diff --git a/configs/tusimple.py b/configs/tusimple.py
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--- /dev/null
+++ b/configs/tusimple.py
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+net = dict(
+    type='RESANet',
+)
+
+backbone = dict(
+    type='ResNetWrapper',
+    resnet='resnet34',
+    pretrained=True,
+    replace_stride_with_dilation=[False, True, True],
+    out_conv=True,
+    fea_stride=8,
+)
+
+resa = dict(
+    type='RESA',
+    alpha=2.0,
+    iter=5,
+    input_channel=128,
+    conv_stride=9,
+)
+
+decoder = 'BUSD'        
+
+trainer = dict(
+    type='RESA'
+)
+
+evaluator = dict(
+    type='Tusimple',
+    thresh = 0.60
+)
+
+optimizer = dict(
+  type='sgd',
+  lr=0.020,
+  weight_decay=1e-4,
+  momentum=0.9
+)
+
+total_iter = 80000
+import math
+scheduler = dict(
+    type = 'LambdaLR',
+    lr_lambda = lambda _iter : math.pow(1 - _iter/total_iter, 0.9)
+)
+
+bg_weight = 0.4
+
+img_norm = dict(
+    mean=[103.939, 116.779, 123.68],
+    std=[1., 1., 1.]
+)
+
+img_height = 368
+img_width = 640
+cut_height = 160
+seg_label = "seg_label"
+
+dataset_path = '/data/workspace/myshixun/step4/dataset/tusimple'
+test_json_file = '/data/workspace/myshixun/step4/dataset/tusimple/test_label.json'
+
+dataset = dict(
+    train=dict(
+        type='TuSimple',
+        img_path=dataset_path,
+        data_list='train_val_gt.txt',
+    ),
+    val=dict(
+        type='TuSimple',
+        img_path=dataset_path,
+        data_list='predict_val.txt'
+    ),
+    test=dict(
+        type='TuSimple',
+        img_path=dataset_path,
+        data_list='test_gt.txt'
+    )
+)
+
+
+loss_type = 'cross_entropy'
+seg_loss_weight = 1.0
+
+
+batch_size = 4
+workers = 0
+num_classes = 6 + 1
+ignore_label = 255
+epochs = 2
+log_interval = 100
+eval_ep = 1
+save_ep = epochs
+log_note = ''
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diff --git a/dataset/tusimple/label_data_0531.json b/dataset/tusimple/label_data_0531.json
new file mode 100644
index 0000000..9df1a8c
--- /dev/null
+++ b/dataset/tusimple/label_data_0531.json
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diff --git a/dataset/tusimple/label_data_0601.json b/dataset/tusimple/label_data_0601.json
new file mode 100644
index 0000000..76801f2
--- /dev/null
+++ b/dataset/tusimple/label_data_0601.json
@@ -0,0 +1,6 @@
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diff --git a/dataset/tusimple/seg_label/train_val.json b/dataset/tusimple/seg_label/train_val.json
new file mode 100644
index 0000000..6359466
--- /dev/null
+++ b/dataset/tusimple/seg_label/train_val.json
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diff --git a/dataset/tusimple/test_label.json b/dataset/tusimple/test_label.json
new file mode 100644
index 0000000..5302553
--- /dev/null
+++ b/dataset/tusimple/test_label.json
@@ -0,0 +1,47 @@
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diff --git a/dataset/tusimple/test_tasks_0627.json b/dataset/tusimple/test_tasks_0627.json
new file mode 100644
index 0000000..b7004bc
--- /dev/null
+++ b/dataset/tusimple/test_tasks_0627.json
@@ -0,0 +1,47 @@
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+{"h_samples":[160,170,180,190,200,210,220,230,240,250,260,270,280,290,300,310,320,330,340,350,360,370,380,390,400,410,420,430,440,450,460,470,480,490,500,510,520,530,540,550,560,570,580,590,600,610,620,630,640,650,660,670,680,690,700,710],"lanes":[],"run_time":1000,"raw_file":"clips\/0601\/1494452419576967330\/20.jpg"}
diff --git a/datasets/__init__.py b/datasets/__init__.py
new file mode 100644
index 0000000..b94b540
--- /dev/null
+++ b/datasets/__init__.py
@@ -0,0 +1,4 @@
+from .registry import build_dataset, build_dataloader
+
+from .tusimple import TuSimple
+from .culane import CULane
diff --git a/datasets/base_dataset.py b/datasets/base_dataset.py
new file mode 100644
index 0000000..33a7f18
--- /dev/null
+++ b/datasets/base_dataset.py
@@ -0,0 +1,86 @@
+import os.path as osp
+import os
+import numpy as np
+import cv2
+import torch
+from torch.utils.data import Dataset
+import torchvision
+import utils.transforms as tf
+from .registry import DATASETS
+
+
+@DATASETS.register_module
+class BaseDataset(Dataset):
+    def __init__(self, img_path, data_list, list_path='list', cfg=None):
+        self.cfg = cfg
+        self.img_path = img_path
+        self.list_path = osp.join(img_path, list_path)
+        self.data_list = data_list
+        self.is_training = ('train' in data_list)
+
+        self.img_name_list = []
+        self.full_img_path_list = []
+        self.label_list = []
+        self.exist_list = []
+
+        self.transform = self.transform_train() if self.is_training else self.transform_val()
+
+        self.init()
+
+    def transform_train(self):
+        raise NotImplementedError()
+
+    def transform_val(self):
+        val_transform = torchvision.transforms.Compose([
+            tf.SampleResize((self.cfg.img_width, self.cfg.img_height)),
+            tf.GroupNormalize(mean=(self.cfg.img_norm['mean'], (0, )), std=(
+                self.cfg.img_norm['std'], (1, ))),
+        ])
+        return val_transform
+
+    def view(self, img, coords, file_path=None):
+        for coord in coords:
+            for x, y in coord:
+                if x <= 0 or y <= 0:
+                    continue
+                x, y = int(x), int(y)
+                cv2.circle(img, (x, y), 4, (255, 0, 0), 2)
+
+        if file_path is not None:
+            if not os.path.exists(osp.dirname(file_path)):
+                os.makedirs(osp.dirname(file_path))
+            cv2.imwrite(file_path, img)
+
+
+    def init(self):
+        raise NotImplementedError()
+
+
+    def __len__(self):
+        return len(self.full_img_path_list)
+
+    def __getitem__(self, idx):
+        img = cv2.imread(self.full_img_path_list[idx]).astype(np.float32)
+        img = img[self.cfg.cut_height:, :, :]
+
+        if self.is_training:
+            label = cv2.imread(self.label_list[idx], cv2.IMREAD_UNCHANGED)
+            if len(label.shape) > 2:
+                label = label[:, :, 0]
+            label = label.squeeze()
+            label = label[self.cfg.cut_height:, :]
+            exist = self.exist_list[idx]
+            if self.transform:
+                img, label = self.transform((img, label))
+            label = torch.from_numpy(label).contiguous().long()
+        else:
+            img, = self.transform((img,))
+
+        img = torch.from_numpy(img).permute(2, 0, 1).contiguous().float()
+        meta = {'full_img_path': self.full_img_path_list[idx],
+                'img_name': self.img_name_list[idx]}
+
+        data = {'img': img, 'meta': meta}
+        if self.is_training:
+            data.update({'label': label, 'exist': exist})
+        return data
diff --git a/datasets/culane.py b/datasets/culane.py
new file mode 100644
index 0000000..c64a1bb
--- /dev/null
+++ b/datasets/culane.py
@@ -0,0 +1,72 @@
+import os
+import os.path as osp
+import numpy as np
+import torchvision
+import utils.transforms as tf
+from .base_dataset import BaseDataset
+from .registry import DATASETS
+import cv2
+import torch
+
+
+@DATASETS.register_module
+class CULane(BaseDataset):
+    def __init__(self, img_path, data_list, cfg=None):
+        super().__init__(img_path, data_list, cfg=cfg)
+        self.ori_imgh = 590
+        self.ori_imgw = 1640
+
+    def init(self):
+        with open(osp.join(self.list_path, self.data_list)) as f:
+            for line in f:
+                line_split = line.strip().split(" ")
+                self.img_name_list.append(line_split[0])
+                self.full_img_path_list.append(self.img_path + line_split[0])
+                if not self.is_training:
+                    continue
+                self.label_list.append(self.img_path + line_split[1])
+                self.exist_list.append(
+                    np.array([int(line_split[2]), int(line_split[3]),
+                              int(line_split[4]), int(line_split[5])]))
+
+    def transform_train(self):
+        train_transform = torchvision.transforms.Compose([
+            tf.GroupRandomRotation(degree=(-2, 2)),
+            tf.GroupRandomHorizontalFlip(),
+            tf.SampleResize((self.cfg.img_width, self.cfg.img_height)),
+            tf.GroupNormalize(mean=(self.cfg.img_norm['mean'], (0, )), std=(
+                self.cfg.img_norm['std'], (1, ))),
+        ])
+        return train_transform
+
+    def probmap2lane(self, probmaps, exists, pts=18):
+        coords = []
+        probmaps = probmaps[1:, ...]
+        exists = exists > 0.5
+        for probmap, exist in zip(probmaps, exists):
+            if exist == 0:
+                continue
+            probmap = cv2.blur(probmap, (9, 9), borderType=cv2.BORDER_REPLICATE)
+            thr = 0.3
+            coordinate = np.zeros(pts)
+            cut_height = self.cfg.cut_height
+            for i in range(pts):
+                line = probmap[round(
+                    self.cfg.img_height-i*20/(self.ori_imgh-cut_height)*self.cfg.img_height)-1]
+
+                if np.max(line) > thr:
+                    coordinate[i] = np.argmax(line)+1
+            if np.sum(coordinate > 0) < 2:
+                continue
+    
+            img_coord = np.zeros((pts, 2))
+            img_coord[:, :] = -1
+            for idx, value in enumerate(coordinate):
+                if value > 0:
+                    img_coord[idx][0] = round(value*self.ori_imgw/self.cfg.img_width-1)
+                    img_coord[idx][1] = round(self.ori_imgh-idx*20-1)
+    
+            img_coord = img_coord.astype(int)
+            coords.append(img_coord)
+    
+        return coords
diff --git a/datasets/registry.py b/datasets/registry.py
new file mode 100644
index 0000000..103a3ed
--- /dev/null
+++ b/datasets/registry.py
@@ -0,0 +1,36 @@
+from utils import Registry, build_from_cfg
+
+import torch
+
+DATASETS = Registry('datasets')
+
+def build(cfg, registry, default_args=None):
+    if isinstance(cfg, list):
+        modules = [
+            build_from_cfg(cfg_, registry, default_args) for cfg_ in cfg
+        ]
+        return nn.Sequential(*modules)
+    else:
+        return build_from_cfg(cfg, registry, default_args)
+
+
+def build_dataset(split_cfg, cfg):
+    args = split_cfg.copy()
+    args.pop('type')
+    args = args.to_dict()
+    args['cfg'] = cfg
+    return build(split_cfg, DATASETS, default_args=args)
+
+def build_dataloader(split_cfg, cfg, is_train=True):
+    if is_train:
+        shuffle = True
+    else:
+        shuffle = False
+
+    dataset = build_dataset(split_cfg, cfg)
+
+    data_loader = torch.utils.data.DataLoader(
+        dataset, batch_size = cfg.batch_size, shuffle = shuffle,
+        num_workers = cfg.workers, pin_memory = False, drop_last = False)
+
+    return data_loader
diff --git a/datasets/tusimple.py b/datasets/tusimple.py
new file mode 100644
index 0000000..3097a23
--- /dev/null
+++ b/datasets/tusimple.py
@@ -0,0 +1,150 @@
+import os.path as osp
+import numpy as np
+import cv2
+import torchvision
+import utils.transforms as tf
+from .base_dataset import BaseDataset
+from .registry import DATASETS
+
+
+@DATASETS.register_module
+class TuSimple(BaseDataset):
+    def __init__(self, img_path, data_list, cfg=None):
+        super().__init__(img_path, data_list, 'seg_label/list', cfg)
+
+    def transform_train(self):
+        input_mean = self.cfg.img_norm['mean']
+        train_transform = torchvision.transforms.Compose([
+            tf.GroupRandomRotation(),
+            tf.GroupRandomHorizontalFlip(),
+            tf.SampleResize((self.cfg.img_width, self.cfg.img_height)),
+            tf.GroupNormalize(mean=(self.cfg.img_norm['mean'], (0, )), std=(
+                self.cfg.img_norm['std'], (1, ))),
+        ])
+        return train_transform
+
+
+    def init(self):
+        with open(osp.join(self.list_path, self.data_list)) as f:
+            for line in f:
+                line_split = line.strip().split(" ")
+                self.img_name_list.append(line_split[0])
+                self.full_img_path_list.append(self.img_path + line_split[0])
+                if not self.is_training:
+                    continue
+                self.label_list.append(self.img_path + line_split[1])
+                self.exist_list.append(
+                    np.array([int(line_split[2]), int(line_split[3]),
+                              int(line_split[4]), int(line_split[5]),
+                              int(line_split[6]), int(line_split[7])
+                              ]))
+
+    def fix_gap(self, coordinate):
+        if any(x > 0 for x in coordinate):
+            start = [i for i, x in enumerate(coordinate) if x > 0][0]
+            end = [i for i, x in reversed(list(enumerate(coordinate))) if x > 0][0]
+            lane = coordinate[start:end+1]
+            if any(x < 0 for x in lane):
+                gap_start = [i for i, x in enumerate(
+                    lane[:-1]) if x > 0 and lane[i+1] < 0]
+                gap_end = [i+1 for i,
+                           x in enumerate(lane[:-1]) if x < 0 and lane[i+1] > 0]
+                gap_id = [i for i, x in enumerate(lane) if x < 0]
+                if len(gap_start) == 0 or len(gap_end) == 0:
+                    return coordinate
+                for id in gap_id:
+                    for i in range(len(gap_start)):
+                        if i >= len(gap_end):
+                            return coordinate
+                        if id > gap_start[i] and id < gap_end[i]:
+                            gap_width = float(gap_end[i] - gap_start[i])
+                            lane[id] = int((id - gap_start[i]) / gap_width * lane[gap_end[i]] + (
+                                gap_end[i] - id) / gap_width * lane[gap_start[i]])
+                if not all(x > 0 for x in lane):
+                    print("Gaps still exist!")
