From aeff5a4118ccda1d91d0c1fc2e19c0a573f7793e Mon Sep 17 00:00:00 2001
From: Neil Nie <yongyang.nie@gmail.com>
Date: Sat, 31 Mar 2018 14:05:58 -0400
Subject: [PATCH] =?UTF-8?q?some=20changes=20=F0=9F=91=8D?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- changed drive.py -> driver.py
- create DriveApp class for python GUI
- DriveApp & driver.py implemented
- run.py added & implemented
- other small changes.
- some basic testing and debugging

Pretty much for v0.0.1 release.
---
 .DS_Store                                     | Bin 18436 -> 18436 bytes
 .idea/ALVNS.iml                               |   2 +-
 .idea/misc.xml                                |   2 +-
 .idea/workspace.xml                           | 350 +++++++++---------
 __pycache__/driver.cpython-36.pyc             | Bin 0 -> 4858 bytes
 __pycache__/helper.cpython-36.pyc             | Bin 1696 -> 1711 bytes
 configs/__pycache__/__init__.cpython-36.pyc   | Bin 137 -> 152 bytes
 configs/__pycache__/configs.cpython-36.pyc    | Bin 862 -> 953 bytes
 cruise/__pycache__/__init__.cpython-36.pyc    | Bin 136 -> 151 bytes
 cruise/__pycache__/configs.cpython-36.pyc     | Bin 470 -> 485 bytes
 .../cruise_predictor.cpython-36.pyc           | Bin 1106 -> 1121 bytes
 cruise/__pycache__/model.cpython-36.pyc       | Bin 3080 -> 3095 bytes
 cruise/__pycache__/sc.cpython-36.pyc          | Bin 775 -> 790 bytes
 drive.py                                      | 176 ---------
 driver.py                                     | 194 ++++++++++
 gui/DriveApp.py                               |  87 +++++
 gui/tkinter_example.py                        | 125 -------
 localization/__init__.py                      |   0
 .../__pycache__/__init__.cpython-36.pyc       | Bin 0 -> 157 bytes
 localization/__pycache__/gps.cpython-36.pyc   | Bin 0 -> 890 bytes
 others/.DS_Store                              | Bin 6148 -> 6148 bytes
 others/placeholder.png                        | Bin 0 -> 8081 bytes
 path_planning/.DS_Store                       | Bin 6148 -> 6148 bytes
 .../__pycache__/__init__.cpython-36.pyc       | Bin 143 -> 158 bytes
 .../__pycache__/global_path.cpython-36.pyc    | Bin 930 -> 945 bytes
 run.py                                        |  21 ++
 .../__pycache__/__init__.cpython-36.pyc       | Bin 151 -> 166 bytes
 .../__pycache__/configs.cpython-36.pyc        | Bin 383 -> 398 bytes
 .../segmentation_analyzer.cpython-36.pyc      | Bin 2176 -> 2191 bytes
 .../__pycache__/segmentor.cpython-36.pyc      | Bin 1390 -> 1405 bytes
 .../__pycache__/utils.cpython-36.pyc          | Bin 4182 -> 4197 bytes
 .../__pycache__/__init__.cpython-36.pyc       | Bin 786 -> 801 bytes
 .../__pycache__/__init__.cpython-36.pyc       | Bin 180 -> 195 bytes
 .../__pycache__/decoder.cpython-36.pyc        | Bin 1507 -> 1522 bytes
 .../__pycache__/encoder.cpython-36.pyc        | Bin 2483 -> 2498 bytes
 .../__pycache__/model.cpython-36.pyc          | Bin 1670 -> 1685 bytes
 steering/.DS_Store                            | Bin 10244 -> 10244 bytes
 steering/__pycache__/__init__.cpython-36.pyc  | Bin 138 -> 153 bytes
 steering/__pycache__/ap_model.cpython-35.pyc  | Bin 2227 -> 0 bytes
 steering/__pycache__/ap_model.cpython-36.pyc  | Bin 1908 -> 1912 bytes
 .../__pycache__/auto_pilot.cpython-36.pyc     | Bin 972 -> 943 bytes
 steering/__pycache__/configs.cpython-36.pyc   | Bin 995 -> 995 bytes
 steering/__pycache__/mc.cpython-36.pyc        | Bin 922 -> 933 bytes
 steering/__pycache__/models.cpython-36.pyc    | Bin 9224 -> 9244 bytes
 .../steering_predictor.cpython-36.pyc         | Bin 1717 -> 1732 bytes
 steering/auto_pilot.py                        |  10 +-
 steering/models.py                            |   4 +-
 steering/weights/.DS_Store                    | Bin 8196 -> 8196 bytes
 48 files changed, 481 insertions(+), 490 deletions(-)
 create mode 100644 __pycache__/driver.cpython-36.pyc
 delete mode 100755 drive.py
 create mode 100755 driver.py
 create mode 100644 gui/DriveApp.py
 delete mode 100644 gui/tkinter_example.py
 create mode 100755 localization/__init__.py
 create mode 100644 localization/__pycache__/__init__.cpython-36.pyc
 create mode 100644 localization/__pycache__/gps.cpython-36.pyc
 create mode 100644 others/placeholder.png
 mode change 100755 => 100644 path_planning/__pycache__/global_path.cpython-36.pyc
 create mode 100644 run.py
 mode change 100755 => 100644 semantic_segmentation/models/enet_naive_upsampling/__pycache__/__init__.cpython-36.pyc
 mode change 100755 => 100644 semantic_segmentation/models/enet_naive_upsampling/__pycache__/decoder.cpython-36.pyc
 mode change 100755 => 100644 semantic_segmentation/models/enet_naive_upsampling/__pycache__/encoder.cpython-36.pyc
 delete mode 100644 steering/__pycache__/ap_model.cpython-35.pyc

