VSAG/vision_sjtu_19
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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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3
armor/include/armor_finder/armor_finder.h
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@@ -51,10 +51,11 @@ extern std::map<string, int> prior_red;
class LightBlob {
public:
cv::RotatedRect rect; //灯条位置
double areaRatio;
double length; //灯条长度
uint8_t blob_color; //灯条颜色
LightBlob(cv::RotatedRect &r, uint8_t color) : rect(r), blob_color(color) {
LightBlob(cv::RotatedRect &r, double ratio, uint8_t color) : rect(r), areaRatio(ratio), blob_color(color) {
length = max(rect.size.height, rect.size.width);
};
LightBlob() = default;

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);