+                coordinate[start:end+1] = lane
+        return coordinate
+
+    def is_short(self, lane):
+        start = [i for i, x in enumerate(lane) if x > 0]
+        if not start:
+            return 1
+        else:
+            return 0
+
+    def get_lane(self, prob_map, y_px_gap, pts, thresh, resize_shape=None):
+        """
+        Arguments:
+        ----------
+        prob_map: prob map for single lane, np array size (h, w)
+        resize_shape:  reshape size target, (H, W)
+    
+        Return:
+        ----------
+        coords: x coords bottom up every y_px_gap px, 0 for non-exist, in resized shape
+        """
+        if resize_shape is None:
+            resize_shape = prob_map.shape
+        h, w = prob_map.shape
+        H, W = resize_shape
+        H -= self.cfg.cut_height
+    
+        coords = np.zeros(pts)
+        coords[:] = -1.0
+        for i in range(pts):
+            y = int((H - 10 - i * y_px_gap) * h / H)
+            if y < 0:
+                break
+            line = prob_map[y, :]
+            id = np.argmax(line)
+            if line[id] > thresh:
+                coords[i] = int(id / w * W)
+        if (coords > 0).sum() < 2:
+            coords = np.zeros(pts)
+        self.fix_gap(coords)
+        #print(coords.shape)
+
+        return coords
+
+    def probmap2lane(self, seg_pred, exist, resize_shape=(720, 1280), smooth=True, y_px_gap=10, pts=56, thresh=0.6):
+        """
+        Arguments:
+        ----------
+        seg_pred:      np.array size (5, h, w)
+        resize_shape:  reshape size target, (H, W)
+        exist:       list of existence, e.g. [0, 1, 1, 0]
+        smooth:      whether to smooth the probability or not
+        y_px_gap:    y pixel gap for sampling
+        pts:     how many points for one lane
+        thresh:  probability threshold
+    
+        Return:
+        ----------
+        coordinates: [x, y] list of lanes, e.g.: [ [[9, 569], [50, 549]] ,[[630, 569], [647, 549]] ]
+        """
+        if resize_shape is None:
+            resize_shape = seg_pred.shape[1:]  # seg_pred (5, h, w)
+        _, h, w = seg_pred.shape
+        H, W = resize_shape
+        coordinates = []
+    
+        for i in range(self.cfg.num_classes - 1):
+            prob_map = seg_pred[i + 1]
+            if smooth:
+                prob_map = cv2.blur(prob_map, (9, 9), borderType=cv2.BORDER_REPLICATE)
+            coords = self.get_lane(prob_map, y_px_gap, pts, thresh, resize_shape)
+            if self.is_short(coords):
+                continue
+            coordinates.append(
+                [[coords[j], H - 10 - j * y_px_gap] if coords[j] > 0 else [-1, H - 10 - j * y_px_gap] for j in
+                 range(pts)])
+    
+    
+        if len(coordinates) == 0:
+            coords = np.zeros(pts)
+            coordinates.append(
+                [[coords[j], H - 10 - j * y_px_gap] if coords[j] > 0 else [-1, H - 10 - j * y_px_gap] for j in
+                 range(pts)])
+        #print(coordinates)
+    
+        return coordinates
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..6543d31
--- /dev/null
+++ b/main.py
@@ -0,0 +1,54 @@
+import os
+import os.path as osp
+import time
+import shutil
+import torch
+import torchvision
+import torch.nn.parallel
+import torch.backends.cudnn as cudnn
+import torch.nn.functional as F
+import torch.optim
+import cv2
+import numpy as np
+import models
+import argparse
+from utils.config import Config
+from runner.runner import Runner 
+from datasets import build_dataloader
+
+
+def main():
+    ########## Begin ##########
+
+    ########## End ##########
+
+def parse_args():
+    parser = argparse.ArgumentParser(description='Train a detector')
+    parser.add_argument('--config', help='train config file path', default="configs/tusimple.py")
+    parser.add_argument(
+        '--work_dirs', type=str, default='work_dirs',
+        help='work dirs')
+    parser.add_argument(
+        '--load_from', default=None,
+        help='the checkpoint file to resume from')
+    parser.add_argument(
+        '--finetune_from', default=None,
+        help='whether to finetune from the checkpoint')
+    parser.add_argument(
+        '--validate',
+        action='store_true',
+        help='whether to evaluate the checkpoint during training')
+    parser.add_argument(
+        '--view',
+        action='store_true',
+        help='whether to show visualization result')
+    parser.add_argument('--gpus', nargs='+', type=str, default='0')
+    parser.add_argument('--seed', type=int,
+                        default=None, help='random seed')
+    args = parser.parse_args()
+
+    return args
+
+
+if __name__ == '__main__':
+    main()
diff --git a/models/__init__.py b/models/__init__.py
new file mode 100644
index 0000000..fc812be
--- /dev/null
+++ b/models/__init__.py
@@ -0,0 +1 @@
+from .resa import *
diff --git a/models/decoder.py b/models/decoder.py
new file mode 100644
index 0000000..f4228a7
--- /dev/null
+++ b/models/decoder.py
@@ -0,0 +1,129 @@
+from torch import nn
+import torch.nn.functional as F
+
+class PlainDecoder(nn.Module):
+    def __init__(self, cfg):
+        super(PlainDecoder, self).__init__()
+        self.cfg = cfg
+
+        self.dropout = nn.Dropout2d(0.1)
+        self.conv8 = nn.Conv2d(128, cfg.num_classes, 1)
+
+    def forward(self, x):
+        x = self.dropout(x)
+        x = self.conv8(x)
+        x = F.interpolate(x, size=[self.cfg.img_height,  self.cfg.img_width],
+                           mode='bilinear', align_corners=False)
+
+        return x
+
+
+def conv1x1(in_planes, out_planes, stride=1):
+    """1x1 convolution"""
+    return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False)
+
+
+class non_bottleneck_1d(nn.Module):
+    def __init__(self, chann, dropprob, dilated):
+        super().__init__()
+
+        self.conv3x1_1 = nn.Conv2d(
+            chann, chann, (3, 1), stride=1, padding=(1, 0), bias=True)
+
+        self.conv1x3_1 = nn.Conv2d(
+            chann, chann, (1, 3), stride=1, padding=(0, 1), bias=True)
+
+        self.bn1 = nn.BatchNorm2d(chann, eps=1e-03)
+
+        self.conv3x1_2 = nn.Conv2d(chann, chann, (3, 1), stride=1, padding=(1 * dilated, 0), bias=True,
+                                   dilation=(dilated, 1))
+
+        self.conv1x3_2 = nn.Conv2d(chann, chann, (1, 3), stride=1, padding=(0, 1 * dilated), bias=True,
+                                   dilation=(1, dilated))
+
+        self.bn2 = nn.BatchNorm2d(chann, eps=1e-03)
+
+        self.dropout = nn.Dropout2d(dropprob)
+
+    def forward(self, input):
+        output = self.conv3x1_1(input)
+        output = F.relu(output)
+        output = self.conv1x3_1(output)
+        output = self.bn1(output)
+        output = F.relu(output)
+
+        output = self.conv3x1_2(output)
+        output = F.relu(output)
+        output = self.conv1x3_2(output)
+        output = self.bn2(output)
+
+        if (self.dropout.p != 0):
+            output = self.dropout(output)
+
+        # +input = identity (residual connection)
+        return F.relu(output + input)
+
+
+class UpsamplerBlock(nn.Module):
+    def __init__(self, ninput, noutput, up_width, up_height):
+        super().__init__()
+
+        self.conv = nn.ConvTranspose2d(
+            ninput, noutput, 3, stride=2, padding=1, output_padding=1, bias=True)
+
+        self.bn = nn.BatchNorm2d(noutput, eps=1e-3, track_running_stats=True)
+
+        self.follows = nn.ModuleList()
+        self.follows.append(non_bottleneck_1d(noutput, 0, 1))
+        self.follows.append(non_bottleneck_1d(noutput, 0, 1))
+
+        # interpolate
+        self.up_width = up_width
+        self.up_height = up_height
+        self.interpolate_conv = conv1x1(ninput, noutput)
+        self.interpolate_bn = nn.BatchNorm2d(
+            noutput, eps=1e-3, track_running_stats=True)
+
+    def forward(self, input):
+        output = self.conv(input)
+        output = self.bn(output)
+        out = F.relu(output)
+        for follow in self.follows:
+            out = follow(out)
+
+        interpolate_output = self.interpolate_conv(input)
+        interpolate_output = self.interpolate_bn(interpolate_output)
+        interpolate_output = F.relu(interpolate_output)
+
+        interpolate = F.interpolate(interpolate_output, size=[self.up_height,  self.up_width],
+                                    mode='bilinear', align_corners=False)
+
+        return out + interpolate
+
+class BUSD(nn.Module):
+    def __init__(self, cfg):
+        super().__init__()
+        img_height = cfg.img_height
+        img_width = cfg.img_width
+        num_classes = cfg.num_classes
+
+        self.layers = nn.ModuleList()
+
+        self.layers.append(UpsamplerBlock(ninput=128, noutput=64,
+                                          up_height=int(img_height)//4, up_width=int(img_width)//4))
+        self.layers.append(UpsamplerBlock(ninput=64, noutput=32,
+                                          up_height=int(img_height)//2, up_width=int(img_width)//2))
+        self.layers.append(UpsamplerBlock(ninput=32, noutput=16,
+                                          up_height=int(img_height)//1, up_width=int(img_width)//1))
+
+        self.output_conv = conv1x1(16, num_classes)
+
+    def forward(self, input):
+        output = input
+
+        for layer in self.layers:
+            output = layer(output)
+
+        output = self.output_conv(output)
+
+        return output
diff --git a/models/registry.py b/models/registry.py
new file mode 100644
index 0000000..7b65eff
--- /dev/null
+++ b/models/registry.py
@@ -0,0 +1,16 @@
+from utils import Registry, build_from_cfg
+
+NET = Registry('net')
+
+def build(cfg, registry, default_args=None):
+    if isinstance(cfg, list):
+        modules = [
+            build_from_cfg(cfg_, registry, default_args) for cfg_ in cfg
+        ]
+        return nn.Sequential(*modules)
+    else:
+        return build_from_cfg(cfg, registry, default_args)
+
+
+def build_net(cfg):
+    return build(cfg.net, NET, default_args=dict(cfg=cfg))
diff --git a/models/resa.py b/models/resa.py
new file mode 100644
index 0000000..d8b70c1
--- /dev/null
+++ b/models/resa.py
@@ -0,0 +1,123 @@
+import torch.nn as nn
+import torch
+import torch.nn.functional as F
+
+from models.registry import NET
+from .resnet import ResNetWrapper 
+from .decoder import BUSD, PlainDecoder 
+
+
+class RESA(nn.Module):
+    def __init__(self, cfg):
+        super(RESA, self).__init__()
+        self.iter = cfg.resa.iter
+        chan = cfg.resa.input_channel
+        fea_stride = cfg.backbone.fea_stride
+        self.height = cfg.img_height // fea_stride
+        self.width = cfg.img_width // fea_stride
+        self.alpha = cfg.resa.alpha
+        conv_stride = cfg.resa.conv_stride
+
+        for i in range(self.iter):
+            conv_vert1 = nn.Conv2d(
+                chan, chan, (1, conv_stride),
+                padding=(0, conv_stride//2), groups=1, bias=False)
+            conv_vert2 = nn.Conv2d(
+                chan, chan, (1, conv_stride),
+                padding=(0, conv_stride//2), groups=1, bias=False)
+
+            setattr(self, 'conv_d'+str(i), conv_vert1)
+            setattr(self, 'conv_u'+str(i), conv_vert2)
+
+            conv_hori1 = nn.Conv2d(
+                chan, chan, (conv_stride, 1),
+                padding=(conv_stride//2, 0), groups=1, bias=False)
+            conv_hori2 = nn.Conv2d(
+                chan, chan, (conv_stride, 1),
+                padding=(conv_stride//2, 0), groups=1, bias=False)
+
+            setattr(self, 'conv_r'+str(i), conv_hori1)
+            setattr(self, 'conv_l'+str(i), conv_hori2)
+
+            idx_d = (torch.arange(self.height) + self.height //
+                     2**(self.iter - i)) % self.height
+            setattr(self, 'idx_d'+str(i), idx_d)
+
+            idx_u = (torch.arange(self.height) - self.height //
+                     2**(self.iter - i)) % self.height
+            setattr(self, 'idx_u'+str(i), idx_u)
+
+            idx_r = (torch.arange(self.width) + self.width //
+                     2**(self.iter - i)) % self.width
+            setattr(self, 'idx_r'+str(i), idx_r)
+
+            idx_l = (torch.arange(self.width) - self.width //
+                     2**(self.iter - i)) % self.width
+            setattr(self, 'idx_l'+str(i), idx_l)
+
+    def forward(self, x):
+        x = x.clone()
+
+        for direction in ['d', 'u']:
+            for i in range(self.iter):
+                conv = getattr(self, 'conv_' + direction + str(i))
+                idx = getattr(self, 'idx_' + direction + str(i))
+                x.add_(self.alpha * F.relu(conv(x[..., idx, :])))
+
+        for direction in ['r', 'l']:
+            for i in range(self.iter):
+                conv = getattr(self, 'conv_' + direction + str(i))
+                idx = getattr(self, 'idx_' + direction + str(i))
+                x.add_(self.alpha * F.relu(conv(x[..., idx])))
+
+        return x
+
+
+
+class ExistHead(nn.Module):
+    def __init__(self, cfg=None):
+        super(ExistHead, self).__init__()
+        self.cfg = cfg
+
+        self.dropout = nn.Dropout2d(0.1)  # ???
+        self.conv8 = nn.Conv2d(128, cfg.num_classes, 1)
+
+        stride = cfg.backbone.fea_stride * 2
+        self.fc9 = nn.Linear(
+            int(cfg.num_classes * cfg.img_width / stride * cfg.img_height / stride), 128)
+        self.fc10 = nn.Linear(128, cfg.num_classes-1)
+
+    def forward(self, x):
+        x = self.dropout(x)
+        x = self.conv8(x)
+
+        x = F.softmax(x, dim=1)
+        x = F.avg_pool2d(x, 2, stride=2, padding=0)
+        x = x.view(-1, x.numel() // x.shape[0])
+        x = self.fc9(x)
+        x = F.relu(x)
+        x = self.fc10(x)
+        x = torch.sigmoid(x)
+
+        return x
+
+
+@NET.register_module
+class RESANet(nn.Module):
+    def __init__(self, cfg):
+        super(RESANet, self).__init__()
+        self.cfg = cfg
+        self.backbone = ResNetWrapper(cfg)
+        self.resa = RESA(cfg)
+        self.decoder = eval(cfg.decoder)(cfg)
+        self.heads = ExistHead(cfg) 
+
+    def forward(self, batch):
+        fea = self.backbone(batch)
+        fea = self.resa(fea)
+        seg = self.decoder(fea)
+        exist = self.heads(fea)
+
+        output = {'seg': seg, 'exist': exist}
+
+        return output
diff --git a/models/resnet.py b/models/resnet.py
new file mode 100644
index 0000000..3f10cfc
--- /dev/null
+++ b/models/resnet.py
@@ -0,0 +1,377 @@
+import torch
+from torch import nn
+import torch.nn.functional as F
+from torch.hub import load_state_dict_from_url
+
+
+# This code is borrow from torchvision.