diff --git a/.DS_Store b/.DS_Store
index ed8ab2db11a5308966f088bbda270be6050a0517..f6f4acd2a6f7906de93bb99d76039149f372e4fe 100644
GIT binary patch
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diff --git a/.idea/ALVNS.iml b/.idea/ALVNS.iml
index c8efcbb4..c8a7e472 100644
--- a/.idea/ALVNS.iml
+++ b/.idea/ALVNS.iml
@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.6" jdkType="Python SDK" />
+    <orderEntry type="jdk" jdkName="Python 3.6.0 (/Library/Frameworks/Python.framework/Versions/3.6/bin/python3.6)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="TestRunnerService">
diff --git a/.idea/misc.xml b/.idea/misc.xml
index a69669b7..e3c2df16 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6.0 (/Library/Frameworks/Python.framework/Versions/3.6/bin/python3.6)" project-jdk-type="Python SDK" />
   <component name="PythonCompatibilityInspectionAdvertiser">
     <option name="version" value="2" />
   </component>
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index f4f3df45..c73bc0e8 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,14 +2,15 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="f9d6eb70-00d3-4b11-88c3-998eeea85bdb" name="Default" comment="">
+      <change beforePath="" afterPath="$PROJECT_DIR$/run.py" />
       <change beforePath="$PROJECT_DIR$/.idea/ALVNS.iml" afterPath="$PROJECT_DIR$/.idea/ALVNS.iml" />
       <change beforePath="$PROJECT_DIR$/.idea/misc.xml" afterPath="$PROJECT_DIR$/.idea/misc.xml" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
-      <change beforePath="$PROJECT_DIR$/steering/configs.py" afterPath="$PROJECT_DIR$/steering/configs.py" />
-      <change beforePath="$PROJECT_DIR$/steering/preprocess_dataset.py" afterPath="$PROJECT_DIR$/steering/preprocess_dataset.py" />
-      <change beforePath="$PROJECT_DIR$/steering/steering_visualizer.py" afterPath="$PROJECT_DIR$/steering/steering_visualizer.py" />
-      <change beforePath="$PROJECT_DIR$/steering/train.py" afterPath="$PROJECT_DIR$/steering/train.py" />
-      <change beforePath="$PROJECT_DIR$/steering/utils.py" afterPath="$PROJECT_DIR$/steering/utils.py" />
+      <change beforePath="$PROJECT_DIR$/drive.py" afterPath="" />
+      <change beforePath="$PROJECT_DIR$/gui/tkinter_example.py" afterPath="" />
+      <change beforePath="$PROJECT_DIR$/steering/ap_model.py" afterPath="$PROJECT_DIR$/steering/ap_model.py" />
+      <change beforePath="$PROJECT_DIR$/steering/auto_pilot.py" afterPath="$PROJECT_DIR$/steering/auto_pilot.py" />
+      <change beforePath="$PROJECT_DIR$/steering/models.py" afterPath="$PROJECT_DIR$/steering/models.py" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="TRACKING_ENABLED" value="true" />
@@ -19,45 +20,46 @@
     <option name="LAST_RESOLUTION" value="IGNORE" />
   </component>
   <component name="CoverageDataManager">
-    <SUITE FILE_PATH="coverage/ALVNS$main.coverage" NAME="main Coverage Results" MODIFIED="1510877954821" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/road_segmentation" />
-    <SUITE FILE_PATH="coverage/ALVNS$test__1_.coverage" NAME="test (1) Coverage Results" MODIFIED="1519354135335" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/semantic_segmentation" />
-    <SUITE FILE_PATH="coverage/ALVNS$test_yolo.coverage" NAME="test_yolo Coverage Results" MODIFIED="1510439947102" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/vehicle_object_detection/yolo" />
-    <SUITE FILE_PATH="coverage/ALVNS$segnet_basic.coverage" NAME="segnet_basic Coverage Results" MODIFIED="1513742208272" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/Keras-SegNet" />
-    <SUITE FILE_PATH="coverage/ALVNS$visualization__1_.coverage" NAME="visualization (1) Coverage Results" MODIFIED="1518402237757" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/cruise" />
-    <SUITE FILE_PATH="coverage/ALVNS$game.coverage" NAME="game Coverage Results" MODIFIED="1508095377453" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/driving-simulator" />
-    <SUITE FILE_PATH="coverage/ALVNS$visualize_detection.coverage" NAME="visualize_detection Coverage Results" MODIFIED="1511298746888" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/vehicle_object_detection/yolo" />
-    <SUITE FILE_PATH="coverage/ALVNS$steering_visualizer.coverage" NAME="steering_visualizer Coverage Results" MODIFIED="1511298810784" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/steering" />
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-    <SUITE FILE_PATH="coverage/ALVNS$simulation_komanda.coverage" NAME="simulation_komanda Coverage Results" MODIFIED="1519771917695" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/steering" />
-    <SUITE FILE_PATH="coverage/ALVNS$train__1_.coverage" NAME="train (1) Coverage Results" MODIFIED="1519421535767" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/steering" />
+    <SUITE FILE_PATH="coverage/autonomous_golf_cart$train.coverage" NAME="train Coverage Results" MODIFIED="1522030003139" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/steering" />
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-    <SUITE FILE_PATH="coverage/ALVNS$utils.coverage" NAME="utils Coverage Results" MODIFIED="1518035848459" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/semantic_segmentation" />
-    <SUITE FILE_PATH="coverage/ALVNS$steering_simulation.coverage" NAME="steering_simulation Coverage Results" MODIFIED="1519937978232" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/semantic_segmentation" />
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+    <SUITE FILE_PATH="coverage/ALVNS$steering_simulation.coverage" NAME="steering_simulation Coverage Results" MODIFIED="1519937978232" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/semantic_segmentation" />
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+    <SUITE FILE_PATH="coverage/ALVNS$visualization__1_.coverage" NAME="visualization (1) Coverage Results" MODIFIED="1518402237757" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/cruise" />
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+    <SUITE FILE_PATH="coverage/ALVNS$utils.coverage" NAME="utils Coverage Results" MODIFIED="1518035848459" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/semantic_segmentation" />
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+    <SUITE FILE_PATH="coverage/ALVNS$jetson_test.coverage" NAME="jetson_test Coverage Results" MODIFIED="1511915937375" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/detection/vehicle/yolo" />
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+    <SUITE FILE_PATH="coverage/ALVNS$helper.coverage" NAME="helper Coverage Results" MODIFIED="1510948356687" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/road_segmentation" />
+    <SUITE FILE_PATH="coverage/ALVNS$test_yolo.coverage" NAME="test_yolo Coverage Results" MODIFIED="1510439947102" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/vehicle_object_detection/yolo" />
     <SUITE FILE_PATH="coverage/ALVNS$visualizer.coverage" NAME="visualizer Coverage Results" MODIFIED="1512478797927" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$/detection/lane" />
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diff --git a/__pycache__/helper.cpython-36.pyc b/__pycache__/helper.cpython-36.pyc
index aa3d615654f1ff163fef019d63f54d4a820a4687..6e4fdcb2ee2b2d86c6ea37eb0ffc0c4a1a2ceb72 100644
GIT binary patch
delta 72
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delta 57
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diff --git a/configs/__pycache__/__init__.cpython-36.pyc b/configs/__pycache__/__init__.cpython-36.pyc
index 6c98d5deabf32926063bc4aadd37cc2ebe797130..af0a3d1b668e16e0505989769747e8a4ee29f0d7 100644
GIT binary patch
delta 69
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delta 54
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diff --git a/configs/__pycache__/configs.cpython-36.pyc b/configs/__pycache__/configs.cpython-36.pyc
index 87e05dd2aeea93695e9ad6b50bd4012c997f0c15..5719a1a6594efd0ca92f505b1acdeb4265ba51db 100644
GIT binary patch
delta 318
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delta 198
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diff --git a/cruise/__pycache__/__init__.cpython-36.pyc b/cruise/__pycache__/__init__.cpython-36.pyc
index ffeaee8e229ce07e86c54a6b69a546d75839f53d..74042f1f5f4753940dcc2b1cb4a1bd8f603319c8 100644
GIT binary patch
delta 69
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delta 54
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diff --git a/cruise/__pycache__/configs.cpython-36.pyc b/cruise/__pycache__/configs.cpython-36.pyc
index d79d4fd73265864ce9286593e07d3e3279a56dfe..b985bf55f1b18f3e18ea363d08bf898cd834973c 100644
GIT binary patch
delta 125
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delta 110
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diff --git a/cruise/__pycache__/cruise_predictor.cpython-36.pyc b/cruise/__pycache__/cruise_predictor.cpython-36.pyc
index dedbb334d23c24d9b924c1ddbc5194f8ec32cd1f..19e0cb708204104aa2b2d93d7edbe0185155e38a 100644
GIT binary patch
delta 72
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delta 57
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diff --git a/cruise/__pycache__/model.cpython-36.pyc b/cruise/__pycache__/model.cpython-36.pyc
index e13a013e80971ae2f7f9d5d395780ab7a4ebb94a..9e3a6b5cfbda4c206891c58c51287547721109ee 100644
GIT binary patch
delta 163
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delta 148
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diff --git a/cruise/__pycache__/sc.cpython-36.pyc b/cruise/__pycache__/sc.cpython-36.pyc
index 6aa0f1fdcbd35374fb35618ed8ef95f09d061f11..187bc9e7c12b47ef37cb9017dfb1e939b18859c0 100644
GIT binary patch
delta 70
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Zy!_n!(qi58{G2r1<iw(q&6<q&7y&W)7^naM

