=3)
# mdg md_a m_ga
newpt_mg = tps.tps_eval(x_ma, self.lin_ag, self.trans_g, self.w_ng, self.x_na)
if orthogonalize == "qr":
newrot_mdg = orthogonalize3_qr(newrot_mdg)
elif orthogonalize == "svd":
newrot_mdg = orthogonalize3_svd(newrot_mdg)
elif orthogonalize == "cross":
newrot_mdg = orthogonalize3_cross(newrot_mdg)
elif orthogonalize == "none":
pass
else: raise Exception("unknown orthogonalization method %s"%orthogonalize)
return newpt_mg, newrot_mdg
def compute_jacobian(self, x_ma):
grad_mga = tps_grad(x_ma, self.lin_ag, self.trans_g, self.w_ng,
self.x_na)
return grad_mga
def compute_jacobian(self, x_ma):
grad_mga = tps_grad(x_ma, self.lin_ag, self.trans_g, self.w_ng, self.x_na)
return grad_mga