+
+model_urls = {
+    'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth',
+    'resnet34': 'https://download.pytorch.org/models/resnet34-333f7ec4.pth',
+    'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth',
+    'resnet101': 'https://download.pytorch.org/models/resnet101-5d3b4d8f.pth',
+    'resnet152': 'https://download.pytorch.org/models/resnet152-b121ed2d.pth',
+    'resnext50_32x4d': 'https://download.pytorch.org/models/resnext50_32x4d-7cdf4587.pth',
+    'resnext101_32x8d': 'https://download.pytorch.org/models/resnext101_32x8d-8ba56ff5.pth',
+    'wide_resnet50_2': 'https://download.pytorch.org/models/wide_resnet50_2-95faca4d.pth',
+    'wide_resnet101_2': 'https://download.pytorch.org/models/wide_resnet101_2-32ee1156.pth',
+}
+
+
+def conv3x3(in_planes, out_planes, stride=1, groups=1, dilation=1):
+    """3x3 convolution with padding"""
+    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,
+                     padding=dilation, groups=groups, bias=False, dilation=dilation)
+
+
+def conv1x1(in_planes, out_planes, stride=1):
+    """1x1 convolution"""
+    return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False)
+
+
+class BasicBlock(nn.Module):
+    expansion = 1
+
+    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
+                 base_width=64, dilation=1, norm_layer=None):
+        super(BasicBlock, self).__init__()
+        if norm_layer is None:
+            norm_layer = nn.BatchNorm2d
+        if groups != 1 or base_width != 64:
+            raise ValueError(
+                'BasicBlock only supports groups=1 and base_width=64')
+        # if dilation > 1:
+        #     raise NotImplementedError(
+        #         "Dilation > 1 not supported in BasicBlock")
+        # Both self.conv1 and self.downsample layers downsample the input when stride != 1
+        self.conv1 = conv3x3(inplanes, planes, stride, dilation=dilation)
+        self.bn1 = norm_layer(planes)
+        self.relu = nn.ReLU(inplace=True)
+        self.conv2 = conv3x3(planes, planes, dilation=dilation)
+        self.bn2 = norm_layer(planes)
+        self.downsample = downsample
+        self.stride = stride
+
+    def forward(self, x):
+        identity = x
+
+        out = self.conv1(x)
+        out = self.bn1(out)
+        out = self.relu(out)
+
+        out = self.conv2(out)
+        out = self.bn2(out)
+
+        if self.downsample is not None:
+            identity = self.downsample(x)
+
+        out += identity
+        out = self.relu(out)
+
+        return out
+
+
+class Bottleneck(nn.Module):
+    expansion = 4
+
+    def __init__(self, inplanes, planes, stride=1, downsample=None, groups=1,
+                 base_width=64, dilation=1, norm_layer=None):
+        super(Bottleneck, self).__init__()
+        if norm_layer is None:
+            norm_layer = nn.BatchNorm2d
+        width = int(planes * (base_width / 64.)) * groups
+        # Both self.conv2 and self.downsample layers downsample the input when stride != 1
+        self.conv1 = conv1x1(inplanes, width)
+        self.bn1 = norm_layer(width)
+        self.conv2 = conv3x3(width, width, stride, groups, dilation)
+        self.bn2 = norm_layer(width)
+        self.conv3 = conv1x1(width, planes * self.expansion)
+        self.bn3 = norm_layer(planes * self.expansion)
+        self.relu = nn.ReLU(inplace=True)
+        self.downsample = downsample
+        self.stride = stride
+
+    def forward(self, x):
+        identity = x
+
+        out = self.conv1(x)
+        out = self.bn1(out)
+        out = self.relu(out)
+
+        out = self.conv2(out)
+        out = self.bn2(out)
+        out = self.relu(out)
+
+        out = self.conv3(out)
+        out = self.bn3(out)
+
+        if self.downsample is not None:
+            identity = self.downsample(x)
+
+        out += identity
+        out = self.relu(out)
+
+        return out
+
+
+class ResNetWrapper(nn.Module):
+
+    def __init__(self, cfg):
+        super(ResNetWrapper, self).__init__()
+        self.cfg = cfg
+        self.in_channels = [64, 128, 256, 512]
+        if 'in_channels' in cfg.backbone:
+            self.in_channels = cfg.backbone.in_channels
+        self.model = eval(cfg.backbone.resnet)(
+            pretrained=cfg.backbone.pretrained,
+            replace_stride_with_dilation=cfg.backbone.replace_stride_with_dilation, in_channels=self.in_channels)
+        self.out = None
+        if cfg.backbone.out_conv:
+            out_channel = 512
+            for chan in reversed(self.in_channels):
+                if chan < 0: continue
+                out_channel = chan
+                break
+            self.out = conv1x1(
+                out_channel * self.model.expansion, 128)
+
+    def forward(self, x):
+        x = self.model(x)
+        if self.out:
+            x = self.out(x)
+        return x
+
+
+class ResNet(nn.Module):
+
+    def __init__(self, block, layers, zero_init_residual=False,
+                 groups=1, width_per_group=64, replace_stride_with_dilation=None,
+                 norm_layer=None, in_channels=None):
+        super(ResNet, self).__init__()
+        if norm_layer is None:
+            norm_layer = nn.BatchNorm2d
+        self._norm_layer = norm_layer
+
+        self.inplanes = 64
+        self.dilation = 1
+        if replace_stride_with_dilation is None:
+            # each element in the tuple indicates if we should replace
+            # the 2x2 stride with a dilated convolution instead
+            replace_stride_with_dilation = [False, False, False]
+        if len(replace_stride_with_dilation) != 3:
+            raise ValueError("replace_stride_with_dilation should be None "
+                             "or a 3-element tuple, got {}".format(replace_stride_with_dilation))
+        self.groups = groups
+        self.base_width = width_per_group
+        self.conv1 = nn.Conv2d(3, self.inplanes, kernel_size=7, stride=2, padding=3,
+                               bias=False)
+        self.bn1 = norm_layer(self.inplanes)
+        self.relu = nn.ReLU(inplace=True)
+        self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)
+        self.in_channels = in_channels
+        self.layer1 = self._make_layer(block, in_channels[0], layers[0])
+        self.layer2 = self._make_layer(block, in_channels[1], layers[1], stride=2,
+                                       dilate=replace_stride_with_dilation[0])
+        self.layer3 = self._make_layer(block, in_channels[2], layers[2], stride=2,
+                                       dilate=replace_stride_with_dilation[1])
+        if in_channels[3] > 0:
+            self.layer4 = self._make_layer(block, in_channels[3], layers[3], stride=2,
+                                           dilate=replace_stride_with_dilation[2])
+        self.expansion = block.expansion
+
+        # self.avgpool = nn.AdaptiveAvgPool2d((1, 1))
+        # self.fc = nn.Linear(512 * block.expansion, num_classes)
+
+        for m in self.modules():
+            if isinstance(m, nn.Conv2d):
+                nn.init.kaiming_normal_(
+                    m.weight, mode='fan_out', nonlinearity='relu')
+            elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)):
+                nn.init.constant_(m.weight, 1)
+                nn.init.constant_(m.bias, 0)
+
+        # Zero-initialize the last BN in each residual branch,
+        # so that the residual branch starts with zeros, and each residual block behaves like an identity.
+        # This improves the model by 0.2~0.3% according to https://arxiv.org/abs/1706.02677
+        if zero_init_residual:
+            for m in self.modules():
+                if isinstance(m, Bottleneck):
+                    nn.init.constant_(m.bn3.weight, 0)
+                elif isinstance(m, BasicBlock):
+                    nn.init.constant_(m.bn2.weight, 0)
+
+    def _make_layer(self, block, planes, blocks, stride=1, dilate=False):
+        norm_layer = self._norm_layer
+        downsample = None
+        previous_dilation = self.dilation
+        if dilate:
+            self.dilation *= stride
+            stride = 1
+        if stride != 1 or self.inplanes != planes * block.expansion:
+            downsample = nn.Sequential(
+                conv1x1(self.inplanes, planes * block.expansion, stride),
+                norm_layer(planes * block.expansion),
+            )
+
+        layers = []
+        layers.append(block(self.inplanes, planes, stride, downsample, self.groups,
+                            self.base_width, previous_dilation, norm_layer))
+        self.inplanes = planes * block.expansion
+        for _ in range(1, blocks):
+            layers.append(block(self.inplanes, planes, groups=self.groups,
+                                base_width=self.base_width, dilation=self.dilation,
+                                norm_layer=norm_layer))
+
+        return nn.Sequential(*layers)
+
+    def forward(self, x):
+        x = self.conv1(x)
+        x = self.bn1(x)
+        x = self.relu(x)
+        x = self.maxpool(x)
+
+        x = self.layer1(x)
+        x = self.layer2(x)
+        x = self.layer3(x)
+        if self.in_channels[3] > 0:
+            x = self.layer4(x)
+
+        # x = self.avgpool(x)
+        # x = torch.flatten(x, 1)
+        # x = self.fc(x)
+
+        return x
+
+
+def _resnet(arch, block, layers, pretrained, progress, **kwargs):
+    model = ResNet(block, layers, **kwargs)
+    if pretrained:
+        state_dict = load_state_dict_from_url(model_urls[arch],
+                                              progress=progress)
+        model.load_state_dict(state_dict, strict=False)
+    return model
+
+
+def resnet18(pretrained=False, progress=True, **kwargs):
+    r"""ResNet-18 model from
+    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    return _resnet('resnet18', BasicBlock, [2, 2, 2, 2], pretrained, progress,
+                   **kwargs)
+
+
+def resnet34(pretrained=False, progress=True, **kwargs):
+    r"""ResNet-34 model from
+    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    return _resnet('resnet34', BasicBlock, [3, 4, 6, 3], pretrained, progress,
+                   **kwargs)
+
+
+def resnet50(pretrained=False, progress=True, **kwargs):
+    r"""ResNet-50 model from
+    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    return _resnet('resnet50', Bottleneck, [3, 4, 6, 3], pretrained, progress,
+                   **kwargs)
+
+
+def resnet101(pretrained=False, progress=True, **kwargs):
+    r"""ResNet-101 model from
+    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    return _resnet('resnet101', Bottleneck, [3, 4, 23, 3], pretrained, progress,
+                   **kwargs)
+
+
+def resnet152(pretrained=False, progress=True, **kwargs):
+    r"""ResNet-152 model from
+    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    return _resnet('resnet152', Bottleneck, [3, 8, 36, 3], pretrained, progress,
+                   **kwargs)
+
+
+def resnext50_32x4d(pretrained=False, progress=True, **kwargs):
+    r"""ResNeXt-50 32x4d model from
+    `"Aggregated Residual Transformation for Deep Neural Networks" <https://arxiv.org/pdf/1611.05431.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    kwargs['groups'] = 32
+    kwargs['width_per_group'] = 4
+    return _resnet('resnext50_32x4d', Bottleneck, [3, 4, 6, 3],
+                   pretrained, progress, **kwargs)
+
+
+def resnext101_32x8d(pretrained=False, progress=True, **kwargs):
+    r"""ResNeXt-101 32x8d model from
+    `"Aggregated Residual Transformation for Deep Neural Networks" <https://arxiv.org/pdf/1611.05431.pdf>`_
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    kwargs['groups'] = 32
+    kwargs['width_per_group'] = 8
+    return _resnet('resnext101_32x8d', Bottleneck, [3, 4, 23, 3],
+                   pretrained, progress, **kwargs)
+
+
+def wide_resnet50_2(pretrained=False, progress=True, **kwargs):
+    r"""Wide ResNet-50-2 model from
+    `"Wide Residual Networks" <https://arxiv.org/pdf/1605.07146.pdf>`_
+
+    The model is the same as ResNet except for the bottleneck number of channels
+    which is twice larger in every block. The number of channels in outer 1x1
+    convolutions is the same, e.g. last block in ResNet-50 has 2048-512-2048
+    channels, and in Wide ResNet-50-2 has 2048-1024-2048.
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    kwargs['width_per_group'] = 64 * 2
+    return _resnet('wide_resnet50_2', Bottleneck, [3, 4, 6, 3],
+                   pretrained, progress, **kwargs)
+
+
+def wide_resnet101_2(pretrained=False, progress=True, **kwargs):
+    r"""Wide ResNet-101-2 model from
+    `"Wide Residual Networks" <https://arxiv.org/pdf/1605.07146.pdf>`_
+
+    The model is the same as ResNet except for the bottleneck number of channels
+    which is twice larger in every block. The number of channels in outer 1x1
+    convolutions is the same, e.g. last block in ResNet-50 has 2048-512-2048
+    channels, and in Wide ResNet-50-2 has 2048-1024-2048.
+
+    Args:
+        pretrained (bool): If True, returns a model pre-trained on ImageNet
+        progress (bool): If True, displays a progress bar of the download to stderr
+    """
+    kwargs['width_per_group'] = 64 * 2
+    return _resnet('wide_resnet101_2', Bottleneck, [3, 4, 23, 3],
+                   pretrained, progress, **kwargs)
diff --git a/runner/__init__.py b/runner/__init__.py
new file mode 100644
index 0000000..1644223
--- /dev/null
+++ b/runner/__init__.py
@@ -0,0 +1,4 @@
+from .evaluator import *
+from .resa_trainer import *
+
+from .registry import build_evaluator 
diff --git a/runner/evaluator/__init__.py b/runner/evaluator/__init__.py
new file mode 100644
index 0000000..308528c
--- /dev/null
+++ b/runner/evaluator/__init__.py
@@ -0,0 +1,2 @@
+from .tusimple.tusimple import Tusimple
+from .culane.culane import CULane
diff --git a/runner/evaluator/culane/culane.py b/runner/evaluator/culane/culane.py
new file mode 100644
index 0000000..534a87d
--- /dev/null
+++ b/runner/evaluator/culane/culane.py
@@ -0,0 +1,158 @@
+import torch.nn as nn
+import torch
+import torch.nn.functional as F
+from runner.logger import get_logger
+
+from runner.registry import EVALUATOR 
+import json
+import os
+import subprocess
+from shutil import rmtree
+import cv2
+import numpy as np
+
+def check():
+    import subprocess
+    import sys
+    FNULL = open(os.devnull, 'w')
+    result = subprocess.call(
+        './runner/evaluator/culane/lane_evaluation/evaluate', stdout=FNULL, stderr=FNULL)
+    if result > 1:
+        print('There is something wrong with evaluate tool, please compile it.')