delta 55
zcmbQn*3QOe%*)Hg-MNsBQCVL<v^ce>SidqqFTFA`FFh|aRo^AGEHx*;Ahk%}(I?C=
Kc(VoLJw^b$8xep2

diff --git a/drive.py b/drive.py
deleted file mode 100755
index 2dc169a6..00000000
--- a/drive.py
+++ /dev/null
@@ -1,176 +0,0 @@
-#
-# ------------------- AGC ----------------------
-# Drive.py | Created by Neil Nie & Michael Meng
-#      Main file of the self driving car
-# (c) Neil Nie 2017, Please refer to the license
-# ----------------------------------------------
-#
-
-# from steering.rambo import Rambo
-from steering.autumn import AutumnModel
-from steering.steering_predictor import SteeringPredictor
-from steering.mc import MC
-from cruise.cruise_predictor import CruisePredictor
-from cruise.sc import SC
-from semantic_segmentation.segmentor import Segmentor
-from semantic_segmentation.segmentation_analyzer import SegAnalyzer
-from path_planning.global_path import GlobalPathPlanner
-import configs.configs as configs
-from path_planning.gps import GPS
-
-from imutils.video import VideoStream
-import helper
-import os
-import cv2
-import numpy as np
-from steering.AutoPilot import AutoPilot as AP
-from termcolor import colored
-import time
-
-
-def init_ml():
-
-    steering_predictor = SteeringPredictor()        # init steering predictor
-    # steering_predictor = Rambo("steering/final_model.hdf5", "steering/X_train_mean.npy")
-    # steering_predictor = AutumnModel(configs.cnn_graph, configs.lstm_json, configs.cnn_weights, configs.lstm_weights)
-    c_predictor = None # CruisePredictor()          # init cruise predictor
-    segmentor = Segmentor("ENET")                   # init segmentor
-    seg_analyzer = SegAnalyzer(0.05)                # init seg analyzer
-
-    return steering_predictor, c_predictor, segmentor, seg_analyzer
-
-
-def init_nav():
-
-    print(colored("------ GPS-------", "blue"))
-    os.system("ls /dev/ttyUSB*")
-    gps_port = helper.get_serial_port()
-    gps = GPS(gps_port)
-    start = gps.query_gps_location()
-    print("start: " + str(start))
-    destination = helper.get_destination()
-    gp_planner = GlobalPathPlanner()
-    directions = gp_planner.direction(start, destination)
-    print(directions)
-
-
-if __name__ == '__main__':
-
-    helper.welcome()
-
-    if configs.verbose:
-        helper.print_configs()
-
-    steering_predictor, c_predictor, segmentor, seg_analyzer = init_ml()
-
-    if configs.navigation:
-        init_nav()
-
-    if configs.default_st_port:                 # check for serial setting
-        print(colored("using system default serial ports", "blue"))
-        mc = MC()
-        c_controller = SC()
-    else:
-        print(colored("------ serial ports -------", "blue"))
-        print(colored("-------- steering ---------", "blue"))
-        os.system("ls /dev/ttyUSB*")
-        st_port = helper.get_serial_port()
-        mc = MC(st_port)
-
-        print(colored("--------- cruise ---------", "blue"))
-        os.system("ls /dev/ttyUSB*")
-        cc_port = helper.get_serial_port()                     # get serial ports
-        c_controller = SC(cc_port)                      # init CC controller
-        print(colored("--------------------------", "blue"))
-
-
-    # ----------------------- OpenCV main loop ------------------------
-    # -----------------------------------------------------------------
-
-    cap = cv2.VideoCapture(configs.CV_CAP_STR)
-
-    vid_left = VideoStream(src=configs.left_vid_src).start()
-    vid_center = VideoStream(src=configs.cent_vid_src).start()
-    vid_right = VideoStream(src=configs.right_vid_src).start()
-
-    if cap.isOpened():
-
-        windowName = "car detection"
-        cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
-        cv2.resizeWindow(windowName, 1280, 480)
-        cv2.moveWindow(windowName, 0, 0)
-        cv2.setWindowTitle(windowName, "car detection")
-
-        print(colored("program begins", "blue"))
-
-        while True:
-
-            # -----------------------------------------------------
-            # Check to see if the user closed the window
-            if cv2.getWindowProperty(windowName, 0) < 0:
-                break
-
-            left_frame = vid_left.read()
-            center_frame = vid_center.read()
-            right_frame = vid_right.read()
-
-            ret_val, image = cap.read()
-
-            # --------------------------- steering ---------------------------
-            #
-            # -------------------rambo-----------------------------
-            # angle = -steering_predictor.predict(cv2.cvtColor(cv2.resize(image,(256, 192)),cv2.COLOR_BGR2GRAY))
-            # steering_img = steering_predictor.post_process_image(cv2.resize(image,(320, 160)),angle)
-            # -------------------own-------------------------------
-            angle, steering_img = steering_predictor.predict_steering(image)
-            # --------------------autumn---------------------------
-            # angle = steering_predictor.predict(image)
-            # steering_img = steering_predictor.post_process_image(image=cv2.resize(image, (320, 160)), angle=angle)
-            # -----------------------------------------------------
-            # angle = -1 * steering_predictor.predict(image)
-            # print(angle)
-
-            # -----------------------------------------------------
-            steering_img = cv2.resize(steering_img, (640, 480))
-            mc.turn(configs.st_fac * angle)
-
-            # ------------------------- segmentation -------------------------
-
-            if cv2.waitKey(33) == ord('a'):
-                speed = 1
-                visual = cv2.resize(image, (640, 480))
-            else:
-                result, visual = segmentor.semantic_segmentation(image, visualize=True)
-                speed = seg_analyzer.analyze_image(result)
-
-                if speed == 0:
-                    print(colored("STOP!", "red"))
-                    c_controller.drive(-1)
-                    time.sleep(2)
-                else:
-                    c_controller.drive(1)
-
-            # ------------------------- ------------ -------------------------
-
-            image = cv2.resize(image, (640, 480))
-
-            buff1 = np.concatenate((steering_img, visual), axis=1)
-            # vidBuf = np.concatenate((buff1, buff2), axis=0)
-            vidBuf = buff1
-
-            # ------------------ show the stuff -------------------
-            # -----------------------------------------------------
-            cv2.imshow(windowName, vidBuf)
-            key = cv2.waitKey(10)
-
-            if key == 27:  # ESC key
-                cv2.destroyAllWindows()
-                print(colored("-------------------------", "blue"))
-                print(colored("Thank you! Program ended.", "blue"))
-                print(colored("-------------------------", "blue"))
-                break
-
-    else:
-        print("Fatal error, camera is not open")
-        
-
diff --git a/driver.py b/driver.py
new file mode 100755
index 00000000..09d01d58
--- /dev/null
+++ b/driver.py
@@ -0,0 +1,194 @@
+#
+# ------------------- AGC ----------------------
+# Drive.py | Created by Neil Nie & Michael Meng
+#      Main file of the self driving car
+# (c) Neil Nie 2017, Please refer to the license
+# ----------------------------------------------
+#
+
+# from steering.rambo import Rambo
+from steering.autumn import AutumnModel
