def get_sift_descriptors(n_imgs=None, data_dir=None):
objects = get_object_list()
obj_descs = []
for obj in objects:
descs = load_siftdata(obj_name=obj,
return_pos=False,
data_dir=data_dir)
if descs is None:
continue
if n_imgs is None:
n_imgs = len(descs)
p = np.random.randint(0, len(descs), size=n_imgs)
descs = np.array(map(lambda x: x.astype('float16'), descs))
obj_descs.append((obj, descs[p]))
return obj_descs
def get_sift_descriptors(n_imgs=None, data_dir=None):
objects = jsk_apc2015_common.get_object_list()
obj_descs = []
for obj in objects:
descs = load_siftdata(obj_name=obj,
return_pos=False,
data_dir=data_dir)
if descs is None:
continue
if n_imgs is None:
n_imgs = len(descs)
p = np.random.randint(0, len(descs), size=n_imgs)
descs = np.array(map(lambda x: x.astype('float16'), descs))
obj_descs.append((obj, descs[p]))
return obj_descs
def _handle_siftdata_cache(self, obj_names):
"""Sift data cache handler
if same obj_names set: don't update, else: update
"""
for obj_name in obj_names:
if obj_name in self.siftdata_cache:
siftdata = self.siftdata_cache[obj_name]
else:
if len(self.siftdata_cache) > 3:
# free cache data to avoid becoming too big
del self.siftdata_cache[np.random.choice(self.siftdata_cache.keys())]
siftdata = load_siftdata(obj_name)
# set cache
self.siftdata_cache[obj_name] = siftdata
if siftdata is None:
continue
yield siftdata
def _handle_siftdata_cache(self, obj_names):
"""Sift data cache handler
if same obj_names set: don't update, else: update
"""
for obj_name in obj_names:
if obj_name in self.siftdata_cache:
siftdata = self.siftdata_cache[obj_name]
else:
if len(self.siftdata_cache) > 3:
# free cache data to avoid becoming too big
del self.siftdata_cache[np.random.choice(
self.siftdata_cache.keys())]
siftdata = load_siftdata(obj_name)
# set cache
self.siftdata_cache[obj_name] = siftdata
if siftdata is None:
continue
yield siftdata