+        sys.exit()
+
+def read_helper(path):
+    lines = open(path, 'r').readlines()[1:]
+    lines = ' '.join(lines)
+    values = lines.split(' ')[1::2]
+    keys = lines.split(' ')[0::2]
+    keys = [key[:-1] for key in keys]
+    res = {k : v for k,v in zip(keys,values)}
+    return res
+
+def call_culane_eval(data_dir, output_path='./output'):
+    if data_dir[-1] != '/':
+        data_dir = data_dir + '/'
+    detect_dir=os.path.join(output_path, 'lines')+'/'
+
+    w_lane=30
+    iou=0.5;  # Set iou to 0.3 or 0.5
+    im_w=1640
+    im_h=590
+    frame=1
+    list0 = os.path.join(data_dir,'list/test_split/test0_normal.txt')
+    list1 = os.path.join(data_dir,'list/test_split/test1_crowd.txt')
+    list2 = os.path.join(data_dir,'list/test_split/test2_hlight.txt')
+    list3 = os.path.join(data_dir,'list/test_split/test3_shadow.txt')
+    list4 = os.path.join(data_dir,'list/test_split/test4_noline.txt')
+    list5 = os.path.join(data_dir,'list/test_split/test5_arrow.txt')
+    list6 = os.path.join(data_dir,'list/test_split/test6_curve.txt')
+    list7 = os.path.join(data_dir,'list/test_split/test7_cross.txt')
+    list8 = os.path.join(data_dir,'list/test_split/test8_night.txt')
+    if not os.path.exists(os.path.join(output_path,'txt')):
+        os.mkdir(os.path.join(output_path,'txt'))
+    out0 = os.path.join(output_path,'txt','out0_normal.txt')
+    out1 = os.path.join(output_path,'txt','out1_crowd.txt')
+    out2 = os.path.join(output_path,'txt','out2_hlight.txt')
+    out3 = os.path.join(output_path,'txt','out3_shadow.txt')
+    out4 = os.path.join(output_path,'txt','out4_noline.txt')
+    out5 = os.path.join(output_path,'txt','out5_arrow.txt')
+    out6 = os.path.join(output_path,'txt','out6_curve.txt')
+    out7 = os.path.join(output_path,'txt','out7_cross.txt')
+    out8 = os.path.join(output_path,'txt','out8_night.txt')
+
+    eval_cmd = './runner/evaluator/culane/lane_evaluation/evaluate'
+
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list0,w_lane,iou,im_w,im_h,frame,out0))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list1,w_lane,iou,im_w,im_h,frame,out1))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list2,w_lane,iou,im_w,im_h,frame,out2))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list3,w_lane,iou,im_w,im_h,frame,out3))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list4,w_lane,iou,im_w,im_h,frame,out4))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list5,w_lane,iou,im_w,im_h,frame,out5))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list6,w_lane,iou,im_w,im_h,frame,out6))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list7,w_lane,iou,im_w,im_h,frame,out7))
+    os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list8,w_lane,iou,im_w,im_h,frame,out8))
+    res_all = {}
+    res_all['normal'] = read_helper(out0)
+    res_all['crowd']= read_helper(out1)
+    res_all['night']= read_helper(out8)
+    res_all['noline'] = read_helper(out4)
+    res_all['shadow'] = read_helper(out3)
+    res_all['arrow']= read_helper(out5)
+    res_all['hlight'] = read_helper(out2)
+    res_all['curve']= read_helper(out6)
+    res_all['cross']= read_helper(out7)
+    return res_all
+
+@EVALUATOR.register_module
+class CULane(nn.Module):
+    def __init__(self, cfg):
+        super(CULane, self).__init__()
+        # Firstly, check the evaluation tool
+        check()
+        self.cfg = cfg 
+        self.blur = torch.nn.Conv2d(
+            5, 5, 9, padding=4, bias=False, groups=5).cuda()
+        torch.nn.init.constant_(self.blur.weight, 1 / 81)
+        self.logger = get_logger('resa')
+        self.out_dir = os.path.join(self.cfg.work_dir, 'lines')
+        if cfg.view:
+            self.view_dir = os.path.join(self.cfg.work_dir, 'vis')
+
+    def evaluate(self, dataset, output, batch):
+        seg, exists = output['seg'], output['exist']
+        predictmaps = F.softmax(seg, dim=1).cpu().numpy()
+        exists = exists.cpu().numpy()
+        batch_size = seg.size(0)
+        img_name = batch['meta']['img_name']
+        img_path = batch['meta']['full_img_path']
+        for i in range(batch_size):
+            coords = dataset.probmap2lane(predictmaps[i], exists[i])
+            outname = self.out_dir + img_name[i][:-4] + '.lines.txt'
+            outdir = os.path.dirname(outname)
+            if not os.path.exists(outdir):
+                os.makedirs(outdir)
+            f = open(outname, 'w')
+            for coord in coords:
+                for x, y in coord:
+                    if x < 0 and y < 0:
+                        continue
+                    f.write('%d %d ' % (x, y))
+                f.write('\n')
+            f.close()
+
+            if self.cfg.view:
+                img = cv2.imread(img_path[i]).astype(np.float32)
+                dataset.view(img, coords, self.view_dir+img_name[i])
+
+
+    def summarize(self):
+        self.logger.info('summarize result...')
+        eval_list_path = os.path.join(
+            self.cfg.dataset_path, "list", self.cfg.dataset.val.data_list)
+        #prob2lines(self.prob_dir, self.out_dir, eval_list_path, self.cfg)
+        res = call_culane_eval(self.cfg.dataset_path, output_path=self.cfg.work_dir)
+        TP,FP,FN = 0,0,0
+        out_str = 'Copypaste: '
+        for k, v in res.items():
+            val = float(v['Fmeasure']) if 'nan' not in v['Fmeasure'] else 0
+            val_tp, val_fp, val_fn = int(v['tp']), int(v['fp']), int(v['fn'])
+            val_p, val_r, val_f1 = float(v['precision']), float(v['recall']), float(v['Fmeasure'])
+            TP += val_tp
+            FP += val_fp
+            FN += val_fn
+            self.logger.info(k + ': ' + str(v))
+            out_str += k
+            for metric, value in v.items():
+                out_str += ' ' + str(value).rstrip('\n')
+            out_str += ' '
+        P = TP * 1.0 / (TP + FP + 1e-9)
+        R = TP * 1.0 / (TP + FN + 1e-9)
+        F = 2*P*R/(P + R + 1e-9)
+        overall_result_str = ('Overall Precision: %f Recall: %f F1: %f' % (P, R, F))
+        self.logger.info(overall_result_str)
+        out_str = out_str + overall_result_str
+        self.logger.info(out_str)
+
+        # delete the tmp output
+        rmtree(self.out_dir)
diff --git a/runner/evaluator/culane/lane_evaluation/.gitignore b/runner/evaluator/culane/lane_evaluation/.gitignore
new file mode 100644
index 0000000..b501d98
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/.gitignore
@@ -0,0 +1,2 @@
+build/
+evaluate
diff --git a/runner/evaluator/culane/lane_evaluation/Makefile b/runner/evaluator/culane/lane_evaluation/Makefile
new file mode 100644
index 0000000..d4457b9
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/Makefile
@@ -0,0 +1,50 @@
+PROJECT_NAME:= evaluate
+
+# config ----------------------------------
+OPENCV_VERSION := 3
+
+INCLUDE_DIRS := include
+LIBRARY_DIRS := lib /usr/local/lib
+
+COMMON_FLAGS := -DCPU_ONLY
+CXXFLAGS := -std=c++11 -fopenmp
+LDFLAGS := -fopenmp -Wl,-rpath,./lib
+BUILD_DIR := build
+
+
+# make rules -------------------------------
+CXX ?= g++
+BUILD_DIR ?= ./build
+
+LIBRARIES += opencv_core opencv_highgui opencv_imgproc 
+ifeq ($(OPENCV_VERSION), 3)
+		LIBRARIES += opencv_imgcodecs
+endif
+
+CXXFLAGS += $(COMMON_FLAGS) $(foreach includedir,$(INCLUDE_DIRS),-I$(includedir))
+LDFLAGS +=  $(COMMON_FLAGS) $(foreach includedir,$(LIBRARY_DIRS),-L$(includedir)) $(foreach library,$(LIBRARIES),-l$(library))
+SRC_DIRS += $(shell find * -type d -exec bash -c "find {} -maxdepth 1 \( -name '*.cpp' -o -name '*.proto' \) | grep -q ." \; -print)
+CXX_SRCS += $(shell find src/ -name "*.cpp")
+CXX_TARGETS:=$(patsubst %.cpp, $(BUILD_DIR)/%.o, $(CXX_SRCS))
+ALL_BUILD_DIRS := $(sort $(BUILD_DIR) $(addprefix $(BUILD_DIR)/, $(SRC_DIRS)))
+
+.PHONY: all
+all: $(PROJECT_NAME)
+
+.PHONY: $(ALL_BUILD_DIRS)
+$(ALL_BUILD_DIRS):
+	@mkdir -p $@
+
+$(BUILD_DIR)/%.o: %.cpp | $(ALL_BUILD_DIRS)
+	@echo "CXX" $<
+	@$(CXX) $(CXXFLAGS) -c -o $@ $<
+
+$(PROJECT_NAME): $(CXX_TARGETS)
+	@echo "CXX/LD" $@
+	@$(CXX) -o $@ $^ $(LDFLAGS)
+
+.PHONY: clean
+clean:
+	@rm -rf $(CXX_TARGETS)
+	@rm -rf $(PROJECT_NAME)
+	@rm -rf $(BUILD_DIR)
diff --git a/runner/evaluator/culane/lane_evaluation/include/counter.hpp b/runner/evaluator/culane/lane_evaluation/include/counter.hpp
new file mode 100644
index 0000000..430e1d4
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/include/counter.hpp
@@ -0,0 +1,47 @@
+#ifndef COUNTER_HPP
+#define COUNTER_HPP
+
+#include "lane_compare.hpp"
+#include "hungarianGraph.hpp"
+#include <iostream>
+#include <algorithm>
+#include <tuple>
+#include <vector>
+#include <opencv2/core/core.hpp>
+
+using namespace std;
+using namespace cv;
+
+// before coming to use functions of this class, the lanes should resize to im_width and im_height using resize_lane() in lane_compare.hpp
+class Counter
+{
+	public:
+		Counter(int _im_width, int _im_height, double _iou_threshold=0.4, int _lane_width=10):tp(0),fp(0),fn(0){
+			im_width = _im_width;
+			im_height = _im_height;
+			sim_threshold = _iou_threshold;
+			lane_compare = new LaneCompare(_im_width, _im_height,  _lane_width, LaneCompare::IOU);
+		};
+		double get_precision(void);
+		double get_recall(void);
+		long getTP(void);
+		long getFP(void);
+		long getFN(void);
+		void setTP(long);
+		void setFP(long);
+		void setFN(long);
+		// direct add tp, fp, tn and fn
+		// first match with hungarian
+		tuple<vector<int>, long, long, long, long> count_im_pair(const vector<vector<Point2f> > &anno_lanes, const vector<vector<Point2f> > &detect_lanes);
+		void makeMatch(const vector<vector<double> > &similarity, vector<int> &match1, vector<int> &match2);
+
+	private:
+		double sim_threshold;
+		int im_width;
+		int im_height;
+		long tp;
+		long fp;
+		long fn;
+		LaneCompare *lane_compare;
+};
+#endif
diff --git a/runner/evaluator/culane/lane_evaluation/include/hungarianGraph.hpp b/runner/evaluator/culane/lane_evaluation/include/hungarianGraph.hpp
new file mode 100644
index 0000000..40c3ead
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/include/hungarianGraph.hpp
@@ -0,0 +1,71 @@
+#ifndef HUNGARIAN_GRAPH_HPP
+#define HUNGARIAN_GRAPH_HPP
+#include <vector>
+using namespace std;
+
+struct pipartiteGraph {
+    vector<vector<double> > mat;
+    vector<bool> leftUsed, rightUsed;
+    vector<double> leftWeight, rightWeight;
+    vector<int>rightMatch, leftMatch;
+    int leftNum, rightNum;
+    bool matchDfs(int u) {
+        leftUsed[u] = true;
+        for (int v = 0; v < rightNum; v++) {
+            if (!rightUsed[v] && fabs(leftWeight[u] + rightWeight[v] - mat[u][v]) < 1e-2) {
+                rightUsed[v] = true;
+                if (rightMatch[v] == -1 || matchDfs(rightMatch[v])) {
+                    rightMatch[v] = u;
+                    leftMatch[u] = v;
+                    return true;
+                }
+            }
+        }
+        return false;
+    }
+    void resize(int leftNum, int rightNum) {
+        this->leftNum = leftNum;
+        this->rightNum = rightNum;
+        leftMatch.resize(leftNum);
+        rightMatch.resize(rightNum);
+        leftUsed.resize(leftNum);
+        rightUsed.resize(rightNum);
+        leftWeight.resize(leftNum);
+        rightWeight.resize(rightNum);
+        mat.resize(leftNum);
+        for (int i = 0; i < leftNum; i++) mat[i].resize(rightNum);
+    }
+    void match() {
+        for (int i = 0; i < leftNum; i++) leftMatch[i] = -1;
+        for (int i = 0; i < rightNum; i++) rightMatch[i] = -1;
+        for (int i = 0; i < rightNum; i++) rightWeight[i] = 0;
+        for (int i = 0; i < leftNum; i++) {
+            leftWeight[i] = -1e5;
+            for (int j = 0; j < rightNum; j++) {
+                if (leftWeight[i] < mat[i][j]) leftWeight[i] = mat[i][j];
+            }
+        }
+
+        for (int u = 0; u < leftNum; u++) {
+            while (1) {
+                for (int i = 0; i < leftNum; i++) leftUsed[i] = false;
+                for (int i = 0; i < rightNum; i++) rightUsed[i] = false;
+                if (matchDfs(u)) break;
+                double d = 1e10;
+                for (int i = 0; i < leftNum; i++) {
+                    if (leftUsed[i] ) {
+                        for (int j = 0; j < rightNum; j++) {
+                            if (!rightUsed[j]) d = min(d, leftWeight[i] + rightWeight[j] - mat[i][j]);
+                        }
+                    }
+                }
+                if (d == 1e10) return ;
+                for (int i = 0; i < leftNum; i++) if (leftUsed[i]) leftWeight[i] -= d;
+                for (int i = 0; i < rightNum; i++) if (rightUsed[i]) rightWeight[i] += d;
+            }
+        }
+    }
+};
+
+
+#endif // HUNGARIAN_GRAPH_HPP
diff --git a/runner/evaluator/culane/lane_evaluation/include/lane_compare.hpp b/runner/evaluator/culane/lane_evaluation/include/lane_compare.hpp
new file mode 100644
index 0000000..02ddfce
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/include/lane_compare.hpp
@@ -0,0 +1,51 @@
+#ifndef LANE_COMPARE_HPP
+#define LANE_COMPARE_HPP
+
+#include "spline.hpp"
+#include <vector>
+#include <iostream>
+#include <opencv2/core/version.hpp>
+#include <opencv2/core/core.hpp>
+
+#if CV_VERSION_EPOCH == 2
+#define OPENCV2
+#elif CV_VERSION_MAJOR == 3
+#define  OPENCV3
+#else
