apollo::prediction::network::NetModel类 参考

NetModel is a base class for specific network model It contains a pure virtual function Run which must be implemented in derived class 更多...

#include <net_model.h>

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

apollo::prediction::network::NetModel 的协作图:

Public 成员函数
	NetModel ()=default
	Constructor
virtual	~NetModel ()=default
	Destructor
virtual void	Run (const std::vector< Eigen::MatrixXf > &inputs, Eigen::MatrixXf *output) const =0
	Compute the model output from inputs
virtual void	SetState (const std::vector< Eigen::MatrixXf > &states)
	Set the internal state of a network model
virtual void	State (std::vector< Eigen::MatrixXf > *states) const
	Access to the internal state of a network model
virtual void	ResetState () const
	Set the internal state of a model
bool	LoadModel (const NetParameter &net_parameter)
	Load network parameters from a protobuf message
std::string	PerformanceString () const
	Shows the performance information of a network
const std::string &	Name () const
	Name of a network model
int	Id () const
	Id of a network model
bool	IsOk () const
	Indicate the state of a network model

Protected 属性
std::vector< std::unique_ptr< Layer > >	layers_
NetParameter	net_parameter_
bool	ok_ = false

详细描述

NetModel is a base class for specific network model It contains a pure virtual function Run which must be implemented in derived class

在文件 net_model.h 第 40 行定义.

构造及析构函数说明

NetModel()

apollo::prediction::network::NetModel::NetModel ( )

default

Constructor

~NetModel()

virtual apollo::prediction::network::NetModel::~NetModel ( )

virtualdefault

Destructor

成员函数说明

Id()

int apollo::prediction::network::NetModel::Id

(

)

const

Id of a network model

返回

Id of a network model

在文件 net_model.cc 第 97 行定义.

{ return net_parameter_.id(); }

IsOk()

bool apollo::prediction::network::NetModel::IsOk

(

)

const

Indicate the state of a network model

返回

True of a network model is load successively, otherwise False.

在文件 net_model.cc 第 99 行定义.

{ return ok_; }

LoadModel()

bool apollo::prediction::network::NetModel::LoadModel

(

const NetParameter &

net_parameter

)

Load network parameters from a protobuf message

参数

NetParameter

is a protobuf message

返回

True if successfully loaded, otherwise False

在文件 net_model.cc 第 27 行定义.

                                                          {
  net_parameter_.CopyFrom(net_parameter);
  layers_.clear();
 
  for (int i = 0; i < net_parameter_.layers_size(); ++i) {
    LayerParameter layer_pb = net_parameter_.layers(i);
    ADEBUG << i << "-th layer name: " << layer_pb.name().c_str();
    std::unique_ptr<Layer> layer(nullptr);
    switch (layer_pb.oneof_layers_case()) {
      case LayerParameter::kInput:
        layer = std::unique_ptr<Layer>(new Input());
        break;
      case LayerParameter::kActivation:
        layer = std::unique_ptr<Layer>(new Activation());
        break;
      case LayerParameter::kDense:
        layer = std::unique_ptr<Layer>(new Dense());
        break;
      case LayerParameter::kBatchNormalization:
        layer = std::unique_ptr<Layer>(new BatchNormalization());
        break;
      case LayerParameter::kLstm:
        layer = std::unique_ptr<Layer>(new LSTM());
        break;
      case LayerParameter::kFlatten:
        layer = std::unique_ptr<Layer>(new Flatten());
        break;
      case LayerParameter::kConcatenate:
        layer = std::unique_ptr<Layer>(new Concatenate());
        break;
      default:
        AERROR << "Failed to load layer: " << layer_pb.type().c_str();
        break;
    }
    if (!layer->Load(layer_pb)) {
      AERROR << "Failed to load " << i << "-layer: " << layer_pb.name().c_str();
      return false;
    }
    layers_.push_back(std::move(layer));
  }
  ok_ = true;
  AINFO << "Success in loading the model!";
  ADEBUG << "Its Performance:" << PerformanceString().c_str();
  return true;
}

Name()

const std::string & apollo::prediction::network::NetModel::Name

(

)

const

Name of a network model

返回

Name of a network model

在文件 net_model.cc 第 95 行定义.

{ return net_parameter_.name(); }

PerformanceString()

std::string apollo::prediction::network::NetModel::PerformanceString

(

)

const

Shows the performance information of a network

返回

Performance of a network model

在文件 net_model.cc 第 73 行定义.

                                            {
  std::stringstream ss;
  if (!net_parameter_.has_performance()) {
    AWARN << "The protobuf does not contain performance values!";
    return " ";
  }
  ss << "\n test: accuracy = ";
  for (int i = 0; i < net_parameter_.performance().accuracy_size(); ++i) {
    ss << net_parameter_.performance().accuracy(i) << ",  ";
  }
  ss << "\n recall = ";
  for (int i = 0; i < net_parameter_.performance().recall_size(); ++i) {
    ss << net_parameter_.performance().recall(i) << ",  ";
  }
  ss << "\n precision = ";
  for (int i = 0; i < net_parameter_.performance().precision_size(); ++i) {
    ss << net_parameter_.performance().precision(i) << ",  ";
  }
  ss << std::endl;
  return ss.str();
}

ResetState()

virtual void apollo::prediction::network::NetModel::ResetState ( ) const

inlinevirtual

Set the internal state of a model

参数

A	specified internal state in a vector of Eigen::MatrixXf

被 apollo::prediction::network::RnnModel 重载.

在文件 net_model.h 第 76 行定义.

{}

Run()

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

pure virtual

Compute the model output from inputs

参数

Inputs	to a network
Output	of a network will be returned

在 apollo::planning::AutotuningMLPModel , 以及 apollo::prediction::network::RnnModel 内被实现.

SetState()

virtual void apollo::prediction::network::NetModel::SetState ( const std::vector< Eigen::MatrixXf > &  states )

inlinevirtual

Set the internal state of a network model

参数

A	specified internal state in a vector of Eigen::MatrixXf

被 apollo::prediction::network::RnnModel 重载.

在文件 net_model.h 第 64 行定义.

{}

State()

virtual void apollo::prediction::network::NetModel::State ( std::vector< Eigen::MatrixXf > *  states ) const

inlinevirtual

Access to the internal state of a network model

返回

Internal state in a vector of Eigen::MatrixXf of the model

被 apollo::prediction::network::RnnModel 重载.

在文件 net_model.h 第 70 行定义.

{}

类成员变量说明

layers_

std::vector<std::unique_ptr<Layer> > apollo::prediction::network::NetModel::layers_

protected

在文件 net_model.h 第 110 行定义.

net_parameter_

NetParameter apollo::prediction::network::NetModel::net_parameter_

protected

在文件 net_model.h 第 111 行定义.

ok_

bool apollo::prediction::network::NetModel::ok_ = false

protected

在文件 net_model.h 第 112 行定义.

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该类的文档由以下文件生成:

• modules/prediction/network/net_model.h
• modules/prediction/network/net_model.cc