#include <net_layer.h>

类 apollo::prediction::network::BatchNormalization 继承关系图:

apollo::prediction::network::BatchNormalization 的协作图:

Public 成员函数
bool	Load (const apollo::prediction::LayerParameter &layer_pb) override
	Load the parameter from a pb message

void	Run (const std::vector< Eigen::MatrixXf > &inputs, Eigen::MatrixXf *output) override
	Compute the layer output from inputs

Public 成员函数继承自 apollo::prediction::network::Layer
	Layer ()=default
	Constructor

virtual	~Layer ()=default
	Destructor

virtual void	ResetState ()
	Reset the internal state of a layer such as LSTM, GRU

virtual void	SetState (const std::vector< Eigen::MatrixXf > &states)
	Set the internal state of a layer

virtual void	State (std::vector< Eigen::MatrixXf > *states) const
	Access to the internal state of a layer

std::string	Name () const
	Name of a layer

int	OrderNumber () const
	Order number of a layer in a network

详细描述

在文件 net_layer.h 第 288 行定义.

成员函数说明

◆ Load()

bool apollo::prediction::network::BatchNormalization::Load ( const apollo::prediction::LayerParameter & layer_pb )

overridevirtual

Load the parameter from a pb message

参数

A	pb message contains the parameters

返回: True is loaded successively, otherwise False

重载 apollo::prediction::network::Layer .

在文件 net_layer.cc 第 269 行定义.

                                                            {
  if (!Layer::Load(layer_pb)) {
    AERROR << "Fail to Load the layer parameters!";
    return false;
  }
 
  auto bn_pb = layer_pb.batch_normalization();
  epsilon_ = static_cast<float>(bn_pb.epsilon());
  axis_ = bn_pb.axis();
  center_ = bn_pb.center();
  scale_ = bn_pb.scale();
  momentum_ = bn_pb.momentum();
  if (!bn_pb.has_mu() || !LoadTensor(bn_pb.mu(), &mu_)) {
    AERROR << "Fail to Load mu!";
    return false;
  }
  if (!bn_pb.has_sigma() || !LoadTensor(bn_pb.sigma(), &sigma_)) {
    AERROR << "Fail to Load sigma!";
    return false;
  }
  if (scale_) {
    if (!bn_pb.has_gamma() || !LoadTensor(bn_pb.gamma(), &gamma_)) {
      AERROR << "Fail to Load gamma!";
      return false;
    }
  }
  if (center_) {
    if (!bn_pb.has_beta() || !LoadTensor(bn_pb.beta(), &beta_)) {
      AERROR << "Fail to Load beta!";
      return false;
    }
  }
  return true;
}

◆ Run()

void apollo::prediction::network::BatchNormalization::Run	(	const std::vector< Eigen::MatrixXf > &	inputs,
		Eigen::MatrixXf *	output
	)

overridevirtual

Compute the layer output from inputs

参数

Inputs	to a network layer
Output	of a network layer will be returned

实现了 apollo::prediction::network::Layer.

在文件 net_layer.cc 第 304 行定义.

                                                    {
  CHECK_EQ(inputs.size(), 1U);
  Eigen::MatrixXf temp = (inputs[0].rowwise() - mu_.transpose());
  Eigen::MatrixXf norm =
      temp.array().rowwise() / (sigma_.array().sqrt() + epsilon_).transpose();
  if (scale_) {
    norm = norm.array().rowwise() * gamma_.transpose().array();
  }
  if (center_) {
    norm = norm.rowwise() + beta_.transpose();
  }
  *output = norm;
}

该类的文档由以下文件生成:

modules/prediction/network/net_layer.h
modules/prediction/network/net_layer.cc

Public 成员函数

详细描述

成员函数说明

◆ Load()

◆ Run()