+#error Not support this OpenCV version
+#endif
+
+#ifdef OPENCV3
+#include <opencv2/imgproc.hpp>
+#elif defined(OPENCV2)
+#include <opencv2/imgproc/imgproc.hpp>
+#endif
+
+using namespace std;
+using namespace cv;
+
+class LaneCompare{
+	public:
+		enum CompareMode{
+			IOU,
+			Caltech
+		};
+
+		LaneCompare(int _im_width, int _im_height, int _lane_width = 10, CompareMode _compare_mode = IOU){
+			im_width = _im_width;
+			im_height = _im_height;
+			compare_mode = _compare_mode;
+			lane_width = _lane_width;
+		}
+
+		double get_lane_similarity(const vector<Point2f> &lane1, const vector<Point2f> &lane2);
+		void resize_lane(vector<Point2f> &curr_lane, int curr_width, int curr_height);
+	private:
+		CompareMode compare_mode;
+		int im_width;
+		int im_height;
+		int lane_width;
+		Spline splineSolver;
+};
+
+#endif
diff --git a/runner/evaluator/culane/lane_evaluation/include/spline.hpp b/runner/evaluator/culane/lane_evaluation/include/spline.hpp
new file mode 100644
index 0000000..0ae73ef
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/include/spline.hpp
@@ -0,0 +1,28 @@
+#ifndef SPLINE_HPP
+#define SPLINE_HPP
+#include <vector>
+#include <cstdio>
+#include <math.h>
+#include <opencv2/core/core.hpp>
+
+using namespace cv;
+using namespace std;
+
+struct Func {
+    double a_x;
+    double b_x;
+    double c_x;
+    double d_x;
+    double a_y;
+    double b_y;
+    double c_y;
+    double d_y;
+    double h;
+};
+class Spline {
+public:
+	vector<Point2f> splineInterpTimes(const vector<Point2f> &tmp_line, int times);
+    vector<Point2f> splineInterpStep(vector<Point2f> tmp_line, double step);
+	vector<Func> cal_fun(const vector<Point2f> &point_v);
+};
+#endif
diff --git a/runner/evaluator/culane/lane_evaluation/src/counter.cpp b/runner/evaluator/culane/lane_evaluation/src/counter.cpp
new file mode 100644
index 0000000..f4fa6a7
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/src/counter.cpp
@@ -0,0 +1,134 @@
+/*************************************************************************
+	> File Name: counter.cpp
+	> Author: Xingang Pan, Jun Li
+	> Mail: px117@ie.cuhk.edu.hk
+	> Created Time: Thu Jul 14 20:23:08 2016
+ ************************************************************************/
+
+#include "counter.hpp"
+
+double Counter::get_precision(void)
+{
+	cerr<<"tp: "<<tp<<" fp: "<<fp<<" fn: "<<fn<<endl;
+	if(tp+fp == 0)
+	{
+		cerr<<"no positive detection"<<endl;
+		return -1;
+	}
+	return tp/double(tp + fp);
+}
+
+double Counter::get_recall(void)
+{
+	if(tp+fn == 0)
+	{
+		cerr<<"no ground truth positive"<<endl;
+		return -1;
+	}
+	return tp/double(tp + fn);
+}
+
+long Counter::getTP(void)
+{
+	return tp;
+}
+
+long Counter::getFP(void)
+{
+	return fp;
+}
+
+long Counter::getFN(void)
+{
+	return fn;
+}
+
+void Counter::setTP(long value) 
+{
+	tp = value;
+}
+
+void Counter::setFP(long value)
+{
+  fp = value;
+}
+
+void Counter::setFN(long value)
+{
+	fn = value;
+}
+
+tuple<vector<int>, long, long, long, long> Counter::count_im_pair(const vector<vector<Point2f> > &anno_lanes, const vector<vector<Point2f> > &detect_lanes)
+{
+	vector<int> anno_match(anno_lanes.size(), -1);
+	vector<int> detect_match;
+	if(anno_lanes.empty())
+	{
+		return make_tuple(anno_match, 0, detect_lanes.size(), 0, 0);
+	}
+
+	if(detect_lanes.empty())
+	{
+		return make_tuple(anno_match, 0, 0, 0, anno_lanes.size());
+	}
+	// hungarian match first
+	
+	// first calc similarity matrix
+	vector<vector<double> > similarity(anno_lanes.size(), vector<double>(detect_lanes.size(), 0));
+	for(int i=0; i<anno_lanes.size(); i++)
+	{
+		const vector<Point2f> &curr_anno_lane = anno_lanes[i];
+		for(int j=0; j<detect_lanes.size(); j++)
+		{
+			const vector<Point2f> &curr_detect_lane = detect_lanes[j];
+			similarity[i][j] = lane_compare->get_lane_similarity(curr_anno_lane, curr_detect_lane);
+		}
+	}
+
+
+
+	makeMatch(similarity, anno_match, detect_match);
+
+	
+	int curr_tp = 0;
+	// count and add
+	for(int i=0; i<anno_lanes.size(); i++)
+	{
+		if(anno_match[i]>=0 && similarity[i][anno_match[i]] > sim_threshold)
+		{
+			curr_tp++;
+		}
+		else
+		{
+			anno_match[i] = -1;
+		}
+	}
+	int curr_fn = anno_lanes.size() - curr_tp;
+	int curr_fp = detect_lanes.size() - curr_tp;
+	return make_tuple(anno_match, curr_tp, curr_fp, 0, curr_fn);
+}
+
+
+void Counter::makeMatch(const vector<vector<double> > &similarity, vector<int> &match1, vector<int> &match2) {
+	int m = similarity.size();
+	int n = similarity[0].size();
+    pipartiteGraph gra;
+    bool have_exchange = false;
+    if (m > n) {
+        have_exchange = true;
+        swap(m, n);
+    }
+    gra.resize(m, n);
+    for (int i = 0; i < gra.leftNum; i++) {
+        for (int j = 0; j < gra.rightNum; j++) {
+			if(have_exchange)
+				gra.mat[i][j] = similarity[j][i];
+			else
+				gra.mat[i][j] = similarity[i][j];
+        }
+    }
+    gra.match();
+    match1 = gra.leftMatch;
+    match2 = gra.rightMatch;
+    if (have_exchange) swap(match1, match2);
+}
diff --git a/runner/evaluator/culane/lane_evaluation/src/evaluate.cpp b/runner/evaluator/culane/lane_evaluation/src/evaluate.cpp
new file mode 100644
index 0000000..ae95bb4
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/src/evaluate.cpp
@@ -0,0 +1,302 @@
+/*************************************************************************
+        > File Name: evaluate.cpp
+        > Author: Xingang Pan, Jun Li
+        > Mail: px117@ie.cuhk.edu.hk
+        > Created Time: 2016年07月14日 星期四 18时28分45秒
+ ************************************************************************/
+
+#include "counter.hpp"
+#include "spline.hpp"
+#include <unistd.h>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <cstdlib>
+#include <string>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+using namespace std;
+using namespace cv;
+
+void help(void) {
+  cout << "./evaluate [OPTIONS]" << endl;
+  cout << "-h                  : print usage help" << endl;
+  cout << "-a                  : directory for annotation files (default: "
+          "/data/driving/eval_data/anno_label/)" << endl;
+  cout << "-d                  : directory for detection files (default: "
+          "/data/driving/eval_data/predict_label/)" << endl;
+  cout << "-i                  : directory for image files (default: "
+          "/data/driving/eval_data/img/)" << endl;
+  cout << "-l                  : list of images used for evaluation (default: "
+          "/data/driving/eval_data/img/all.txt)" << endl;
+  cout << "-w                  : width of the lanes (default: 10)" << endl;
+  cout << "-t                  : threshold of iou (default: 0.4)" << endl;
+  cout << "-c                  : cols (max image width) (default: 1920)"
+       << endl;
+  cout << "-r                  : rows (max image height) (default: 1080)"
+       << endl;
+  cout << "-s                  : show visualization" << endl;
+  cout << "-f                  : start frame in the test set (default: 1)"
+       << endl;
+}
+
+void read_lane_file(const string &file_name, vector<vector<Point2f>> &lanes);
+void visualize(string &full_im_name, vector<vector<Point2f>> &anno_lanes,
+               vector<vector<Point2f>> &detect_lanes, vector<int> anno_match,
+               int width_lane, string save_path = "");
+
+int main(int argc, char **argv) {
+  // process params
+  string anno_dir = "/data/driving/eval_data/anno_label/";
+  string detect_dir = "/data/driving/eval_data/predict_label/";
+  string im_dir = "/data/driving/eval_data/img/";
+  string list_im_file = "/data/driving/eval_data/img/all.txt";
+  string output_file = "./output.txt";
+  int width_lane = 10;
+  double iou_threshold = 0.4;
+  int im_width = 1920;
+  int im_height = 1080;
+  int oc;
+  bool show = false;
+  int frame = 1;
+  string save_path = "";
+  while ((oc = getopt(argc, argv, "ha:d:i:l:w:t:c:r:sf:o:p:")) != -1) {
+    switch (oc) {
+    case 'h':
+      help();
+      return 0;
+    case 'a':
+      anno_dir = optarg;
+      break;
+    case 'd':
+      detect_dir = optarg;
+      break;
+    case 'i':
+      im_dir = optarg;
+      break;
+    case 'l':
+      list_im_file = optarg;
+      break;
+    case 'w':
+      width_lane = atoi(optarg);
+      break;
+    case 't':
+      iou_threshold = atof(optarg);
+      break;
+    case 'c':
+      im_width = atoi(optarg);
+      break;
+    case 'r':
+      im_height = atoi(optarg);
+      break;
+    case 's':
+      show = true;
+      break;
+    case 'p':
+      save_path = optarg;
+      break;
+    case 'f':
+      frame = atoi(optarg);
+      break;
+    case 'o':
+      output_file = optarg;
+      break;
+    }
+  }
+
+  cout << "------------Configuration---------" << endl;
+  cout << "anno_dir: " << anno_dir << endl;
+  cout << "detect_dir: " << detect_dir << endl;
+  cout << "im_dir: " << im_dir << endl;
+  cout << "list_im_file: " << list_im_file << endl;
+  cout << "width_lane: " << width_lane << endl;
+  cout << "iou_threshold: " << iou_threshold << endl;
+  cout << "im_width: " << im_width << endl;
+  cout << "im_height: " << im_height << endl;
+  cout << "-----------------------------------" << endl;
+  cout << "Evaluating the results..." << endl;
+  // this is the max_width and max_height
+
+  if (width_lane < 1) {
+    cerr << "width_lane must be positive" << endl;
+    help();
+    return 1;
+  }
+
+  ifstream ifs_im_list(list_im_file, ios::in);
+  if (ifs_im_list.fail()) {
+    cerr << "Error: file " << list_im_file << " not exist!" << endl;
+    return 1;
+  }
+
+  Counter counter(im_width, im_height, iou_threshold, width_lane);
+
+  vector<int> anno_match;
+  string sub_im_name;
+  // pre-load filelist
+  vector<string> filelists;
+  while (getline(ifs_im_list, sub_im_name)) {
+    filelists.push_back(sub_im_name);
+  }
+  ifs_im_list.close();
+
+  vector<tuple<vector<int>, long, long, long, long>> tuple_lists;
+  tuple_lists.resize(filelists.size());
+
+#pragma omp parallel for
+  for (size_t i = 0; i < filelists.size(); i++) {
+    auto sub_im_name = filelists[i];
+    string full_im_name = im_dir + sub_im_name;
+    string sub_txt_name =
+        sub_im_name.substr(0, sub_im_name.find_last_of(".")) + ".lines.txt";
+    string anno_file_name = anno_dir + sub_txt_name;
+    string detect_file_name = detect_dir + sub_txt_name;
+    vector<vector<Point2f>> anno_lanes;
+    vector<vector<Point2f>> detect_lanes;
+    read_lane_file(anno_file_name, anno_lanes);
+    read_lane_file(detect_file_name, detect_lanes);
+    // cerr<<count<<": "<<full_im_name<<endl;
+    tuple_lists[i] = counter.count_im_pair(anno_lanes, detect_lanes);
+    if (show) {
+      auto anno_match = get<0>(tuple_lists[i]);
+      visualize(full_im_name, anno_lanes, detect_lanes, anno_match, width_lane);
+      waitKey(0);
+    }
+    if (save_path != "") {
+      auto anno_match = get<0>(tuple_lists[i]);
+      visualize(full_im_name, anno_lanes, detect_lanes, anno_match, width_lane,
+                save_path);
+    }
+  }
+
+  long tp = 0, fp = 0, tn = 0, fn = 0;
+  for (auto result : tuple_lists) {
+    tp += get<1>(result);
+    fp += get<2>(result);
+    // tn = get<3>(result);
+    fn += get<4>(result);
+  }
+  counter.setTP(tp);
+  counter.setFP(fp);
+  counter.setFN(fn);
+
+  double precision = counter.get_precision();
+  double recall = counter.get_recall();
+  double F = 2 * precision * recall / (precision + recall);
+  cerr << "finished process file" << endl;
+  cout << "precision: " << precision << endl;
+  cout << "recall: " << recall << endl;
+  cout << "Fmeasure: " << F << endl;
+  cout << "----------------------------------" << endl;
+
+  ofstream ofs_out_file;
+  ofs_out_file.open(output_file, ios::out);
+  ofs_out_file << "file: " << output_file << endl;
+  ofs_out_file << "tp: " << counter.getTP() << " fp: " << counter.getFP()
+               << " fn: " << counter.getFN() << endl;
+  ofs_out_file << "precision: " << precision << endl;
+  ofs_out_file << "recall: " << recall << endl;
+  ofs_out_file << "Fmeasure: " << F << endl << endl;
+  ofs_out_file.close();
+  return 0;
+}
+
+void read_lane_file(const string &file_name, vector<vector<Point2f>> &lanes) {
+  lanes.clear();
+  ifstream ifs_lane(file_name, ios::in);
+  if (ifs_lane.fail()) {
+    return;
+  }
+
+  string str_line;
+  while (getline(ifs_lane, str_line)) {
+    vector<Point2f> curr_lane;
+    stringstream ss;
+    ss << str_line;
+    double x, y;
+    while (ss >> x >> y) {
+      curr_lane.push_back(Point2f(x, y));
+    }
+    lanes.push_back(curr_lane);
+  }
+
+  ifs_lane.close();
+}
+
+void visualize(string &full_im_name, vector<vector<Point2f>> &anno_lanes,
+               vector<vector<Point2f>> &detect_lanes, vector<int> anno_match,
+               int width_lane, string save_path) {
+  Mat img = imread(full_im_name, 1);
+  Mat img2 = imread(full_im_name, 1);
+  vector<Point2f> curr_lane;
+  vector<Point2f> p_interp;
+  Spline splineSolver;
+  Scalar color_B = Scalar(255, 0, 0);
+  Scalar color_G = Scalar(0, 255, 0);
+  Scalar color_R = Scalar(0, 0, 255);
+  Scalar color_P = Scalar(255, 0, 255);
+  Scalar color;
+  for (int i = 0; i < anno_lanes.size(); i++) {
+    curr_lane = anno_lanes[i];
+    if (curr_lane.size() == 2) {
+      p_interp = curr_lane;
+    } else {
+      p_interp = splineSolver.splineInterpTimes(curr_lane, 50);
+    }