+from steering.steering_predictor import SteeringPredictor
+from steering.mc import MC
+from cruise.cruise_predictor import CruisePredictor
+from cruise.sc import SC
+from semantic_segmentation.segmentor import Segmentor
+from semantic_segmentation.segmentation_analyzer import SegAnalyzer
+from path_planning.global_path import GlobalPathPlanner
+import configs.configs as configs
+from localization.gps import GPS
+
+from imutils.video import VideoStream
+import helper
+import os
+import cv2
+import numpy as np
+from steering.auto_pilot import AutoPilot as AP
+from steering.rambo import Rambo
+from termcolor import colored
+import time
+
+
+class Driver:
+
+    def __init__(self, steering_model, cc=False, seg_vis=False, obj_det=False, det_vis=False, gps=False):
+
+        self.steering_model = steering_model
+        self.cc = cc
+        self.seg_vis = seg_vis
+        self.obj_det = seg_vis
+        self.det_vis = det_vis
+        self.gps = gps
+
+        self.steering_predictor, self.c_predictor, self.segmentor, self.seg_analyzer = self.init_ml_models()
+
+        if self.gps:
+            self.init_nav()
+
+        if configs.default_st_port:  # check for serial setting
+            print(colored("using system default serial ports", "blue"))
+            self.mc = MC(0)
+            self.c_controller = SC(1)
+        else:
+            print(colored("------ serial ports -------", "blue"))
+            print(colored("-------- steering ---------", "blue"))
+            os.system("ls /dev/ttyUSB*")
+            st_port = helper.get_serial_port()
+            self.mc = MC(st_port)
+
+            print(colored("--------- cruise ---------", "blue"))
+            os.system("ls /dev/ttyUSB*")
+            cc_port = helper.get_serial_port()  # get serial ports
+            self.c_controller = SC(cc_port)     # init CC controller
+            print(colored("--------------------------", "blue"))
+
+    def init_ml_models(self):
+
+        if self.steering_model == "Own":
+            steering_predictor = SteeringPredictor()  # init steering predictor
+        elif self.steering_model == "Komanda":
+            steering_predictor = None
+        elif self.steering_model == "Rambo":
+            steering_predictor = Rambo("steering/final_model.hdf5", "steering/X_train_mean.npy")
+        elif self.steering_model == "Autumn":
+            steering_predictor = AutumnModel(configs.cnn_graph, configs.lstm_json, configs.cnn_weights, configs.lstm_weights)
+        elif self.steering_model == "AutoPilot":
+            steering_predictor = None
+        else:
+            raise Exception("Unknown model type: " + self.steering_model + ". Please enter a valid model type")
+
+        if self.cc:
+            c_predictor = CruisePredictor()          # init cruise predictor
+        else:
+            c_predictor = None
+
+        segmentor = Segmentor("ENET")  # init segmentor
+        seg_analyzer = SegAnalyzer(0.05)  # init seg analyzer
+
+        return steering_predictor, c_predictor, segmentor, seg_analyzer
+
+    def init_nav(self):
+
+        print(colored("------ GPS-------", "blue"))
+        os.system("ls /dev/ttyUSB*")
+        gps_port = helper.get_serial_port()
+        self.gps = GPS(gps_port)
+
+        start = self.gps.query_gps_location()
+        print("start: " + str(start))
+        destination = helper.get_destination()
+
+        self.gp_planner = GlobalPathPlanner()
+        directions = self.gp_planner.direction(start, destination)
+        print(directions)
+
+    def drive(self):
+
+        cap = cv2.VideoCapture(configs.CV_CAP_STR)
+
+        vid_left = VideoStream(src=configs.left_vid_src).start()
+        vid_center = VideoStream(src=configs.cent_vid_src).start()
+        vid_right = VideoStream(src=configs.right_vid_src).start()
+
+        if cap.isOpened():
+
+            windowName = "car detection"
+            cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
+            cv2.resizeWindow(windowName, 1280, 480)
+            cv2.moveWindow(windowName, 0, 0)
+            cv2.setWindowTitle(windowName, "car detection")
+
+            print(colored("program begins", "blue"))
+
+            while True:
+
+                # -----------------------------------------------------
+                # Check to see if the user closed the window
+                if cv2.getWindowProperty(windowName, 0) < 0:
+                    break
+
+                left_frame = vid_left.read()
+                center_frame = vid_center.read()
+                right_frame = vid_right.read()
+
+                ret_val, image = cap.read()
+
+                # --------------------------- steering --------------------
+                #
+                if self.steering_model == "Rambo":
+                    resize = cv2.resize(image,(256, 192))
+                    angle = -1 * self.steering_predictor.predict(cv2.cvtColor(resize), cv2.COLOR_BGR2GRAY)
+                    steering_img = self.steering_predictor.post_process_image(cv2.resize(image,(320, 160)), angle)
+
+                elif self.steering_model == "Own":
+                    angle, steering_img = self.steering_predictor.predict_steering(image)
+
+                elif self.steering_model == "Autumn":
+                    angle = self.steering_predictor.predict(image)
+                    steering_img = self.steering_predictor.post_process_image(image=cv2.resize(image, (320, 160)), angle=angle)
+                else:
+                    raise Exception("Not implemented: " + self.steering_model + ". Please enter a valid model type")
+
+                # -------------- execute steering commands ----------------
+                steering_img = cv2.resize(steering_img, (640, 480))
+                self.mc.turn(configs.st_fac * angle)
+
+
+                # ------------------ segmentation -------------------------
+
+                if cv2.waitKey(33) == ord('a'):
+                    speed = 1
+                    visual = cv2.resize(image, (640, 480))
+                else:
+                    result, visual = self.segmentor.semantic_segmentation(image, visualize=self.seg_vis)
+                    speed = self.seg_analyzer.analyze_image(result)
+
+                if speed == 0:
+                    print(colored("STOP!", "red"))
+                    self.c_controller.drive(-1)
+                    time.sleep(2)
+                else:
+                    self.c_controller.drive(1)
+
+                # ------------------------- ------------ -------------------
+
+                buff1 = np.concatenate((steering_img, visual), axis=1)
+                # vidBuf = np.concatenate((buff1, buff2), axis=0)
+                vidBuf = buff1
+
+                # ------------------ show the stuff -------------------
+                # -----------------------------------------------------
+                cv2.imshow(windowName, vidBuf)
+                key = cv2.waitKey(10)
+
+                if key == 27:  # ESC key
+                    cv2.destroyAllWindows()
+                    print(colored("-------------------------", "blue"))
+                    print(colored("Thank you! Program ended.", "blue"))
+                    print(colored("-------------------------", "blue"))
+                    break
+
+        else:
+            print("Fatal error, camera is not open")
+
+
diff --git a/gui/DriveApp.py b/gui/DriveApp.py
