TfLite-Ultra-Fast-Lane-Detection-Inference

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TfLite-Ultra-Fast-Lane-Detection-Inference

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Example scripts for the detection of lanes using the ultra fast lane detection model in Tensorflow Lite.

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# TFlite Ultra Fast Lane Detection Inference
Example scripts for the detection of lanes using the [ultra fast lane detection model](https://github.com/cfzd/Ultra-Fast-Lane-Detection) in Tensorflow Lite.

![!Ultra fast lane detection](https://github.com/ibaiGorordo/TfLite-Ultra-Fast-Lane-Detection-Inference/blob/main/doc/img/detected_lanes.jpg)
Source: https://www.flickr.com/photos/32413914@N00/1475776461/

# Requirements

* **OpenCV**, **scipy** and **tensorflow/tflite_runtime**. **pafy** and **youtube-dl** are required for youtube video inference. 
 
# Installation
```
pip install -r requirements.txt
pip install pafy youtube-dl

```

For the tflite runtime, you can either use tensorflow `pip install tensorflow` or the [TensorFlow Runtime](https://www.tensorflow.org/lite/guide/python)

# tflite model
The original model was converted to different formats (including .tflite) by [PINTO0309](https://github.com/PINTO0309), download the models from [his repository](https://github.com/PINTO0309/PINTO_model_zoo/tree/main/140_Ultra-Fast-Lane-Detection) and save it into the **[models](https://github.com/ibaiGorordo/TfLite-Ultra-Fast-Lane-Detection-Inference/tree/main/models)** folder.

# Original Pytorch model
The Pytorch pretrained model from the [original repository](https://github.com/cfzd/Ultra-Fast-Lane-Detection).

# Ultra fast lane detection - TuSimple([link](https://github.com/cfzd/Ultra-Fast-Lane-Detection))

* **Input**: RGB image of size 800 x 200 pixels.
 * **Output**: Keypoints for a maximum of 4 lanes (left-most lane, left lane, right lane, and right-most lane).
 
# Examples

* **Image inference**:
 
 ```
 python imageLaneDetection.py 
 ```
 
  * **Webcam inference**:
 
 ```
 python webcamLaneDetection.py
 ```
 
  * **Video inference**:
 
 ```
 python videoLaneDetection.py
 ```

# Pytorch inference
For performing the inference in Pytorch, check my other repository **[Ultrafast Lane Detection Inference Pytorch](https://github.com/ibaiGorordo/Ultrafast-Lane-Detection-Inference-Pytorch-)**.

# ONNX inference
For performing the inference in ONNX, check my other repository **[ONNX Ultra Fast Lane Detection Inference](https://github.com/ibaiGorordo/onnx-Ultra-Fast-Lane-Detection-Inference)**.

# [Inference video Example](https://youtu.be/0Owf6gef1Ew) 
 ![!Ultrafast lane detection on video](https://github.com/ibaiGorordo/Ultrafast-Lane-Detection-Inference-Pytorch-/blob/main/doc/img/laneDetection.gif)
 
 Original video: https://youtu.be/2CIxM7x-Clc (by Yunfei Guo)

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