+    if (anno_match[i] >= 0) {
+      color = color_G;
+    } else {
+      color = color_G;
+    }
+    for (int n = 0; n < p_interp.size() - 1; n++) {
+      line(img, p_interp[n], p_interp[n + 1], color, width_lane);
+      line(img2, p_interp[n], p_interp[n + 1], color, 2);
+    }
+  }
+  bool detected;
+  for (int i = 0; i < detect_lanes.size(); i++) {
+    detected = false;
+    curr_lane = detect_lanes[i];
+    if (curr_lane.size() == 2) {
+      p_interp = curr_lane;
+    } else {
+      p_interp = splineSolver.splineInterpTimes(curr_lane, 50);
+    }
+    for (int n = 0; n < anno_lanes.size(); n++) {
+      if (anno_match[n] == i) {
+        detected = true;
+        break;
+      }
+    }
+    if (detected == true) {
+      color = color_B;
+    } else {
+      color = color_R;
+    }
+    for (int n = 0; n < p_interp.size() - 1; n++) {
+      line(img, p_interp[n], p_interp[n + 1], color, width_lane);
+      line(img2, p_interp[n], p_interp[n + 1], color, 2);
+    }
+  }
+  if (save_path != "") {
+    size_t pos = 0;
+    string s = full_im_name;
+    std::string token;
+    std::string delimiter = "/";
+    vector<string> names;
+    while ((pos = s.find(delimiter)) != std::string::npos) {
+      token = s.substr(0, pos);
+      names.emplace_back(token);
+      s.erase(0, pos + delimiter.length());
+    }
+    names.emplace_back(s);
+    string file_name = names[3] + '_' + names[4] + '_' + names[5];
+    // cout << file_name << endl;
+    imwrite(save_path + '/' + file_name, img);
+  } else {
+    namedWindow("visualize", 1);
+    imshow("visualize", img);
+    namedWindow("visualize2", 1);
+    imshow("visualize2", img2);
+  }
+}
diff --git a/runner/evaluator/culane/lane_evaluation/src/lane_compare.cpp b/runner/evaluator/culane/lane_evaluation/src/lane_compare.cpp
new file mode 100644
index 0000000..83d08b9
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/src/lane_compare.cpp
@@ -0,0 +1,73 @@
+/*************************************************************************
+	> File Name: lane_compare.cpp
+	> Author: Xingang Pan, Jun Li
+	> Mail: px117@ie.cuhk.edu.hk
+	> Created Time: Fri Jul 15 10:26:32 2016
+ ************************************************************************/
+
+#include "lane_compare.hpp"
+
+double LaneCompare::get_lane_similarity(const vector<Point2f> &lane1, const vector<Point2f> &lane2)
+{
+	if(lane1.size()<2 || lane2.size()<2)
+	{
+		cerr<<"lane size must be greater or equal to 2"<<endl;
+		return 0;
+	}
+	Mat im1 = Mat::zeros(im_height, im_width, CV_8UC1);
+	Mat im2 = Mat::zeros(im_height, im_width, CV_8UC1);
+	// draw lines on im1 and im2
+	vector<Point2f> p_interp1;
+	vector<Point2f> p_interp2;
+	if(lane1.size() == 2)
+	{
+		p_interp1 = lane1;
+	}
+	else
+	{
+		p_interp1 = splineSolver.splineInterpTimes(lane1, 50);
+	}
+
+	if(lane2.size() == 2)
+	{
+		p_interp2 = lane2;
+	}
+	else
+	{
+		p_interp2 = splineSolver.splineInterpTimes(lane2, 50);
+	}
+	
+	Scalar color_white = Scalar(1);
+	for(int n=0; n<p_interp1.size()-1; n++)
+	{
+		line(im1, p_interp1[n], p_interp1[n+1], color_white, lane_width);
+	}
+	for(int n=0; n<p_interp2.size()-1; n++)
+	{
+		line(im2, p_interp2[n], p_interp2[n+1], color_white, lane_width);
+	}
+
+	double sum_1 = cv::sum(im1).val[0];
+	double sum_2 = cv::sum(im2).val[0];
+	double inter_sum = cv::sum(im1.mul(im2)).val[0];
+	double union_sum = sum_1 + sum_2 - inter_sum; 
+	double iou = inter_sum / union_sum;
+	return iou;
+}
+
+
+// resize the lane from Size(curr_width, curr_height) to Size(im_width, im_height)
+void LaneCompare::resize_lane(vector<Point2f> &curr_lane, int curr_width, int curr_height)
+{
+	if(curr_width == im_width && curr_height == im_height)
+	{
+		return;
+	}
+	double x_scale = im_width/(double)curr_width;
+	double y_scale = im_height/(double)curr_height;
+	for(int n=0; n<curr_lane.size(); n++)
+	{
+		curr_lane[n] = Point2f(curr_lane[n].x*x_scale, curr_lane[n].y*y_scale);
+	}
+}
+
diff --git a/runner/evaluator/culane/lane_evaluation/src/spline.cpp b/runner/evaluator/culane/lane_evaluation/src/spline.cpp
new file mode 100644
index 0000000..fd45500
--- /dev/null
+++ b/runner/evaluator/culane/lane_evaluation/src/spline.cpp
@@ -0,0 +1,178 @@
+#include <vector>
+#include <iostream>
+#include "spline.hpp"
+using namespace std;
+using namespace cv;
+
+vector<Point2f> Spline::splineInterpTimes(const vector<Point2f>& tmp_line, int times) {
+    vector<Point2f> res;
+
+    if(tmp_line.size() == 2) {
+        double x1 = tmp_line[0].x;
+        double y1 = tmp_line[0].y;
+        double x2 = tmp_line[1].x;
+        double y2 = tmp_line[1].y;
+
+        for (int k = 0; k <= times; k++) {
+            double xi =  x1 + double((x2 - x1) * k) / times;
+            double yi =  y1 + double((y2 - y1) * k) / times;
+            res.push_back(Point2f(xi, yi));
+        }
+    }
+
+    else if(tmp_line.size() > 2)
+    {
+        vector<Func> tmp_func;
+        tmp_func = this->cal_fun(tmp_line);
+        if (tmp_func.empty()) {
+            cout << "in splineInterpTimes: cal_fun failed" << endl;
+            return res;
+        }
+        for(int j = 0; j < tmp_func.size(); j++)
+        {
+            double delta = tmp_func[j].h / times;
+            for(int k = 0; k < times; k++)
+            {
+                double t1 = delta*k;
+                double x1 = tmp_func[j].a_x + tmp_func[j].b_x*t1 + tmp_func[j].c_x*pow(t1,2) + tmp_func[j].d_x*pow(t1,3);
+                double y1 = tmp_func[j].a_y + tmp_func[j].b_y*t1 + tmp_func[j].c_y*pow(t1,2) + tmp_func[j].d_y*pow(t1,3);
+                res.push_back(Point2f(x1, y1));
+            }
+        }
+        res.push_back(tmp_line[tmp_line.size() - 1]);
+    }
+	else {
+		cerr << "in splineInterpTimes: not enough points" << endl;
+	}
+    return res;
+}
+vector<Point2f> Spline::splineInterpStep(vector<Point2f> tmp_line, double step) {
+	vector<Point2f> res;
+	/*
+	if (tmp_line.size() == 2) {
+		double x1 = tmp_line[0].x;
+		double y1 = tmp_line[0].y;
+		double x2 = tmp_line[1].x;
+		double y2 = tmp_line[1].y;
+
+		for (double yi = std::min(y1, y2); yi < std::max(y1, y2); yi += step) {
+            double xi;
+			if (yi == y1) xi = x1;
+			else xi = (x2 - x1) / (y2 - y1) * (yi - y1) + x1;
+			res.push_back(Point2f(xi, yi));
+		}
+	}*/
+	if (tmp_line.size() == 2) {
+		double x1 = tmp_line[0].x;
+		double y1 = tmp_line[0].y;
+		double x2 = tmp_line[1].x;
+		double y2 = tmp_line[1].y;
+		tmp_line[1].x = (x1 + x2) / 2;
+		tmp_line[1].y = (y1 + y2) / 2;
+		tmp_line.push_back(Point2f(x2, y2));
+	}
+	if (tmp_line.size() > 2) {
+		vector<Func> tmp_func;
+		tmp_func = this->cal_fun(tmp_line);
+		double ystart = tmp_line[0].y;
+		double yend = tmp_line[tmp_line.size() - 1].y;
+		bool down;
+		if (ystart < yend) down = 1;
+		else down = 0;
+		if (tmp_func.empty()) {
+			cerr << "in splineInterpStep: cal_fun failed" << endl;
+		}
+
+		for(int j = 0; j < tmp_func.size(); j++)
+        {
+            for(double t1 = 0; t1 < tmp_func[j].h; t1 += step)
+            {
+                double x1 = tmp_func[j].a_x + tmp_func[j].b_x*t1 + tmp_func[j].c_x*pow(t1,2) + tmp_func[j].d_x*pow(t1,3);
+                double y1 = tmp_func[j].a_y + tmp_func[j].b_y*t1 + tmp_func[j].c_y*pow(t1,2) + tmp_func[j].d_y*pow(t1,3);
+                res.push_back(Point2f(x1, y1));
+            }
+        }
+        res.push_back(tmp_line[tmp_line.size() - 1]);
+	}
+    else {
+        cerr << "in splineInterpStep: not enough points" << endl;
+    }
+    return res;
+}
+
+vector<Func> Spline::cal_fun(const vector<Point2f> &point_v)
+{
+    vector<Func> func_v;
+    int n = point_v.size();
+    if(n<=2) {
+        cout << "in cal_fun: point number less than 3" << endl;
+        return func_v;
+    }
+
+    func_v.resize(point_v.size()-1);
+
+    vector<double> Mx(n);
+    vector<double> My(n);
+    vector<double> A(n-2);
+    vector<double> B(n-2);
+    vector<double> C(n-2);
+    vector<double> Dx(n-2);
+    vector<double> Dy(n-2);
+    vector<double> h(n-1);
+    //vector<func> func_v(n-1);
+
+    for(int i = 0; i < n-1; i++)
+    {
+        h[i] = sqrt(pow(point_v[i+1].x - point_v[i].x, 2) + pow(point_v[i+1].y - point_v[i].y, 2));
+    }
+
+    for(int i = 0; i < n-2; i++)
+    {
+        A[i] = h[i];
+        B[i] = 2*(h[i]+h[i+1]);
+        C[i] = h[i+1];
+
+        Dx[i] =  6*( (point_v[i+2].x - point_v[i+1].x)/h[i+1] - (point_v[i+1].x - point_v[i].x)/h[i] );
+        Dy[i] =  6*( (point_v[i+2].y - point_v[i+1].y)/h[i+1] - (point_v[i+1].y - point_v[i].y)/h[i] );
+    }
+
+    //TDMA
+    C[0] = C[0] / B[0];
+    Dx[0] = Dx[0] / B[0];
+    Dy[0] = Dy[0] / B[0];
+    for(int i = 1; i < n-2; i++)
+    {
+        double tmp = B[i] - A[i]*C[i-1];
+        C[i] = C[i] / tmp;
+        Dx[i] = (Dx[i] - A[i]*Dx[i-1]) / tmp;
+        Dy[i] = (Dy[i] - A[i]*Dy[i-1]) / tmp;
+    }
+    Mx[n-2] = Dx[n-3];
+    My[n-2] = Dy[n-3];
+    for(int i = n-4; i >= 0; i--)
+    {
+        Mx[i+1] = Dx[i] - C[i]*Mx[i+2];
+        My[i+1] = Dy[i] - C[i]*My[i+2];
+    }
+
+    Mx[0] = 0;
+    Mx[n-1] = 0;
+    My[0] = 0;
+    My[n-1] = 0;
+
+    for(int i = 0; i < n-1; i++)
+    {
+        func_v[i].a_x = point_v[i].x;
+        func_v[i].b_x = (point_v[i+1].x - point_v[i].x)/h[i] - (2*h[i]*Mx[i] + h[i]*Mx[i+1]) / 6;
+        func_v[i].c_x = Mx[i]/2;
+        func_v[i].d_x = (Mx[i+1] - Mx[i]) / (6*h[i]);
+
+        func_v[i].a_y = point_v[i].y;
+        func_v[i].b_y = (point_v[i+1].y - point_v[i].y)/h[i] - (2*h[i]*My[i] + h[i]*My[i+1]) / 6;
+        func_v[i].c_y = My[i]/2;
+        func_v[i].d_y = (My[i+1] - My[i]) / (6*h[i]);
+
+        func_v[i].h = h[i];
+    }
+    return func_v;
+}
diff --git a/runner/evaluator/culane/prob2lines.py b/runner/evaluator/culane/prob2lines.py
new file mode 100644
index 0000000..f23caed
--- /dev/null
+++ b/runner/evaluator/culane/prob2lines.py
@@ -0,0 +1,51 @@
+import os
+import argparse
+import numpy as np
+import pandas as pd
+from PIL import Image
+import tqdm
+
+
+def getLane(probmap, pts, cfg = None):
+    thr = 0.3
+    coordinate = np.zeros(pts)
+    cut_height = 0
+    if cfg.cut_height:
+        cut_height = cfg.cut_height
+    for i in range(pts):
+        line = probmap[round(cfg.img_height-i*20/(590-cut_height)*cfg.img_height)-1]
+        if np.max(line)/255 > thr:
+            coordinate[i] = np.argmax(line)+1
+    if np.sum(coordinate > 0) < 2:
+        coordinate = np.zeros(pts)
+    return coordinate
+
+
+def prob2lines(prob_dir, out_dir, list_file, cfg = None):
+    lists = pd.read_csv(list_file, sep=' ', header=None,
+                        names=('img', 'probmap', 'label1', 'label2', 'label3', 'label4'))
+    pts = 18
+
+    for k, im in enumerate(lists['img'], 1):
+        existPath = prob_dir + im[:-4] + '.exist.txt'
+        outname = out_dir + im[:-4] + '.lines.txt'
+        prefix = '/'.join(outname.split('/')[:-1])
+        if not os.path.exists(prefix):
+            os.makedirs(prefix)
+        f = open(outname, 'w')
+
+        labels = list(pd.read_csv(existPath, sep=' ', header=None).iloc[0])
+        coordinates = np.zeros((4, pts))
+        for i in range(4):
+            if labels[i] == 1:
+                probfile = prob_dir + im[:-4] + '_{0}_avg.png'.format(i+1)
+                probmap = np.array(Image.open(probfile))
+                coordinates[i] = getLane(probmap, pts, cfg)
+
+                if np.sum(coordinates[i] > 0) > 1:
+                    for idx, value in enumerate(coordinates[i]):
+                        if value > 0:
+                            f.write('%d %d ' % (
+                                round(value*1640/cfg.img_width)-1, round(590-idx*20)-1))
+                    f.write('\n')
+        f.close()
diff --git a/runner/evaluator/tusimple/getLane.py b/runner/evaluator/tusimple/getLane.py
new file mode 100644
index 0000000..8026127
--- /dev/null
+++ b/runner/evaluator/tusimple/getLane.py
@@ -0,0 +1,115 @@
+import cv2
+import numpy as np
+
+def isShort(lane):
+    start = [i for i, x in enumerate(lane) if x > 0]
+    if not start:
+        return 1
+    else:
+        return 0
+
+def fixGap(coordinate):
+    if any(x > 0 for x in coordinate):
+        start = [i for i, x in enumerate(coordinate) if x > 0][0]
+        end = [i for i, x in reversed(list(enumerate(coordinate))) if x > 0][0]
+        lane = coordinate[start:end+1]
+        if any(x < 0 for x in lane):
+            gap_start = [i for i, x in enumerate(
+                lane[:-1]) if x > 0 and lane[i+1] < 0]
+            gap_end = [i+1 for i,
+                       x in enumerate(lane[:-1]) if x < 0 and lane[i+1] > 0]
+            gap_id = [i for i, x in enumerate(lane) if x < 0]
+            if len(gap_start) == 0 or len(gap_end) == 0:
+                return coordinate
+            for id in gap_id:
+                for i in range(len(gap_start)):
+                    if i >= len(gap_end):
+                        return coordinate
+                    if id > gap_start[i] and id < gap_end[i]:
+                        gap_width = float(gap_end[i] - gap_start[i])
+                        lane[id] = int((id - gap_start[i]) / gap_width * lane[gap_end[i]] + (
+                            gap_end[i] - id) / gap_width * lane[gap_start[i]])
+            if not all(x > 0 for x in lane):
+                print("Gaps still exist!")
