-ADD: Images of the single Runs (Udacity)

Super-T02 · Dec 12, 2022 · 6f2dd31 · 6f2dd31
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Showing 27 changed files with 14 additions and 12 deletions.
diff --git a/Documentation/Images/Udacity/Img001-Hough.png b/Documentation/Images/Udacity/Img001-Hough.png
diff --git a/Documentation/Images/Udacity/Img001-KI.png b/Documentation/Images/Udacity/Img001-KI.png
diff --git a/Documentation/Images/Udacity/Img001-Slidin-Window.png b/Documentation/Images/Udacity/Img001-Slidin-Window.png
diff --git a/Documentation/Images/Udacity/Img002-Hough.png b/Documentation/Images/Udacity/Img002-Hough.png
diff --git a/Documentation/Images/Udacity/Img002-KI.png b/Documentation/Images/Udacity/Img002-KI.png
diff --git a/Documentation/Images/Udacity/Img002-Sliding-Window.png b/Documentation/Images/Udacity/Img002-Sliding-Window.png
diff --git a/Documentation/Images/Udacity/Img003-Hough.png b/Documentation/Images/Udacity/Img003-Hough.png
diff --git a/Documentation/Images/Udacity/Img003-Sliding-Window.png b/Documentation/Images/Udacity/Img003-Sliding-Window.png
diff --git a/Documentation/Images/Udacity/Img003_KI.png b/Documentation/Images/Udacity/Img003_KI.png
diff --git a/Documentation/Images/Udacity/Img004-Hough.png b/Documentation/Images/Udacity/Img004-Hough.png
diff --git a/Documentation/Images/Udacity/Img004-KI.png b/Documentation/Images/Udacity/Img004-KI.png
diff --git a/Documentation/Images/Udacity/Img004-Sliding-Window.png b/Documentation/Images/Udacity/Img004-Sliding-Window.png
diff --git a/Documentation/Images/Udacity/Img005-Hough.png b/Documentation/Images/Udacity/Img005-Hough.png
diff --git a/Documentation/Images/Udacity/Img005-KI.png b/Documentation/Images/Udacity/Img005-KI.png
diff --git a/Documentation/Images/Udacity/Img005-Sliding-Window.png b/Documentation/Images/Udacity/Img005-Sliding-Window.png
diff --git a/Documentation/Images/Udacity/Img006-Hough.png b/Documentation/Images/Udacity/Img006-Hough.png
diff --git a/Documentation/Images/Udacity/Img006-KI.png b/Documentation/Images/Udacity/Img006-KI.png
diff --git a/Documentation/Images/Udacity/Img006-Sliding-Window.png b/Documentation/Images/Udacity/Img006-Sliding-Window.png
diff --git a/Documentation/Images/Udacity/Img007-Hough.png b/Documentation/Images/Udacity/Img007-Hough.png
diff --git a/Documentation/Images/Udacity/Img007-KI.png b/Documentation/Images/Udacity/Img007-KI.png
diff --git a/Documentation/Images/Udacity/Img007-Sliding-Window.png b/Documentation/Images/Udacity/Img007-Sliding-Window.png
diff --git a/Documentation/Images/Udacity/Img008-Hough.png b/Documentation/Images/Udacity/Img008-Hough.png
diff --git a/Documentation/Images/Udacity/Img008-KI.png b/Documentation/Images/Udacity/Img008-KI.png
diff --git a/Documentation/Images/Udacity/Img008-Sliding-Windows.png b/Documentation/Images/Udacity/Img008-Sliding-Windows.png
diff --git a/README.md b/README.md
@@ -3,6 +3,7 @@
 Dieses Projekt beinhaltet die Prüfungsleistung für den Kurs Digitale Bildverarbeitung an der Dualen Hochschule Bade-Württemberg. Aufgabe ist es, eine Spurerkennung für ein Video zu erstellen. Bonusaufgaben können zudem ergänzt werden. Für genauere Anforderungen, siehe [Task.pdf](Task.pdf).
 
