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计算速度优化，摄像头读取逻辑改变，分类器更新。

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This commit is contained in:
xinyang
2019-07-28 15:59:01 +08:00
parent a5259cbd1f
commit 5a0fdb30af
24 changed files with 17667 additions and 115529 deletions
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6
armor/include/armor_finder/classifier/classifier.h
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@@ -18,8 +18,8 @@ class Classifier {
private:
bool state;
vector<vector<MatrixXd>> conv1_w, conv2_w;
vector<double> conv1_b, conv2_b;
vector<vector<MatrixXd>> conv1_w, conv2_w, conv3_w;
vector<double> conv1_b, conv2_b, conv3_b;
MatrixXd fc1_w, fc2_w;
VectorXd fc1_b, fc2_b;
@@ -30,8 +30,10 @@ private:
MatrixXd softmax(const MatrixXd &input);
MatrixXd relu(const MatrixXd &input);
MatrixXd leaky_relu(const MatrixXd &input, float alpha);
vector<vector<MatrixXd>> apply_bias(const vector<vector<MatrixXd>> &input, const vector<double> &bias);
vector<vector<MatrixXd>> relu(const vector<vector<MatrixXd>> &input);
vector<vector<MatrixXd>> leaky_relu(const vector<vector<MatrixXd>> &input, float alpha);
vector<vector<MatrixXd>> max_pool(const vector<vector<MatrixXd>> &input, int size);
vector<vector<MatrixXd>> mean_pool(const vector<vector<MatrixXd>> &input, int size);
vector<vector<MatrixXd>> pand(const vector<vector<MatrixXd>> &input, int val);