车道线检测 HNet实现源码

最新推荐文章于 2023-05-29 11:45:27 发布

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最新推荐文章于 2023-05-29 11:45:27 发布

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分类专栏：车道线检测文章标签：深度学习 python pytorch 自动驾驶

本文链接：https://blog.csdn.net/weixin_43823669/article/details/126442412

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1.HNet网络结构定义

import torch.nn as nn
import torch
# 定义卷积+bn+relu的basicblock再定义整体的网络
class BasicBlock(nn.Module):
    def __init__(self,in_channel,out_channel,stride=1,**kwargs):
        super(BasicBlock,self).__init__()
        self.conv=nn.Conv2d(in_channels=in_channel,out_channels=out_channel,
        kernel_size=3,stride=stride,padding=1,bias=False)
        self.bn=nn.BatchNorm2d(out_channel)
        self.relu=nn.ReLU()
        # self.maxpool=nn.MaxPool2d(kernel_size=2,stride=2)
    
    def forward(self,x):
        out=self.conv(x)
        out=self.bn(out)
        out=self.relu(out)
        # out=self.maxpool(out)
        return out

class hnet(nn.Module):
    def __init__(self,block,num_classes=6,stride=1,init_weights=True):
        super(hnet,self).__init__()
        self.in_channel=3# 网络的输入是多少?128*64*3吗
        self.layer1=self._make_layer(block,16)
        self.layer2=self._make_layer(block,32)
        self.layer3=self._make_layer(block,64)
        self.maxpool=nn.MaxPool2d(kernel_size=2,stride=2)
        # self.linear1=nn.Linear(16*8*64,1024)
        self.linear1=nn.Linear(80*45*64,1024)
        self.bn=nn.BatchNorm2d(1024)# ?
        self.relu=nn.ReLU()
        self.linear2=nn.Linear(1024,6)
        if init_weights:
            self._initialize_weights()

    def _make_layer(self,block,channel,block_num=2,stride=1):