def compute_Ax2(I, Ws):
dx = np.array([0, 0, 0, -1, 0, 1, 0, 0, 0]).reshape(3, 3)
dy = np.array([0, -1, 0, 0, 0, 0, 0, 1, 0]).reshape(3, 3)
DxI = frame_utility.cconv2d(dx, I)
WsDxI = Ws * DxI
DxtWsDxI = frame_utility.cconv2dt(dx, WsDxI)
DyI = frame_utility.cconv2d(dy, I)
WsDyI = Ws * DyI
DytWsDyI = frame_utility.cconv2dt(dy, WsDyI)
AI2 = DxtWsDxI + DytWsDyI
return AI2
def compute_b3(J, Wi, th, h_2d, scale_factor, ut, vt):
WJ = Wi * J
StWJ = frame_utility.up_sample(WJ, scale_factor)
KtStWJ = frame_utility.cconv2dt(h_2d, StWJ)
FtKtStWJ = frame_utility.warped_img(KtStWJ, ut, vt)
b3 = th * FtKtStWJ
return b3
def compute_Ax1(I, W0, th, h_2d, scale_factor):
KI = frame_utility.cconv2d(h_2d, I)
SKI = frame_utility.down_sample(KI, scale_factor)
W0SKI = W0 * SKI
StW0SKI = frame_utility.up_sample(W0SKI, scale_factor)
KtStW0SKI = frame_utility.cconv2dt(h_2d, StW0SKI)
AI1 = th * KtStW0SKI
return AI1
def compute_Ax1_k(K, I, Wk, th, scale_factor):
AK = frame_utility.cconv2d(K, I)
SAK = frame_utility.down_sample(AK, scale_factor)
WkSAK = Wk * SAK
StWkSAK = frame_utility.up_sample(WkSAK, scale_factor)
AtStWkSAK = frame_utility.cconv2dt(I, StWkSAK)
AK1 = th * AtStWkSAK
return AK1
def compute_Ax3(FI, Wi, th, h_2d, scale_factor, ut, vt):
KFI = frame_utility.cconv2d(h_2d, FI)
SKFI = frame_utility.down_sample(KFI, scale_factor)
WSKFI = Wi * SKFI
StWSKFI = frame_utility.up_sample(WSKFI, scale_factor)
KtStWSKFI = frame_utility.cconv2dt(h_2d, StWSKFI)
FtKtStWSKFI = frame_utility.warped_img(KtStWSKFI, ut, vt)
AI3 = th * FtKtStWSKFI
return AI3
def compute_b1_k(J0, Wk, th, I, scale_factor):
WKJ = Wk * J0
StWkJ = frame_utility.up_sample(WKJ, scale_factor)
AtStWkJ = frame_utility.cconv2dt(I, StWkJ)
b = th * AtStWkJ
return b
def compute_b1(J0, W0, th, h_2d, scale_factor):
W0J = W0 * J0
StW0J = frame_utility.up_sample(W0J, scale_factor)
KtStW0J = frame_utility.cconv2dt(h_2d, StW0J)
b = th * KtStW0J
return b