# UFLD Documentation

Our master project consists of parts. One part is about the neural network, which is discussed in this documentation. 
The other part is about generating datasets from CARLA. The documentation about this part can be found **[here](carla_ds:index)**. 

## UFLD Project overview

The project is splitted into two parts

- [Train](./src.train): This module contains the code to train a model
- [Runtime](./src.runtime): Contains the code for everything besides training, eg testing, demo or production usage

There's also some shared code between these two parts which is located under [common](./src.common).

The [scripts](scripts) namespace contains many scripts "around" the project, eg to convert/prepare Datasets or to record
testing data from [CARLA](https://carla.org/).

## Datasets

The dataset has to meet our dataset definition exactly. If the dataset doesn't fulfill the specification exactly it will
fail. See [creating a dataset](./howto/create_a_profile.md) for details.

## Usage

The main application is used by running the `ufld.py` file. The usage of the scripts is different per script. See their documentation / the howtos for details on their usage.

## Setup

See [HOWTO: Setup](./howto/setup.md)

## Config/CLI Parameters

Every parameter has a default value, specified in the default profile. Every config entry can be overridden in a custom
config and also via CLI. To use config options via the CLI interface prefix them with `--`, eg `--batch_size 16`. All
available options are documented under `ufld.py --help` and [configs](./configs).

An example command for training could look like

``` shell
python ufld.py configs/carla_trainset02.py --mode train
```

To test your model you could use a command like

``` 
python ufld.py configs/carla_trainset02.py --mode test
```

For further examples see [HOWTOs](./howto/howtos.md)

## Collecting data from CARLA

CARLA is one way to get training and test data. Sadly CARLA doesn't provide the required information over its API. As a
result it's quite complicated to generate a dataset from CARLA. We wrote some scripts which make this possible. These 
are located in a separate [project on Github](https://github.com/Glutamat42/Carla-Lane-Detection-Dataset-Generation) folder. 
Also have a look [on this HOWTO](<carla_ds:howto/generate_dataset_from_carla>) which explains their usage.

## HOWTOs

The [HOWTOs](./howto/howtos.md) section provides guides for every common usecase/problem of this application.

If you can't await it to use this project in your application you can have a look on the [HOWTO: Integrate into your project](howto/integrate_into_your_own_project).
This will give you an outline, but be warned, you won't be able to start with this howto without completing the other ones.


## Build documentation
The project has to be [set up](./howto/setup). 
1. Change to `docs/`
2. Run `make html`

Note: To create a docstring rst file use a command like `sphinx-apidoc --implicit-namespaces -o source/ ../scripts/` from inside the docs directory.

```{toctree}
---
maxdepth: 1
caption: Contents
---
./howto/howtos
./modules
./scripts
```