 **Hinweis: Die Videos für die Abgabe sind unter `Documentation/Videos` zu finden!**
+**Hinweise zum KI-Modell: Der direkte Download ist: <https://drive.google.com/file/d/1WCYyur5ZaWczH15ecmeDowrW30xcLrCn/view?usp=sharing> Der Pfad des Models muss dann in der mein als model_path mitgegeben werden**
 
 ## Ordnerstruktur
 

diff --git a/config/video.json b/config/video.json
@@ -1,11 +1,11 @@
 {
     "HOUGH": {
         "RHO": 6,
-        "THETA": 90,
+        "THETA": 80,
         "THRESHOLD": 100,
         "MIN_LINE_LENGTH": 3,
         "MAX_LINE_GAP": 2,
-        "CANNY_LOWER": 100,
+        "CANNY_LOWER": 80,
         "CANNY_UPPER": 150,
         "LEFT_FIX": [200, 720],
         "RIGHT_FIX": [1200, 720],
@@ -16,10 +16,10 @@
         "MAX_COLOR": [70, 255, 255],
         "HIT_X_LEFT": 200,
         "HIT_Y_LEFT": 300,
-        "HIT_X_RIGHT": -80,
+        "HIT_X_RIGHT": -40,
         "HIT_Y_RIGHT": 500,
         "HIT_X_MIDDLE_LEFT": 450,
-        "HIT_X_MIDDLE_RIGHT": -380,
+        "HIT_X_MIDDLE_RIGHT": -410,
         "HIT_Y_MIDDLE": -75,
         "ROI": [
             [300, -75],

diff --git a/src/main.py b/src/main.py
@@ -13,18 +13,19 @@ class Main():
     WIN_X = 1280
     WIN_Y = 720
 
-    def __init__(self, path, debug=False):
+    def __init__(self, path, model_path = "", debug=False):
         print('Willkommen beim Projekt "Erkennung von Spurmarkierungen"')
 
         # Define the objects
         self.calib = cal.Calibration(debug=debug)
         self.sliding_win = slw.SlidingWindow(debug=debug)
         self.hough = hou.HoughTransformation(debug = debug)
-
-        model_path = "src/model/tusimple_18.pth"
+        self.model_path = None
+
+        if model_path: self.model_path = model_path
         useGPU = False # True if you want to use GPU and coda cores
 
-        self.lane_detector = LaneDetection(model_path, useGPU)
+        if model_path: self.lane_detector = LaneDetection(model_path, useGPU)
 
         # Define the variables
         self.path = path
@@ -39,10 +40,10 @@ def startVideo(self, mode=0, config_path="./config/video.json", export_video=Fal
             error = self.hough.load_config(config_path)
         elif mode == 1:
             error = self.sliding_win.load_config(config_path)
-        elif mode == 2:
+        elif mode == 2 and self.model_path:
             pass
         else:
-            error = "Mode not found"
+            error = "Mode not found or model not found"
 
         if error:
             print(error)
@@ -60,7 +61,7 @@ def startVideo(self, mode=0, config_path="./config/video.json", export_video=Fal
             vid_str = 'default_vid'
             if mode == 1:
                 mode_str = 'sliding_windows'
-            if mode == 2:
+            if mode == 2 and self.model_path:
                 mode_str = 'KI'
             if config_path == './config/video_challenge.json':
                 vid_str = 'challenge_vid'
@@ -149,7 +150,7 @@ def _calcFPS(self, prev_frame_time, new_frame_time):
     # Mode:
     # - 0: Hough
     # - 1: Sliding window
-    # - 2: KI-Model
+    # - 2: KI-Model (if model is loaded) model_path = ...
     main.startVideo(mode=0, config_path="./config/video.json")
     main.startVideo(mode=1, config_path="./config/video.json")
     main.startVideo(mode=2, config_path="./config/video.json")