├── Example.png ├── LICENSE ├── Modeling ├── culane │ └── code │ │ ├── datasets │ │ ├── __init__.py │ │ └── dataset_culane.py │ │ ├── evaluation │ │ ├── __init__.py │ │ ├── culane │ │ │ ├── CMakeLists.txt │ │ │ ├── Makefile │ │ │ ├── Run.sh │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.10.2 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── a.out │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── a.out │ │ │ │ │ ├── 3.5.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── a.out │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── a.out │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── FindOpenMP │ │ │ │ │ │ ├── OpenMPCheckVersion.c │ │ │ │ │ │ ├── OpenMPCheckVersion.cpp │ │ │ │ │ │ ├── OpenMPTryFlag.c │ │ │ │ │ │ ├── OpenMPTryFlag.cpp │ │ │ │ │ │ ├── ompver_C.bin │ │ │ │ │ │ └── ompver_CXX.bin │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── Progress │ │ │ │ │ │ ├── 1 │ │ │ │ │ │ ├── 2 │ │ │ │ │ │ ├── 3 │ │ │ │ │ │ ├── 4 │ │ │ │ │ │ ├── 5 │ │ │ │ │ │ └── count.txt │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── culane_evaluator.dir │ │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ ├── progress.make │ │ │ │ │ │ └── src │ │ │ │ │ │ │ ├── counter.cpp.o │ │ │ │ │ │ │ ├── evaluate.cpp.o │ │ │ │ │ │ │ ├── lane_compare.cpp.o │ │ │ │ │ │ │ └── spline.cpp.o │ │ │ │ │ ├── feature_tests.bin │ │ │ │ │ ├── feature_tests.c │ │ │ │ │ ├── feature_tests.cxx │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ ├── counter.o │ │ │ │ │ ├── evaluate.o │ │ │ │ │ ├── lane_compare.o │ │ │ │ │ └── spline.o │ │ │ ├── calTotal.m │ │ │ ├── evaluate │ │ │ ├── include │ │ │ │ ├── counter.hpp │ │ │ │ ├── hungarianGraph.hpp │ │ │ │ ├── lane_compare.hpp │ │ │ │ └── spline.hpp │ │ │ ├── run.sh │ │ │ └── src │ │ │ │ ├── counter.cpp │ │ │ │ ├── evaluate.cpp │ │ │ │ ├── lane_compare.cpp │ │ │ │ └── spline.cpp │ │ ├── eval_culane_laneatt.py │ │ └── eval_culane_official.py │ │ ├── libs │ │ ├── __init__.py │ │ ├── generator.py │ │ ├── load_model.py │ │ ├── prepare.py │ │ ├── save_model.py │ │ └── utils.py │ │ ├── main.py │ │ ├── networks │ │ ├── __init__.py │ │ ├── backbone.py │ │ ├── loss.py │ │ └── model.py │ │ ├── options │ │ ├── __init__.py │ │ ├── args.py │ │ └── config.py │ │ ├── post_processes │ │ ├── __init__.py │ │ ├── post_process.py │ │ └── save_prediction.py │ │ ├── tests │ │ ├── __init__.py │ │ ├── forward.py │ │ └── test.py │ │ ├── trains │ │ ├── __init__.py │ │ └── train.py │ │ └── visualizes │ │ ├── __init__.py │ │ └── visualize.py └── tusimple │ └── code │ ├── datasets │ ├── __init__.py │ └── dataset_tusimple.py │ ├── evaluation │ ├── __init__.py │ └── eval_tusimple.py │ ├── libs │ ├── __init__.py │ ├── generator.py │ ├── load_model.py │ ├── prepare.py │ ├── save_model.py │ └── utils.py │ ├── main.py │ ├── networks │ ├── __init__.py │ ├── backbone.py │ ├── loss.py │ └── model.py │ ├── options │ ├── __init__.py │ ├── args.py │ └── config.py │ ├── post_processes │ ├── __init__.py │ └── post_process.py │ ├── tests │ ├── __init__.py │ ├── forward.py │ └── test.py │ ├── trains │ ├── __init__.py │ └── train.py │ └── visualizes │ ├── __init__.py │ └── visualize.py ├── Overview.png ├── Preprocessing ├── culane │ ├── P00_data_processing │ │ └── code │ │ │ ├── libs │ │ │ ├── __init__.py │ │ │ ├── preprocess.py │ │ │ └── utils.py │ │ │ ├── main.py │ │ │ └── options │ │ │ ├── __init__.py │ │ │ ├── args.py │ │ │ └── config.py │ ├── P01_lane_representation │ │ └── code │ │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ └── dataset_culane.py │ │ │ ├── libs │ │ │ ├── __init__.py │ │ │ ├── prepare.py │ │ │ ├── preprocess.py │ │ │ └── utils.py │ │ │ ├── main.py │ │ │ ├── options │ │ │ ├── __init__.py │ │ │ ├── args.py │ │ │ └── config.py │ │ │ └── visualizes │ │ │ ├── __init__.py │ │ │ └── visualize.py │ ├── P02_SVD │ │ └── code │ │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ └── dataset_culane.py │ │ │ ├── libs │ │ │ ├── __init__.py │ │ │ ├── prepare.py │ │ │ ├── preprocess.py │ │ │ └── utils.py │ │ │ ├── main.py │ │ │ ├── options │ │ │ ├── __init__.py │ │ │ ├── args.py │ │ │ └── config.py │ │ │ └── visualizes │ │ │ ├── __init__.py │ │ │ └── visualize.py │ ├── P03_clustering │ │ └── code │ │ │ ├── libs │ │ │ ├── __init__.py │ │ │ ├── prepare.py │ │ │ ├── preprocess.py │ │ │ └── utils.py │ │ │ ├── main.py │ │ │ ├── options │ │ │ ├── __init__.py │ │ │ ├── args.py │ │ │ └── config.py │ │ │ └── visualizes │ │ │ ├── __init__.py │ │ │ └── visualize.py │ └── P04_training_label_generation │ │ └── code │ │ ├── datasets │ │ ├── __init__.py │ │ └── dataset_culane.py │ │ ├── libs │ │ ├── __init__.py │ │ ├── prepare.py │ │ ├── preprocess1.py │ │ ├── preprocess2.py │ │ └── utils.py │ │ ├── main.py │ │ ├── options │ │ ├── __init__.py │ │ ├── args.py │ │ └── config.py │ │ └── visualizes │ │ ├── __init__.py │ │ └── visualize.py └── tusimple │ ├── P00_data_processing │ └── code │ │ ├── libs │ │ ├── __init__.py │ │ ├── preprocess.py │ │ └── utils.py │ │ ├── main.py │ │ └── options │ │ ├── __init__.py │ │ ├── args.py │ │ └── config.py │ ├── P01_lane_representation │ └── code │ │ ├── datasets │ │ ├── __init__.py │ │ └── dataset_tusimple.py │ │ ├── libs │ │ ├── __init__.py │ │ ├── prepare.py │ │ ├── preprocess.py │ │ └── utils.py │ │ ├── main.py │ │ ├── options │ │ ├── __init__.py │ │ ├── args.py │ │ └── config.py │ │ └── visualizes │ │ ├── __init__.py │ │ └── visualize.py │ ├── P02_SVD │ └── code │ │ ├── datasets │ │ ├── __init__.py │ │ └── dataset_tusimple.py │ │ ├── libs │ │ ├── __init__.py │ │ ├── prepare.py │ │ ├── preprocess.py │ │ └── utils.py │ │ ├── main.py │ │ ├── options │ │ ├── __init__.py │ │ ├── args.py │ │ └── config.py │ │ └── visualizes │ │ ├── __init__.py │ │ └── visualize.py │ ├── P03_clustering │ └── code │ │ ├── libs │ │ ├── __init__.py │ │ ├── prepare.py │ │ ├── preprocess.py │ │ └── utils.py │ │ ├── main.py │ │ ├── options │ │ ├── __init__.py │ │ ├── args.py │ │ └── config.py │ │ └── visualizes │ │ ├── __init__.py │ │ └── visualize.py │ └── P04_training_label_generation │ └── code │ ├── datasets │ ├── __init__.py │ └── dataset_tusimple.py │ ├── libs │ 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