+            coordinate[start:end+1] = lane
+    return coordinate
+
+def getLane_tusimple(prob_map, y_px_gap, pts, thresh, resize_shape=None, cfg=None):
+    """
+    Arguments:
+    ----------
+    prob_map: prob map for single lane, np array size (h, w)
+    resize_shape:  reshape size target, (H, W)
+
+    Return:
+    ----------
+    coords: x coords bottom up every y_px_gap px, 0 for non-exist, in resized shape
+    """
+    if resize_shape is None:
+        resize_shape = prob_map.shape
+    h, w = prob_map.shape
+    H, W = resize_shape
+    H -= cfg.cut_height
+
+    coords = np.zeros(pts)
+    coords[:] = -1.0
+    for i in range(pts):
+        y = int((H - 10 - i * y_px_gap) * h / H)
+        if y < 0:
+            break
+        line = prob_map[y, :]
+        id = np.argmax(line)
+        if line[id] > thresh:
+            coords[i] = int(id / w * W)
+    if (coords > 0).sum() < 2:
+        coords = np.zeros(pts)
+    fixGap(coords)
+    return coords
+
+
+def prob2lines_tusimple(seg_pred, exist, resize_shape=None, smooth=True, y_px_gap=10, pts=None, thresh=0.3, cfg=None):
+    """
+    Arguments:
+    ----------
+    seg_pred:      np.array size (5, h, w)
+    resize_shape:  reshape size target, (H, W)
+    exist:       list of existence, e.g. [0, 1, 1, 0]
+    smooth:      whether to smooth the probability or not
+    y_px_gap:    y pixel gap for sampling
+    pts:     how many points for one lane
+    thresh:  probability threshold
+
+    Return:
+    ----------
+    coordinates: [x, y] list of lanes, e.g.: [ [[9, 569], [50, 549]] ,[[630, 569], [647, 549]] ]
+    """
+    if resize_shape is None:
+        resize_shape = seg_pred.shape[1:]  # seg_pred (5, h, w)
+    _, h, w = seg_pred.shape
+    H, W = resize_shape
+    coordinates = []
+
+    if pts is None:
+        pts = round(H / 2 / y_px_gap)
+
+    seg_pred = np.ascontiguousarray(np.transpose(seg_pred, (1, 2, 0)))
+    for i in range(cfg.num_classes - 1):
+        prob_map = seg_pred[..., i + 1]
+        if smooth:
+            prob_map = cv2.blur(prob_map, (9, 9), borderType=cv2.BORDER_REPLICATE)
+        coords = getLane_tusimple(prob_map, y_px_gap, pts, thresh, resize_shape, cfg)
+        if isShort(coords):
+            continue
+        coordinates.append(
+            [[coords[j], H - 10 - j * y_px_gap] if coords[j] > 0 else [-1, H - 10 - j * y_px_gap] for j in
+             range(pts)])
+
+
+    if len(coordinates) == 0:
+        coords = np.zeros(pts)
+        coordinates.append(
+            [[coords[j], H - 10 - j * y_px_gap] if coords[j] > 0 else [-1, H - 10 - j * y_px_gap] for j in
+             range(pts)])
+
+
+    return coordinates
diff --git a/runner/evaluator/tusimple/lane.py b/runner/evaluator/tusimple/lane.py
new file mode 100644
index 0000000..f042ca5
--- /dev/null
+++ b/runner/evaluator/tusimple/lane.py
@@ -0,0 +1,113 @@
+import numpy as np
+from sklearn.linear_model import LinearRegression
+import json as json
+
+
+class LaneEval(object):
+    lr = LinearRegression()
+    pixel_thresh = 20
+    pt_thresh = 0.85
+
+    @staticmethod
+    def get_angle(xs, y_samples):
+        xs, ys = xs[xs >= 0], y_samples[xs >= 0]
+        if len(xs) > 1:
+            LaneEval.lr.fit(ys[:, None], xs)
+            k = LaneEval.lr.coef_[0]
+            theta = np.arctan(k)
+        else:
+            theta = 0
+        return theta
+
+    @staticmethod
+    def line_accuracy(pred, gt, thresh):
+        pred = np.array([p if p >= 0 else -100 for p in pred])
+        gt = np.array([g if g >= 0 else -100 for g in gt])
+        return np.sum(np.where(np.abs(pred - gt) < thresh, 1., 0.)) / len(gt)
+
+    @staticmethod
+    def bench(pred, gt, y_samples, running_time):
+        if any(len(p) != len(y_samples) for p in pred):
+            raise Exception('Format of lanes error.')
+        if running_time > 200 or len(gt) + 2 < len(pred):
+            return 0., 0., 1.
+        angles = [LaneEval.get_angle(
+            np.array(x_gts), np.array(y_samples)) for x_gts in gt]
+        threshs = [LaneEval.pixel_thresh / np.cos(angle) for angle in angles]
+        line_accs = []
+        fp, fn = 0., 0.
+        matched = 0.
+        for x_gts, thresh in zip(gt, threshs):
+            accs = [LaneEval.line_accuracy(
+                np.array(x_preds), np.array(x_gts), thresh) for x_preds in pred]
+            max_acc = np.max(accs) if len(accs) > 0 else 0.
+            if max_acc < LaneEval.pt_thresh:
+                fn += 1
+            else:
+                matched += 1
+            line_accs.append(max_acc)
+        fp = len(pred) - matched
+        if len(gt) > 4 and fn > 0:
+            fn -= 1
+        s = sum(line_accs)
+        if len(gt) > 4:
+            s -= min(line_accs)
+        return s / max(min(4.0, len(gt)), 1.), fp / len(pred) if len(pred) > 0 else 0., fn / max(min(len(gt), 4.), 1.)
+
+    @staticmethod
+    def bench_one_submit(pred_file, gt_file):
+        try:
+            json_pred = [json.loads(line)
+                         for line in open(pred_file).readlines()]
+        except BaseException:
+            raise Exception('Fail to load json file of the prediction.')
+        json_gt = [json.loads(line) for line in open(gt_file).readlines()]
+        if len(json_gt) != len(json_pred):
+            if len(json_pred) == 1:
+                pass
+            else:
+                raise Exception(
+                    'We do not get the predictions of all the test tasks')
+        gts = {l['raw_file']: l for l in json_gt}
+        accuracy, fp, fn = 0., 0., 0.
+        for pred in json_pred:
+            if 'raw_file' not in pred or 'lanes' not in pred or 'run_time' not in pred:
+                raise Exception(
+                    'raw_file or lanes or run_time not in some predictions.')
+            raw_file = pred['raw_file'].replace("\\", "/")
+            # print(raw_file)
+            # print(gts)
+            pred_lanes = pred['lanes']
+            run_time = pred['run_time']
+            if raw_file not in gts:
+                raise Exception(
+                    'Some raw_file from your predictions do not exist in the test tasks.')
+            gt = gts[raw_file]
+            gt_lanes = gt['lanes']
+            y_samples = gt['h_samples']
+            try:
+                a, p, n = LaneEval.bench(
+                    pred_lanes, gt_lanes, y_samples, run_time)
+            except BaseException as e:
+                raise Exception('Format of lanes error.')
+            accuracy += a
+            fp += p
+            fn += n
+        num = len(gts)
+        # the first return parameter is the default ranking parameter
+        return json.dumps([
+            {'name': 'Accuracy', 'value': accuracy / num, 'order': 'desc'},
+            {'name': 'FP', 'value': fp / num, 'order': 'asc'},
+            {'name': 'FN', 'value': fn / num, 'order': 'asc'}
+        ]), accuracy / num
+
+
+if __name__ == '__main__':
+    import sys
+    try:
+        if len(sys.argv) != 3:
+            raise Exception('Invalid input arguments')
+        print(LaneEval.bench_one_submit(sys.argv[1], sys.argv[2]))
+    except Exception as e:
+        print(e.message)
+        sys.exit(e.message)
diff --git a/runner/evaluator/tusimple/tusimple.py b/runner/evaluator/tusimple/tusimple.py
new file mode 100644
index 0000000..1851d29
--- /dev/null
+++ b/runner/evaluator/tusimple/tusimple.py
@@ -0,0 +1,118 @@
+import torch.nn as nn
+import torch
+import torch.nn.functional as F
+from runner.logger import get_logger
+
+from runner.registry import EVALUATOR 
+import json
+import os
+import cv2
+
+from .lane import LaneEval
+
+def split_path(path):
+    """split path tree into list"""
+    folders = []
+    while True:
+        path, folder = os.path.split(path)
+        if folder != "":
+            folders.insert(0, folder)
+        else:
+            if path != "":
+                folders.insert(0, path)
+            break
+    return folders
+
+
+@EVALUATOR.register_module
+class Tusimple(nn.Module):
+    def __init__(self, cfg):
+        super(Tusimple, self).__init__()
+        self.cfg = cfg 
+        exp_dir = os.path.join(self.cfg.work_dir, "output")
+        if not os.path.exists(exp_dir):
+            os.mkdir(exp_dir)
+        self.out_path = os.path.join(exp_dir, "coord_output")
+        if not os.path.exists(self.out_path):
+            os.mkdir(self.out_path)
+        self.dump_to_json = [] 
+        self.thresh = cfg.evaluator.thresh
+        self.logger = get_logger('resa')
+        if cfg.view:
+            self.view_dir = os.path.join(self.cfg.work_dir, 'vis')
+            if not os.path.exists(self.view_dir):
+                os.mkdir(self.view_dir)
+
+    def evaluate_pred(self, dataset, seg_pred, exist_pred, batch):
+        img_name = batch['meta']['img_name']
+        img_path = batch['meta']['full_img_path']
+        for b in range(len(seg_pred)):
+            seg = seg_pred[b]
+            exist = [1 if exist_pred[b, i] >
+                     0.5 else 0 for i in range(self.cfg.num_classes-1)]
+            lane_coords = dataset.probmap2lane(seg, exist, thresh = self.thresh)
+            for i in range(len(lane_coords)):
+                lane_coords[i] = sorted(
+                    lane_coords[i], key=lambda pair: pair[1])
+
+            path_tree = split_path(img_name[b])
+            save_dir, save_name = path_tree[-3:-1], path_tree[-1]
+            save_dir = os.path.join(self.out_path, *save_dir)
+            save_name = save_name[:-3] + "lines.txt"
+            save_name = os.path.join(save_dir, save_name)
+            if not os.path.exists(save_dir):
+                os.makedirs(save_dir, exist_ok=True)
+
+            with open(save_name, "w") as f:
+                for l in lane_coords:
+                    for (x, y) in l:
+                        print("{} {}".format(x, y), end=" ", file=f)
+                    print(file=f)
+
+            json_dict = {}
+            json_dict['lanes'] = []
+            json_dict['h_sample'] = []
+            json_dict['raw_file'] = os.path.join(*path_tree[-4:])
+            json_dict['run_time'] = 0
+            for l in lane_coords:
+                if len(l) == 0:
+                    continue
+                json_dict['lanes'].append([])
+                for (x, y) in l:
+                    json_dict['lanes'][-1].append(int(x))
+            for (x, y) in lane_coords[0]:
+                json_dict['h_sample'].append(y)
+            self.dump_to_json.append(json.dumps(json_dict))
+            if self.cfg.view:
+                with open("{}/coordinates.txt".format("E:/pythonProject/ENet_SAD"), "w", encoding="utf8") as fp:
+                    for coord in lane_coords:
+                        for x, y in coord:
+                            if x >= 0 and y >= 0:
+                                fp.write(str(x) + "," + str(y) + "\t")
+                img = cv2.imread(img_path[b])
+                new_img_name = img_name[b].replace('/', '_')
+                save_dir = os.path.join(self.view_dir, new_img_name)
+                dataset.view(img, lane_coords, save_dir)
+
+
+    def evaluate(self, dataset, output, batch):
+        seg_pred, exist_pred = output['seg'], output['exist']
+        seg_pred = F.softmax(seg_pred, dim=1)
+        seg_pred = seg_pred.detach().cpu().numpy()
+        exist_pred = exist_pred.detach().cpu().numpy()
+        self.evaluate_pred(dataset, seg_pred, exist_pred, batch)
+
+    def summarize(self):
+        best_acc = 0
+        output_file = os.path.join(self.out_path, 'predict_test.json')
+        with open(output_file, "w+") as f:
+            for line in self.dump_to_json:
+                print(line, end="\n", file=f)
+
+        eval_result, acc = LaneEval.bench_one_submit(output_file,
+                            self.cfg.test_json_file)
+
+        self.logger.info(eval_result)
+        self.dump_to_json = []
+        best_acc = max(acc, best_acc)
+        return best_acc
diff --git a/runner/logger.py b/runner/logger.py
new file mode 100644
index 0000000..189d353
--- /dev/null
+++ b/runner/logger.py
@@ -0,0 +1,50 @@
+import logging
+
+logger_initialized = {}
+
+def get_logger(name, log_file=None, log_level=logging.INFO):
+    """Initialize and get a logger by name.
+    If the logger has not been initialized, this method will initialize the
+    logger by adding one or two handlers, otherwise the initialized logger will
+    be directly returned. During initialization, a StreamHandler will always be
+    added. If `log_file` is specified and the process rank is 0, a FileHandler
+    will also be added.
+    Args:
+        name (str): Logger name.
+        log_file (str | None): The log filename. If specified, a FileHandler
+            will be added to the logger.
+        log_level (int): The logger level. Note that only the process of
+            rank 0 is affected, and other processes will set the level to
+            "Error" thus be silent most of the time.
+    Returns:
+        logging.Logger: The expected logger.
+    """
+    logger = logging.getLogger(name)
+    if name in logger_initialized:
+        return logger
+    # handle hierarchical names
+    # e.g., logger "a" is initialized, then logger "a.b" will skip the
+    # initialization since it is a child of "a".
+    for logger_name in logger_initialized:
+        if name.startswith(logger_name):
+            return logger
+
+    stream_handler = logging.StreamHandler()
+    handlers = [stream_handler]
+
+    if log_file is not None:
+        file_handler = logging.FileHandler(log_file, 'w')
+        handlers.append(file_handler)
+
+    formatter = logging.Formatter(
+        '%(asctime)s - %(name)s - %(levelname)s - %(message)s')
+    for handler in handlers:
+        handler.setFormatter(formatter)
+        handler.setLevel(log_level)
+        logger.addHandler(handler)
+
+    logger.setLevel(log_level)
+
+    logger_initialized[name] = True
+
+    return logger
diff --git a/runner/net_utils.py b/runner/net_utils.py
new file mode 100644
index 0000000..1cededa
--- /dev/null
+++ b/runner/net_utils.py
@@ -0,0 +1,43 @@
+import torch
+import os
+from torch import nn
+import numpy as np
+import torch.nn.functional
+from termcolor import colored
+from .logger import get_logger
+
+def save_model(net, optim, scheduler, recorder, is_best=False):
+    model_dir = os.path.join(recorder.work_dir, 'output')
+    os.system('mkdir -p {}'.format(model_dir))
+    epoch = recorder.epoch
+    ckpt_name = 'best' if is_best else epoch
+    torch.save({
+        'net': net.state_dict(),
+        'optim': optim.state_dict(),
+        'scheduler': scheduler.state_dict(),
+        'recorder': recorder.state_dict(),
+        'epoch': epoch
+    }, os.path.join(model_dir, '{}.pth'.format(ckpt_name)))
+
+
+def load_network_specified(net, model_dir, logger=None):
+    pretrained_net = torch.load(model_dir)['net']
+    net_state = net.state_dict()
+    state = {}
+    for k, v in pretrained_net.items():
+        if k not in net_state.keys() or v.size() != net_state[k].size():
+            if logger:
+                logger.info('skip weights: ' + k)
+            continue
+        state[k] = v
+    net.load_state_dict(state, strict=False)
+
+
+def load_network(net, model_dir, finetune_from=None, logger=None):
+    if finetune_from:
+        if logger:
+            logger.info('Finetune model from: ' + finetune_from)
+        load_network_specified(net, finetune_from, logger)
+        return
+    pretrained_model = torch.load(model_dir)
+    net.load_state_dict(pretrained_model['net'], strict=True)
diff --git a/runner/optimizer.py b/runner/optimizer.py
new file mode 100644
index 0000000..9f2f836
--- /dev/null
+++ b/runner/optimizer.py
@@ -0,0 +1,26 @@
+import torch
+
+
+_optimizer_factory = {
+    'adam': torch.optim.Adam,
+    'sgd': torch.optim.SGD
+}
+
+
+def build_optimizer(cfg, net):
+    params = []
+    lr = cfg.optimizer.lr
+    weight_decay = cfg.optimizer.weight_decay
+
+    for key, value in net.named_parameters():
+        if not value.requires_grad:
+            continue
+        params += [{"params": [value], "lr": lr, "weight_decay": weight_decay}]
+
+    if 'adam' in cfg.optimizer.type:
+        optimizer = _optimizer_factory[cfg.optimizer.type](params, lr, weight_decay=weight_decay)
+    else:
+        optimizer = _optimizer_factory[cfg.optimizer.type](
+                params, lr, weight_decay=weight_decay, momentum=cfg.optimizer.momentum)
+
+    return optimizer
diff --git a/runner/recorder.py b/runner/recorder.py
new file mode 100644
index 0000000..2ae345b
--- /dev/null
+++ b/runner/recorder.py
@@ -0,0 +1,100 @@
+from collections import deque, defaultdict
+import torch
+import os
+import datetime
+from .logger import get_logger
+
+
+class SmoothedValue(object):
+    """Track a series of values and provide access to smoothed values over a
+    window or the global series average.
