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Neural Network for Image Recognition in C++/OpenCv

I am working on creating a Real-time image processor for a self driving small scale car project for uni, It uses a raspberry pi to get various information to send to the program to base a decision by.

the only stage i have left is to create a Neural network which will view the image displayed from the camera ( i already have to code to send the array of CV_32F values between 0-255 etc.

I have been scouring the internet and cannot seem to find any example code on how to implement a neural network of this kind, it will need 400 input nodes for each value (from 20x20 image) and produce 4 outputs of left right fwd or backwards respectively.

If anyone could point me in the direction of some sample code for creation/training of the neural network to do this that would be excellent as Im cutting it close on time and this is the last thing I need to do- however it is very complicated.

once it is trained I can load the neural network using ANN_MLP load etc. and pass the live stream frame (as an array of values) to it and it should be able to produce the correct output.