net.py

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from __future__ import print_function

import itertools, pkg_resources, sys
from distutils.version import LooseVersion
if LooseVersion(pkg_resources.get_distribution("chainer").version) >= LooseVersion('7.0.0') and \
        sys.version_info.major == 2:
    print('''Please install chainer < 7.0.0:

    sudo pip install chainer==6.7.0

c.f https://github.com/jsk-ros-pkg/jsk_recognition/pull/2485
''', file=sys.stderr)
    sys.exit(1)
if [p for p in list(itertools.chain(*[pkg_resources.find_distributions(_) for _ in sys.path])) if "cupy-" in p.project_name ] == []:
    print('''Please install CuPy

    sudo pip install cupy-cuda[your cuda version]
i.e.
    sudo pip install cupy-cuda91

''', file=sys.stderr)
    # sys.exit(1)
import chainer
import chainer.functions as F
import chainer.links as L


class EncoderFC3Dropout(chainer.Chain):

    def __init__(self):
        super(EncoderFC3Dropout, self).__init__()
        with self.init_scope():
            self.fc1 = L.Linear(2133, 1024)
            self.fc2 = L.Linear(1024, 1024)
            self.fc3 = L.Linear(1024, 85)

    def __call__(self, x):
        h = self.fc1(x)
        h = F.relu(h)
        h = F.dropout(h)
        h = self.fc2(h)
        h = F.relu(h)
        h = F.dropout(h)
        h = self.fc3(h)
        return h