new file mode 100644
index 00000000..6fb6d7eb
--- /dev/null
+++ b/gui/DriveApp.py
@@ -0,0 +1,87 @@
+import tkinter as tk
+from driver import Driver
+
+
+class DriverApp(tk.Frame):
+
+    def __init__(self, parent, *args, **kwargs):
+
+        tk.Frame.__init__(self, parent, *args, **kwargs)
+        self.parent = parent
+        self.winfo_toplevel().title("ALVNS")
+
+        self.create_label("Welcome to the autnomous vehicle program")
+
+        # ---- drop down menu ------
+        self.create_label("Please select steering model type")
+        self.var = tk.StringVar(self)
+        self.var.set("Own")
+        self.option = tk.OptionMenu(self, self.var, "Own", "Komanda", "Autumn", "AutoPilot")
+        self.option.pack()
+        self.button = tk.Button(self, text="OK", command=self.set_steering_model, bg="blue")
+        self.button.pack()
+
+        # -----------
+        self.create_label("Please specify run configeration")
+        self.cc_bool = tk.IntVar()
+        self.cb1 = tk.Checkbutton(self, text="Cruise Control", variable=self.cc_bool)
+        self.cb1.pack()
+
+        self.seg_vis = tk.IntVar()
+        self.cb2 = tk.Checkbutton(self, text="Segmentation Visualization", variable=self.seg_vis)
+        self.cb2.pack()
+
+        self.detc_bool = tk.IntVar()
+        self.detc_bool.set(1)
+        self.cb3 = tk.Checkbutton(self, text="Object Detection", variable=self.detc_bool)
+        self.cb3.pack()
+
+        self.detc_vis = tk.IntVar()
+        self.cb4 = tk.Checkbutton(self, text="Detection Visualization", variable=self.detc_vis)
+        self.cb4.pack()
+
+        self.gps_bool = tk.IntVar()
+        self.cb5 = tk.Checkbutton(self, text="GPS", variable=self.gps_bool)
+        self.cb5.pack()
+
+        # --------
+        self.beginButton = tk.Button(self, text="Begin", command=self.begin)
+        self.beginButton.pack()
+
+        # -- init driver -----
+        self.steering_model = None
+
+
+    def begin(self):
+
+        if self.steering_model != None:
+
+            # print(self.steering_model +
+            #       str(self.cc_bool.get()) +
+            #       str(self.seg_vis.get()) +
+            #       str(self.detc_bool.get()) +
+            #       str(self.detc_vis.get()) +
+            #       str(self.gps_bool.get()))
+
+            self.driver = Driver(steering_model=self.steering_model,
+                                 cc=self.cc_bool.get(),
+                                 seg_vis=self.seg_vis.get(),
+                                 obj_det=self.detc_bool.get(),
+                                 det_vis=self.detc_vis.get(),
+                                 gps=self.gps_bool.get())
+
+
+            self.driver.drive()
+        else:
+            raise Exception("Steering model has not been initialized. Please enter a valid model type")
+
+    def set_steering_model(self):
+        self.steering_model = self.var.get()
+        print(self.steering_model)
+
+    def create_label(self, str):
+        string = tk.StringVar()
+        label = tk.Label(self, textvariable=string, relief=tk.FLAT)
+        string.set(str)
+        label.pack()
+
diff --git a/gui/tkinter_example.py b/gui/tkinter_example.py
deleted file mode 100644
index 8a8cdcaa..00000000
--- a/gui/tkinter_example.py
+++ /dev/null
@@ -1,125 +0,0 @@
-
-# import the necessary packages
-from __future__ import print_function
-from PIL import Image
-from PIL import ImageTk
-import Tkinter as tki
-import threading
-import datetime
-import imutils
-import cv2
-import os
-# import the necessary packages
-
-from imutils.video import VideoStream
-import argparse
-import time
-
-
-class PhotoBoothApp:
-	def __init__(self, vs, outputPath):
-		# store the video stream object and output path, then initialize
-		# the most recently read frame, thread for reading frames, and
-		# the thread stop event
-		self.vs = vs
-		self.outputPath = outputPath
-		self.frame = None
-		self.thread = None
-		self.stopEvent = None
- 
-		# initialize the root window and image panel
-		self.root = tki.Tk()
-		self.panel = None
-
-				# create a button, that when pressed, will take the current
-		# frame and save it to file
-		btn = tki.Button(self.root, text="Snapshot!",
-			command=self.takeSnapshot)
-		btn.pack(side="bottom", fill="both", expand="yes", padx=10,
-			pady=10)
- 
-		# start a thread that constantly pools the video sensor for
-		# the most recently read frame
-		self.stopEvent = threading.Event()
-		self.thread = threading.Thread(target=self.videoLoop, args=())
-		self.thread.start()
- 
-		# set a callback to handle when the window is closed
-		self.root.wm_title("PyImageSearch PhotoBooth")
-		self.root.wm_protocol("WM_DELETE_WINDOW", self.onClose)
-
-
-	def videoLoop(self):
-		# DISCLAIMER:
-		# I'm not a GUI developer, nor do I even pretend to be. This
-		# try/except statement is a pretty ugly hack to get around
-		# a RunTime error that Tkinter throws due to threading
-		try:
-			# keep looping over frames until we are instructed to stop
-			while not self.stopEvent.is_set():
-				# grab the frame from the video stream and resize it to
-				# have a maximum width of 300 pixels
-				self.frame = self.vs.read()
-				self.frame = imutils.resize(self.frame, width=300)
-		
-				# OpenCV represents images in BGR order; however PIL
-				# represents images in RGB order, so we need to swap
-				# the channels, then convert to PIL and ImageTk format
-				image = cv2.cvtColor(self.frame, cv2.COLOR_BGR2RGB)
-				image = Image.fromarray(image)
-				image = ImageTk.PhotoImage(image)
-		
-				# if the panel is not None, we need to initialize it
-				if self.panel is None:
-					self.panel = tki.Label(image=image)
-					self.panel.image = image
-					self.panel.pack(side="left", padx=10, pady=10)
-		
-				# otherwise, simply update the panel
-				else:
-					self.panel.configure(image=image)
-					self.panel.image = image
- 
-		except RuntimeError, e:
-			print("[INFO] caught a RuntimeError")
-
-
-	def takeSnapshot(self):
-
-		# grab the current timestamp and use it to construct the
-		# output path
-		ts = datetime.datetime.now()
-		filename = "{}.jpg".format(ts.strftime("%Y-%m-%d_%H-%M-%S"))
-		p = os.path.sep.join((self.outputPath, filename))
- 
-		# save the file
-		cv2.imwrite(p, self.frame.copy())
-		print("[INFO] saved {}".format(filename))
-
-
-	def onClose(self):
-		# set the stop event, cleanup the camera, and allow the rest of
-		# the quit process to continue
-		print("[INFO] closing...")
-		self.stopEvent.set()
-		self.vs.stop()
-		self.root.quit()
-
-
- 
-# construct the argument parse and parse the arguments
-ap = argparse.ArgumentParser()
-ap.add_argument("-o", "--output", required=True,
-	help="path to output directory to store snapshots")
-ap.add_argument("-p", "--picamera", type=int, default=-1,
-	help="whether or not the Raspberry Pi camera should be used")
-args = vars(ap.parse_args())
- 
-# initialize the video stream and allow the camera sensor to warmup
-print("[INFO] warming up camera...")
-vs = VideoStream(usePiCamera=args["picamera"] > 0).start()
-time.sleep(2.0)
- 
-# start the app
-pba = PhotoBoothApp(vs, args["output"])
-pba.root.mainloop()
\ No newline at end of file
diff --git a/localization/__init__.py b/localization/__init__.py
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Ut~N=pz;cOLS=gALU*)mmzr9GGzW@LL

