def __init__(self, net, state, loop_sleep, pause_after_keys, heartbeat_required):
CodependentThread.__init__(self, heartbeat_required)
self.daemon = True
self.net = net
self.input_dims = self.net.blobs['data'].data.shape[2:4] # e.g. (227,227)
self.state = state
self.frames_processed_fwd = 0
self.frames_processed_back = 0
self.loop_sleep = loop_sleep
self.pause_after_keys = pause_after_keys
self.debug_level = 0
self.descriptor = None
self.descriptor_layer_1 = 'conv5'
self.descriptor_layer_2 = 'conv4'
self.descriptor_layers = ['conv5','conv4']
self.net_input_image = None
self.descriptor_handler = DescriptorHandler(self.state.settings.ros_dir + '/models/memory/', self.descriptor_layers)
self.data_handler = DataHandler(self.state.settings.ros_dir)
self.available_layer = ['conv1', 'pool1', 'norm1', 'conv2', 'pool2', 'norm2', 'conv3', 'conv4', 'conv5', 'pool5', 'fc6', 'fc7', 'fc8', 'prob']
#['conv1', 'conv2', 'conv3', 'conv4', 'conv5', 'fc6', 'fc7', 'fc8', 'prob']
# print "layers ", list(self.net._layer_names)
s = rospy.Service('get_cnn_state', GetState, self.handle_get_cnn_state)
