class EKFNNLayer(caffe.Layer):
def setup(self, bottom, top):
params = eval(self.param_str)
check_params(params,
nn_root=None,
nn_shape=None,
nn_query_size=1,
nn_num=1,
nn_db_size=np.inf,
nn_ignore=1)
self.params = Map(params)
self.nn_db = DartDB(self.params.nn_root)
self.nn = NN(self.nn_db, self.params.nn_db_size, self.params.nn_ignore)
assert self.params.nn_num <= self.params.nn_query_size
def reshape(self, bottom, top):
#Reshape tops
batch_size = bottom[0].shape[0]
assert self.nn_db.jps.shape[1] == bottom[0].shape[1]
cur_top = 0
for nn_id in range(self.params.nn_num):
top[cur_top + 0].reshape(batch_size, 3, self.params.nn_shape[0], self.params.nn_shape[1])
top[cur_top + 1].reshape(batch_size, 1, self.params.nn_shape[0], self.params.nn_shape[1])
top[cur_top + 2].reshape(batch_size, self.nn_db.jps.shape[1])
top[cur_top + 3].reshape(batch_size, 1)
cur_top += 4
#self.top_names.extend(['nn_img_' + str(nn_id), 'nn_seg_' + str(nn_id)])
#self.top_names.append('nn_jp_' + str(nn_id))
#self.top_names.append('nn_w_' + str(nn_id))
def forward(self, bottom, top):
for itt in range(bottom[0].shape[0]):
jp = bottom[0].data[itt]
nn_ids = self.nn.nn_ids(jp, self.params.nn_query_size)
if hasattr(nn_ids, '__len__'):
nn_ids = np.random.choice(nn_ids, size=self.params.nn_num, replace=False)
else:
nn_ids = [nn_ids]
for i in range(len(nn_ids)):
nn_id = nn_ids[i]
nn_jp, nn_img, nn_seg = self.nn_db.read_instance(nn_id, size=self.params.nn_shape)
top[i * 4 + 0].data[itt, ...] = nn_img[0].transpose((2,0,1))
top[i * 4 + 1].data[itt, ...] = nn_seg[0]
top[i * 4 + 2].data[itt, ...] = nn_jp
top[i * 4 + 3].data[itt, ...] = 1
def backward(self, top, propagate_down, bottom):
bottom[0].diff[...] = 0
def forward_jv(self, top, bottom):
for top_id in range(self.params.nn_num * 4):
top[top_id].diff[...] = 0
def setup(self, bottom, top):
params = eval(self.param_str)
check_params(params,
nn_root=None,
nn_shape=None,
nn_query_size=1,
nn_num=1,
nn_db_size=np.inf,
nn_ignore=1)
self.params = Map(params)
self.nn_db = DartDB(self.params.nn_root)
self.nn = NN(self.nn_db, self.params.nn_db_size, self.params.nn_ignore)
assert self.params.nn_num <= self.params.nn_query_size