literal 0
HcmV?d00001

diff --git a/path_planning/.DS_Store b/path_planning/.DS_Store
index 99eab991358e944928953ac64f8f6674a12bf432..210c999652605e816639d24e963e61dcf5561b4a 100644
GIT binary patch
delta 14
VcmZoMXffDulaaA?^DRa#F#sy~1xEk?

delta 14
VcmZoMXffDulacZB=39(fVgN0S1+@SG

diff --git a/path_planning/__pycache__/__init__.cpython-36.pyc b/path_planning/__pycache__/__init__.cpython-36.pyc
index 698094ea76b0df3121b37c28b4277f50410b6e64..8141db1e9ae89ded67dea3d10edf57504f804f96 100644
GIT binary patch
delta 69
zcmeBYoX5y+%*)HAE?Pg4-NMLQKeRZts8~NTKQFy9F)!UOGgaRuwJbF!zaX_pKe4nV
YKQBKwzqD94JwGQ+H#xDWWMYyo0OvOsm;e9(

delta 54
zcmbQo*w4sr%*)G_ci(6tyM?lierR!OQL%nyeqMTIVqSV)W~#nRYFTPdenD!HzN1f=
JU+~02T>#CE5(@wT

diff --git a/path_planning/__pycache__/global_path.cpython-36.pyc b/path_planning/__pycache__/global_path.cpython-36.pyc
old mode 100755
new mode 100644
index 10405bc51077e6ec6e6029155aa1c13c886f8a63..a9061115f5920ee9e7c3d2443f8ffe1ee7770d38
GIT binary patch
delta 72
zcmZ3)zLA~Xn3tDJU9^59djg}8pMGd@YEiL%WPV<HWnx~sUuLSlOKMqaPJTgZk$z%n
bNq$~_ZhmR8ZhC%Bnr?DpQOV{mMhPYWImZ}I

delta 57
zcmdnUzKEUOn3tDpR+rsI_5?;{d;QSj)S_bj%KW_a%EY|%yv$U6m(;S<ocw~+B7H}n
MFu&l<GZ`hA00}Y@qyPW_

diff --git a/run.py b/run.py
new file mode 100644
index 00000000..77f04d20
--- /dev/null
+++ b/run.py
@@ -0,0 +1,21 @@
+#
+# About:
+# If you want to start the self driving car program,
+# run this file.
+# Developed by Neil Nie | (c) 2018, MIT License
+# All Rights Reserved
+#
+# For research and development purposes only
+# you are responsible for your own safety.
+# By downloading and running the code, you
+# have agreed to the terms and conditions.
+# 
+
+from gui.DriveApp import DriverApp
+import tkinter as tk
+
+if __name__ == "__main__":
+
+    root = tk.Tk()
+    DriverApp(root).pack(side="top", fill="both", expand=True)
+    root.mainloop()
\ No newline at end of file
diff --git a/semantic_segmentation/__pycache__/__init__.cpython-36.pyc b/semantic_segmentation/__pycache__/__init__.cpython-36.pyc
index f06d9f5f5e035026553914be770d4a16c47edc0f..b4aded77f616f143b199b2109b67295805734e66 100644
GIT binary patch
delta 69
zcmbQvxQvnAn3tDJU9^58yM<A(erR!OQL%nxeqMTIVqUsmW~#nRYFTPdenD!Heqw1!
YeqMfVerd68dVWrtZgOH#$;2d60PQCixBvhE

delta 54
zcmZ3+IGvH*n3tDp%8!bP>=w!{`k}?CMaBA+`FZJ;iFxUHnW_3Nsb#4-`30#(`i?$f
Je!&w9O#$f960iUO

diff --git a/semantic_segmentation/__pycache__/configs.cpython-36.pyc b/semantic_segmentation/__pycache__/configs.cpython-36.pyc
index cd341094c8779046710cf7f93a9cdf189d8f365f..7597759de2ed31938084858d691c8ee4c2b21b83 100644
GIT binary patch
delta 71
zcmey*)W^(j%*)HQ|MJX@?81yjLHeP^sYS*5k@<P)m5F)jewnHIE~#ayIr#;tMf!=Q
aCHZ;zx%s8Vy6O2jX}ZaYMJ1DM8Jz%j3mIVm

delta 56
zcmeBU{?Ej2%*)GV8#H4hyD+1&vwmoCYEiL%Wqw|IWnx}>US_JkOKMqaPJTgZk-no(
Lm|yT@A4Vqt=ll{3

diff --git a/semantic_segmentation/__pycache__/segmentation_analyzer.cpython-36.pyc b/semantic_segmentation/__pycache__/segmentation_analyzer.cpython-36.pyc
index b73f138505a66f9c724605e722230b20a5e0a63a..200c6f6aeeeb10db02594b7abe0763953c0ee844 100644
GIT binary patch
delta 120
zcmZn=>=$G==H=zue|hFcc0MMf1pUzB)S_bj$o#zY%EY{Mzsyv9m(;S<ocw~+BK^eD
zlKi~<-2BpF-SqsNG~MLHqLR%POkJ!zQJh7Y=@}*QnYrmvlh3g$Fh)&&&n_<##RCy8
UN-ZwUDJfE7U|@)vti%xq0M524AOHXW

delta 94
zcmeAdY!GBO=H=zul{sT0J0BBc;N*vFqI_kkIr#;tMf#3DVSd5-lLOgBH^(xSu=3pE
vEXqvJD2dO^O}{nyF1rHbt;zq`<wb7sK!l4@i%WA#ij)`_7;a5A<cI?RmDnG~

