import numpy as np

N_ROW = 1080
N_COL = 1920
N_light = 20

img_kido_dx = np.empty((N_ROW * N_COL, N_light))
img_kido_dy = np.empty((N_ROW * N_COL,N_light))
Rpg_grad_p = np.empty((N_ROW  * N_COL,N_light))
Rpg_grad_q = np.empty((N_ROW * N_COL,N_light))

mat_E = np.hstack([img_kido_dx, img_kido_dy]).reshape(-1,2,20)
mat_R = np.hstack([Rpg_grad_p, Rpg_grad_q]).reshape(-1,2,20)

mat_M = np.linalg.pinv(mat_R)
mat_H = np.matmul(mat_E, mat_M)