diff --git a/semantic_segmentation/__pycache__/segmentor.cpython-36.pyc b/semantic_segmentation/__pycache__/segmentor.cpython-36.pyc
index 5f41eaf11aa926639919d4d6f487dfa0ffa14115..1b30bb54bffffc80db3fb25957c557f4259aa79e 100644
GIT binary patch
delta 284
zcmaFI^_Pp?n3tDp|K*t***7!t-{Q&1PfUp~Pt8ovC@H=*`6Q!^g&+e1!><ti(Bjmh
zV*SYcy!6V%ymY_JRDGA!vecaXg481Y#L|-dy!_n!(qi58{G2r1<iw&9{mBoRMJFpW
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V3dCj(@boES2I*zNYJdl;8UXC1Oius+

delta 260
zcmey%^^S|(n3tE!IdjHF_RWm^Q9L>Mi7D~rshQ~+CB;#bPcq7A@-r|n{BqR~Elw>e
z*00RZORr4KOV7(p)ptoPOU=nING;NL^a=9|)}Q==S#+`y(=8z(ppGJ8Afd@r1ZIm&
zmSYxYjGAo5tS1x2otTmm4z?gQMU$<F7pU$QYi4d@dTP|<24*#GkbOm9LSXVn=6WeX
z5MLTDh%D{J5(YGNAxj>R6kruM5Cxl+SDIT;StJf(GY5G36fuMJvS2kJoK+0~;(|YL

diff --git a/semantic_segmentation/__pycache__/utils.cpython-36.pyc b/semantic_segmentation/__pycache__/utils.cpython-36.pyc
index ba02ad3fd28f60cfe96c26eb55cf98a1c5956944..6f5597841e4cbb38cd4c6712d8fb16be072c7c56 100644
GIT binary patch
delta 145
zcmcbn@Kk}zn3tDJqIX%;a=ndQy(~rn`k}?CMaBA&`FZJ;iFxUMnW_3Nsb#4-`30#(
z`iZ3_`FZ)d`K86W>G?Tny2*(}C6jlts55p?e#G*NamwVothX8GZ{Eok!pOLMGap9@
l6XU+k&0HrL8SiiQ<>_T){Ji-#uNRZBz6c{aoNOT=2LR&FFGm0X

delta 130
zcmaE=a7}^Bn3tD}yK_R6sOCnlUKV9X{m|mnqGJ8Z{Jiwa#Ju#p%v61s)Uwo^{DRaX
zeMg@#zu?IyS=1SmCx2x5#h5es4eM>j^35mMLKqqAH_LLAFfmTsJc;WhBjfhXF+9DD
WjHfrh;`L$@W)opVgG`g%1>^uT{3mb#

diff --git a/semantic_segmentation/models/__pycache__/__init__.cpython-36.pyc b/semantic_segmentation/models/__pycache__/__init__.cpython-36.pyc
index f3a199e1f8eeb6af0054c6fadc451b6a9e0d45ed..ee05c836753b37d6e6150fd2b01cffff488f5c6e 100644
GIT binary patch
delta 144
zcmbQlwvdh8n3tE!m8o<idjz9VlzwP&YEiL%WPV<HWnx~sUuLSlOKMqaPJTgZk$z%n
zNq$~_ZhmR8ZhC%Bnr?DpQOV>c#@+I_nDUZuF_zzA%&20kuGK5ZOApaxy2W0SAD@<)
tlX`1%3{!@J7y|=?pC(HbcXnz~VzFLnNoG!Q5ff0bh!;eNO@6|p2LQCIFBkv-

delta 129
zcmZ3;Hi?bhn3tDp%8!bT>=BI0-uj`%sYS*5mHBz;m5F)jd6}vDE~#ayIr#;tMf#3D
zVSd4rCo=Aqk7CM8zQtI6i!q~$t-4mPATK>clPQY5BtJeaGbc4_ayC<jf-nOEgP$f#
e6nA!NQDU)PX-Q^IaS;<xu!t8#2v7dZqz3@!)F`I_

diff --git a/semantic_segmentation/models/enet_naive_upsampling/__pycache__/__init__.cpython-36.pyc b/semantic_segmentation/models/enet_naive_upsampling/__pycache__/__init__.cpython-36.pyc
old mode 100755
new mode 100644
index ac3803ed66854ef3925a3402b37922bbb9343045..8a270f3ad9f25a4b94a3cfbef908e65e4d259a4e
GIT binary patch
delta 69
zcmdnOc$kshn3tDpioEDVb_=5d{m|mnqGJ8X{Jiwa#JqIB%v61s)Uwo^{DRaX{lwCe
Y{Ji|!{L*6G^!%JO-Q>igl8H${00xp6IRF3v

delta 54
zcmX@ixP_73n3tDp%8!bP>=w$2`k}?CMaBA+`FZJ;iFxUHnW_3Nsb#4-`30#(`i?$f
Je!&w9g8=zH6C?lt

diff --git a/semantic_segmentation/models/enet_naive_upsampling/__pycache__/decoder.cpython-36.pyc b/semantic_segmentation/models/enet_naive_upsampling/__pycache__/decoder.cpython-36.pyc
old mode 100755
new mode 100644
index 1ea6592543a1724d0c87db268cb7fcd752b7a4ff..37ff4388e539dff62ebf70b990d7f8f93a28d48d
GIT binary patch
delta 72
zcmaFN{fV31n3tDJU9^59dn&V0zJ6$NYEiL%WPV<HWnx~sUuLSlOKMqaPJTgZk$z%n
bNq$~_ZhmR8ZhC%Bnr?DpQOV|h<`5<TX+jx8

delta 57
zcmeyw{g|8Gn3tC;C#ZTOdn&VXf_`XmYEiL%Wqw|IWnx}>US_JkOKMqaPJTgZk-no(
Mm|yVbdCVb9047ZnZ~y=R

diff --git a/semantic_segmentation/models/enet_naive_upsampling/__pycache__/encoder.cpython-36.pyc b/semantic_segmentation/models/enet_naive_upsampling/__pycache__/encoder.cpython-36.pyc
old mode 100755
new mode 100644
index 11cf6626cce29bdebef1b949ebc1583408fa7146..ecc71f1c83ad525de75823bc89be119ad70e9b05
GIT binary patch
delta 72
zcmdlid`Otxn3tDpioEDX_HT?v`TC*7sYS*5k@<P)m5F)jewnHIE~#ayIr#;tMf!=Q
cCHZ;zx%s8Vy6O2jX}ZaYMJ1aRm?pCW0Cp=GV*mgE

delta 57
zcmX>kyjhstn3tDp%8!bT?B5ub6ZAuiQ;UlAEA#WxD--k5^D<NQT~f<ZbMgyPi}W3R
N!u*0a>oZMe2LMp`6ixsD

diff --git a/semantic_segmentation/models/enet_naive_upsampling/__pycache__/model.cpython-36.pyc b/semantic_segmentation/models/enet_naive_upsampling/__pycache__/model.cpython-36.pyc
index 7e4651ad1e96003612d73c531aa9f8e63aae3598..3bdcf76b38c31da6394af6fbd3617980d4447f33 100644
GIT binary patch
delta 97
zcmZqUoyyB@%*)HAE?U2l-GIp`S3k5kwWwG>GCwc9GBGdRFEdr&CABOyC%+)INI$W(
zBtI`dH@~!4H$6WmO*c8QsAO{#(`sgsTRhpRMTy0FIf<1(?M3Vi3=Fp>OS0tx003<u
Aw*UYD

delta 82
zcmbQr+s4ao%*)GVvZ8t;y8)AOoPKC=YEiL%Wqw|IWnx}>US_JkOKMqaPJTgZk-no(
km|yVbOs3V$B2hfqsYQv!dO3-eK=noJ3=9lWlQr0K0W+l<5dZ)H

diff --git a/steering/.DS_Store b/steering/.DS_Store
index 328b69f0d1b766afda8a2673b0d5ec1553270dee..92df274c69b7393520501d9e765bab6103c3bca1 100755
GIT binary patch
delta 97
zcmZn(XbIS0Dlqw)guvu#0rAZ-0({JqcZ&#Yt`c@-oIF>QXYy&0bCXv{2y9*{`k!g?
w2SJv}dBQxCcSy)hULeFW*-`++=AZmkqMyUi#8gMY)Y4*ek0dV-R7*4y0G^*AGXMYp

delta 92
zcmZn(XbIS0DlmD05X<CS5<HWu1;jVU2=Fma{vgOQd5r|m<|<)V#>siYJd;n0oSVE`
rL}2qu(f>@7XNn3;-XS43*;D{T^H2UN(LdQ+%yaWu$urzgRnbfU4ss#t

diff --git a/steering/__pycache__/__init__.cpython-36.pyc b/steering/__pycache__/__init__.cpython-36.pyc
index 6b71f3ff4a00ed0be291f9f6bff94c36425e31b3..16b99a64a9ca320e551e8f59eaf1883ec171c568 100644
GIT binary patch
delta 69
zcmeBToXN;;%*)HAE?Pg4-NMLCKeRZts8~NTKQFy9F)!UOGgaRuwJbF!zaX_pKe4nV
YKQBKwzqD94JwGQ+H#xDWWMYyA0ONrdga7~l

delta 54
zcmbQq*u}_h%*)G_ci(6tyM?m3erR!OQL%nyeqMTIVqSV)W~#nRYFTPdenD!HzN1f=
JU+~024FJlx5%&N9

diff --git a/steering/__pycache__/ap_model.cpython-35.pyc b/steering/__pycache__/ap_model.cpython-35.pyc
deleted file mode 100644
index d9fe5e388e88f9ce587e91b6a31d4337e8071a29..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2227
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diff --git a/steering/__pycache__/ap_model.cpython-36.pyc b/steering/__pycache__/ap_model.cpython-36.pyc
index 12dfe298c323f7fd312e2d5f19e3de778ca8c6e6..6637d22e59cac05b45f2b397b4cc4dd82c3243ba 100644
GIT binary patch
delta 391
zcmYk0F^a-K6o#YG%o0=(wi2wYEzBeb*k-|EZ7qi}CT1aVWK6`Zyumg(iR=M9fH!yt
z@B|iH`o`x#s{e!Ud(7Mi{{zPReSdPjoY{xl`mE>f_+3_|+NwfT`{_pI=`@zQ{5!aQ
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delta 387
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diff --git a/steering/__pycache__/auto_pilot.cpython-36.pyc b/steering/__pycache__/auto_pilot.cpython-36.pyc
index 5bc2ff3c4ab755fbfd50d52e6f59ea57a1a00ec0..8527849d1387299eccabbed2f1dcd003911ab7d7 100644
GIT binary patch
delta 367
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delta 431
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diff --git a/steering/__pycache__/configs.cpython-36.pyc b/steering/__pycache__/configs.cpython-36.pyc
index dafb71947252692e7703cb03bd1d3aae84e36e13..1e431eaa0f6e49833150a4458e470fa4700e52e9 100644
GIT binary patch
delta 161
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delta 161
zcmaFN{+ONJn3tE!FLcL7_H#_(w^&j#i;QlumnG)J16jAYGjkKuQ{&4sQ%W*!@jy5k
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diff --git a/steering/__pycache__/mc.cpython-36.pyc b/steering/__pycache__/mc.cpython-36.pyc
index 04f1dfd7ec4a8a1d29fef2eca317183a44818836..e4faa5e7504a82d73ec37e48e12ae460bb0a0a46 100644
GIT binary patch
delta 129
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delta 118
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diff --git a/steering/__pycache__/models.cpython-36.pyc b/steering/__pycache__/models.cpython-36.pyc
index 5ddbed00f88e7f8eb7a6c9e770d0ca343459f7fe..fa1822532a4b115c94deec07cb6b819bae9c57a2 100644
GIT binary patch
delta 1006
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delta 1038
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diff --git a/steering/__pycache__/steering_predictor.cpython-36.pyc b/steering/__pycache__/steering_predictor.cpython-36.pyc
index b9d1c567aae4ee3f12351002419f06fe490196c5..62a82db0cbf9813f55bd5c9ce2eb2b7fee914856 100644
GIT binary patch
delta 72
zcmdnWdxV$Wn3tDJU9^59`!^<|0R7P7)S_bj$o#zY%EY{Mzsyv9m(;S<ocw~+BK^eD
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delta 57
zcmX@YyOo#Sn3tDp%8!bT?BAG_9rZ(tQ;UlAEA#WxD--k5^D<NQT~f<ZbMgyPi}W3R
N!u*0a>oZSf1^`N#6ej=x

diff --git a/steering/auto_pilot.py b/steering/auto_pilot.py
index 34bcba92..38ed45d6 100644
--- a/steering/auto_pilot.py
+++ b/steering/auto_pilot.py
@@ -1,9 +1,10 @@
+#
+# AutoPilot
+#
+
 import tensorflow as tf
 import scipy.misc
-# import steering.ap_model as model
-import ap_model as model
-import cv2
-from subprocess import call
+import steering.ap_model as model
 
 
 class AutoPilot:
@@ -19,4 +20,3 @@ def predict(self, frame):
         rad = model.y.eval(feed_dict={model.x: [image], model.keep_prob: 1.0})[0][0]
 
         return rad
-
diff --git a/steering/models.py b/steering/models.py
index a2cf1a19..fd578c4b 100755
--- a/steering/models.py
+++ b/steering/models.py
@@ -9,8 +9,8 @@
 from keras.optimizers import Adam
 import keras as K
 import tensorflow as tf
-# import steering.configs as configs
-import configs as configs
+import steering.configs as configs
+# import configs as configs
 
 
 def nvidia_model():
diff --git a/steering/weights/.DS_Store b/steering/weights/.DS_Store
index dd5b61865525e84e2fdea44b298a3d9279c5c080..02ec135c06c2818ef2acff8c4e8e5acebc96b710 100644
GIT binary patch
delta 39
vcmZp1XmQvuNpNziNDGIdiK&i)sino_k0Oqn<AheQZf2MG#<Ka32s<+X4EYU0

delta 46
zcmV+}0MY-1K!iZBk`V#OlVA{l1s8jJGBlIQ6CwealModj0hzO05~~HX1{n7Qv;GtZ
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