+    """
+
+    def __init__(self, window_size=20):
+        self.deque = deque(maxlen=window_size)
+        self.total = 0.0
+        self.count = 0
+
+    def update(self, value):
+        self.deque.append(value)
+        self.count += 1
+        self.total += value
+
+    @property
+    def median(self):
+        d = torch.tensor(list(self.deque))
+        return d.median().item()
+
+    @property
+    def avg(self):
+        d = torch.tensor(list(self.deque))
+        return d.mean().item()
+
+    @property
+    def global_avg(self):
+        return self.total / self.count
+
+
+class Recorder(object):
+    def __init__(self, cfg):
+        self.cfg = cfg
+        self.work_dir = self.get_work_dir()
+        cfg.work_dir = self.work_dir
+        self.log_path = os.path.join(self.work_dir, 'log.txt')
+
+        self.logger = get_logger('resa', self.log_path)
+        self.logger.info('Config: \n' + cfg.text)
+
+        # scalars
+        self.epoch = 0
+        self.step = 0
+        self.loss_stats = defaultdict(SmoothedValue)
+        self.batch_time = SmoothedValue()
+        self.data_time = SmoothedValue()
+        self.max_iter = self.cfg.total_iter 
+        self.lr = 0.
+
+    def get_work_dir(self):
+        now = datetime.datetime.now().strftime('%Y%m%d_%H%M%S')
+        hyper_param_str = '_lr_%1.0e_b_%d' % (self.cfg.optimizer.lr, self.cfg.batch_size)
+        work_dir = os.path.join(self.cfg.work_dirs, now + hyper_param_str)
+        if not os.path.exists(work_dir):
+            os.makedirs(work_dir)
+        return work_dir
+
+    def update_loss_stats(self, loss_dict):
+        for k, v in loss_dict.items():
+            self.loss_stats[k].update(v.detach().cpu())
+
+    def record(self, prefix, step=-1, loss_stats=None, image_stats=None):
+        self.logger.info(self)
+        # self.write(str(self))
+
+    def write(self, content):
+        with open(self.log_path, 'a+') as f:
+            f.write(content)
+            f.write('\n')
+
+    def state_dict(self):
+        scalar_dict = {}
+        scalar_dict['step'] = self.step
+        return scalar_dict
+
+    def load_state_dict(self, scalar_dict):
+        self.step = scalar_dict['step']
+
+    def __str__(self):
+        loss_state = []
+        for k, v in self.loss_stats.items():
+            loss_state.append('{}: {:.4f}'.format(k, v.avg))
+        loss_state = '  '.join(loss_state)
+
+        recording_state = '  '.join(['epoch: {}', 'step: {}', 'lr: {:.4f}', '{}', 'data: {:.4f}', 'batch: {:.4f}', 'eta: {}'])
+        eta_seconds = self.batch_time.global_avg * (self.max_iter - self.step)
+        eta_string = str(datetime.timedelta(seconds=int(eta_seconds)))
+        return recording_state.format(self.epoch, self.step, self.lr, loss_state, self.data_time.avg, self.batch_time.avg, eta_string)
+
+
+def build_recorder(cfg):
+    return Recorder(cfg)
+
diff --git a/runner/registry.py b/runner/registry.py
new file mode 100644
index 0000000..c1c119b
--- /dev/null
+++ b/runner/registry.py
@@ -0,0 +1,19 @@
+from utils import Registry, build_from_cfg
+
+TRAINER = Registry('trainer')
+EVALUATOR = Registry('evaluator')
+
+def build(cfg, registry, default_args=None):
+    if isinstance(cfg, list):
+        modules = [
+            build_from_cfg(cfg_, registry, default_args) for cfg_ in cfg
+        ]
+        return nn.Sequential(*modules)
+    else:
+        return build_from_cfg(cfg, registry, default_args)
+
+def build_trainer(cfg):
+    return build(cfg.trainer, TRAINER, default_args=dict(cfg=cfg))
+
+def build_evaluator(cfg):
+    return build(cfg.evaluator, EVALUATOR, default_args=dict(cfg=cfg))
diff --git a/runner/resa_trainer.py b/runner/resa_trainer.py
new file mode 100644
index 0000000..7cdad78
--- /dev/null
+++ b/runner/resa_trainer.py
@@ -0,0 +1,58 @@
+import torch.nn as nn
+import torch
+import torch.nn.functional as F
+
+from runner.registry import TRAINER
+
+def dice_loss(input, target):
+    input = input.contiguous().view(input.size()[0], -1)
+    target = target.contiguous().view(target.size()[0], -1).float()
+
+    a = torch.sum(input * target, 1)
+    b = torch.sum(input * input, 1) + 0.001
+    c = torch.sum(target * target, 1) + 0.001
+    d = (2 * a) / (b + c)
+    return (1-d).mean()
+
+@TRAINER.register_module
+class RESA(nn.Module):
+    def __init__(self, cfg):
+        super(RESA, self).__init__()
+        self.cfg = cfg
+        self.loss_type = cfg.loss_type
+        if self.loss_type == 'cross_entropy':
+            weights = torch.ones(cfg.num_classes)
+            weights[0] = cfg.bg_weight
+            weights = weights.cuda()
+            self.criterion = torch.nn.NLLLoss(ignore_index=self.cfg.ignore_label,
+                                              weight=weights).cuda()
+
+        self.criterion_exist = torch.nn.BCEWithLogitsLoss().cuda()
+
+    def forward(self, net, batch):
+        output = net(batch['img'])
+
+        loss_stats = {}
+        loss = 0.
+
+        if self.loss_type == 'dice_loss':
+            target = F.one_hot(batch['label'], num_classes=self.cfg.num_classes).permute(0, 3, 1, 2)
+            seg_loss = dice_loss(F.softmax(
+                output['seg'], dim=1)[:, 1:], target[:, 1:])
+        else:
+            seg_loss = self.criterion(F.log_softmax(
+                output['seg'], dim=1), batch['label'].long())
+
+        loss += seg_loss * self.cfg.seg_loss_weight
+
+        loss_stats.update({'seg_loss': seg_loss})
+
+        if 'exist' in output:
+            exist_loss = 0.1 * \
+                self.criterion_exist(output['exist'], batch['exist'].float())
+            loss += exist_loss
+            loss_stats.update({'exist_loss': exist_loss})
+
+        ret = {'loss': loss, 'loss_stats': loss_stats}
+
+        return ret
diff --git a/runner/runner.py b/runner/runner.py
new file mode 100644
index 0000000..7607769
--- /dev/null
+++ b/runner/runner.py
@@ -0,0 +1,107 @@
+import time
+import torch
+import numpy as np
+from tqdm import tqdm
+import pytorch_warmup as warmup
+
+from models.registry import build_net
+from .registry import build_trainer, build_evaluator
+from .optimizer import build_optimizer
+from .scheduler import build_scheduler
+from datasets import build_dataloader
+from .recorder import build_recorder
+from .net_utils import save_model, load_network
+
+
+class Runner(object):
+    def __init__(self, cfg):
+        self.cfg = cfg
+        self.recorder = build_recorder(self.cfg)
+        self.net = build_net(self.cfg)
+        self.net = torch.nn.parallel.DataParallel(
+                self.net, device_ids = range(self.cfg.gpus)).cuda()
+        self.recorder.logger.info('Network: \n' + str(self.net))
+        self.resume()
+        self.optimizer = build_optimizer(self.cfg, self.net)
+        self.scheduler = build_scheduler(self.cfg, self.optimizer)
+        self.evaluator = build_evaluator(self.cfg)
+        self.warmup_scheduler = warmup.LinearWarmup(
+            self.optimizer, warmup_period=5000)
+        self.metric = 0.
+
+    def resume(self):
+        if not self.cfg.load_from and not self.cfg.finetune_from:
+            return
+        load_network(self.net, self.cfg.load_from,
+                finetune_from=self.cfg.finetune_from, logger=self.recorder.logger)
+
+    def to_cuda(self, batch):
+        for k in batch:
+            if k == 'meta':
+                continue
+            batch[k] = batch[k].cuda()
+        return batch
+    
+    def train_epoch(self, epoch, train_loader):
+        self.net.train()
+        end = time.time()
+        max_iter = len(train_loader)
+        for i, data in enumerate(train_loader):
+            if self.recorder.step >= self.cfg.total_iter:
+                break
+            date_time = time.time() - end
+            self.recorder.step += 1
+            data = self.to_cuda(data)
+            output = self.trainer.forward(self.net, data)
+            self.optimizer.zero_grad()
+            loss = output['loss']
+            loss.backward()
+            self.optimizer.step()
+            self.scheduler.step()
+            self.warmup_scheduler.dampen()
+            batch_time = time.time() - end
+            end = time.time()
+            self.recorder.update_loss_stats(output['loss_stats'])
+            self.recorder.batch_time.update(batch_time)
+            self.recorder.data_time.update(date_time)
+
+            if i % self.cfg.log_interval == 0 or i == max_iter - 1:
+                lr = self.optimizer.param_groups[0]['lr']
+                self.recorder.lr = lr
+                self.recorder.record('train')
+
+    def train(self):
+        self.recorder.logger.info('start training...')
+        self.trainer = build_trainer(self.cfg)
+        train_loader = build_dataloader(self.cfg.dataset.train, self.cfg, is_train=True)
+        val_loader = build_dataloader(self.cfg.dataset.val, self.cfg, is_train=False)
+
+        for epoch in range(self.cfg.epochs):
+            self.recorder.epoch = epoch
+            self.train_epoch(epoch, train_loader)
+            if (epoch + 1) % self.cfg.save_ep == 0 or epoch == self.cfg.epochs - 1:
+                self.save_ckpt()
+            if (epoch + 1) % self.cfg.eval_ep == 0 or epoch == self.cfg.epochs - 1:
+                self.validate(val_loader)
+            if self.recorder.step >= self.cfg.total_iter:
+                break
+
+    def validate(self, val_loader):
+        self.net.eval()
+        for i, data in enumerate(tqdm(val_loader, desc=f'Validate')):
+            data = self.to_cuda(data)
+            with torch.no_grad():
+                output = self.net(data['img'])
+                self.evaluator.evaluate(val_loader.dataset, output, data)
+
+        metric = self.evaluator.summarize()
+        if not metric:
+            return
+        if metric > self.metric:
+            self.metric = metric
+            self.save_ckpt(is_best=True)
+        self.recorder.logger.info('Best metric: ' + str(self.metric))
+
+    def save_ckpt(self, is_best=False):
+        save_model(self.net, self.optimizer, self.scheduler,
+                self.recorder, is_best)
diff --git a/runner/scheduler.py b/runner/scheduler.py
new file mode 100644
index 0000000..6843dc2
--- /dev/null
+++ b/runner/scheduler.py
@@ -0,0 +1,20 @@
+import torch
+import math
+
+
+_scheduler_factory = {
+    'LambdaLR': torch.optim.lr_scheduler.LambdaLR,
+}
+
+
+def build_scheduler(cfg, optimizer):
+
+    assert cfg.scheduler.type in _scheduler_factory
+
+    cfg_cp = cfg.scheduler.copy()
+    cfg_cp.pop('type')
+
+    scheduler = _scheduler_factory[cfg.scheduler.type](optimizer, **cfg_cp)
+
+
+    return scheduler 
diff --git a/temp/temp.py b/temp/temp.py
new file mode 100644
index 0000000..6d3c3c4
--- /dev/null
+++ b/temp/temp.py
@@ -0,0 +1,93 @@
+net = dict(
+    type='RESANet',
+)
+
+backbone = dict(
+    type='ResNetWrapper',
+    resnet='resnet34',
+    pretrained=True,
+    replace_stride_with_dilation=[False, True, True],
+    out_conv=True,
+    fea_stride=8,
+)
+
+resa = dict(
+    type='RESA',
+    alpha=2.0,
+    iter=5,
+    input_channel=128,
+    conv_stride=9,
+)
+
+decoder = 'BUSD'        
+
+trainer = dict(
+    type='RESA'
+)
+
+evaluator = dict(
+    type='Tusimple',
+    thresh = 0.60
+)
+
+optimizer = dict(
+  type='sgd',
+  lr=0.020,
+  weight_decay=1e-4,
+  momentum=0.9
+)
+
+total_iter = 80000
+import math
+scheduler = dict(
+    type = 'LambdaLR',
+    lr_lambda = lambda _iter : math.pow(1 - _iter/total_iter, 0.9)
+)
+
+bg_weight = 0.4
+
+img_norm = dict(
+    mean=[103.939, 116.779, 123.68],
+    std=[1., 1., 1.]
+)
+
+img_height = 368
+img_width = 640
+cut_height = 160
+seg_label = "seg_label"
+
+dataset_path = r'E:\pythonProject\ENet_SAD\dataset\tusimple'
+test_json_file = r'E:\pythonProject\ENet_SAD\dataset\tusimple\test_label.json'
+
+dataset = dict(
+    train=dict(
+        type='TuSimple',
+        img_path=dataset_path,
+        data_list='train_val_gt.txt',
+    ),
+    val=dict(
+        type='TuSimple',
+        img_path=dataset_path,
+        data_list='predict_val.txt'
+    ),
+    test=dict(
+        type='TuSimple',
+        img_path=dataset_path,
+        data_list='test_gt.txt'
+    )
+)
+
+
+loss_type = 'cross_entropy'
+seg_loss_weight = 1.0
+
+
+batch_size = 4
+workers = 0
+num_classes = 6 + 1
+ignore_label = 255
+epochs = 2
+log_interval = 100
+eval_ep = 1
+save_ep = epochs
+log_note = ''
diff --git a/testAnswer.py b/testAnswer.py
new file mode 100644
index 0000000..181ed15
--- /dev/null
+++ b/testAnswer.py
@@ -0,0 +1,12 @@
+########## Begin ##########
+student_str = ""
+########## End ##########
+point_ls = student_str.split()
+answer = 0
+for point in point_ls:
+    point = point.split(",")
+    x = float(point[0])
+    y = float(point[1])
+    answer += x
+    answer += y
+print(answer)
\ No newline at end of file
diff --git a/testOrder b/testOrder
new file mode 100644
index 0000000..5eea21e
--- /dev/null
+++ b/testOrder
@@ -0,0 +1,2 @@
+python main.py --config configs/tusimple.py --gpus 0
+python main.py --config configs/tusimple.py --validate --load_from tusimple_resnet34.pth --gpus 0 --view
\ No newline at end of file
diff --git a/tools/generate_seg_tusimple.py b/tools/generate_seg_tusimple.py
new file mode 100644
index 0000000..0ffc2a1
--- /dev/null
+++ b/tools/generate_seg_tusimple.py
@@ -0,0 +1,105 @@
+import json
+import numpy as np
+import cv2
+import os
+import argparse
+
+TRAIN_SET = ['label_data_0313.json', 'label_data_0601.json']
+VAL_SET = ['label_data_0531.json']
+TRAIN_VAL_SET = TRAIN_SET + VAL_SET
+TEST_SET = ['test_label.json']
+
+def gen_label_for_json(args, image_set):
+    H, W = 720, 1280
+    SEG_WIDTH = 30
+    save_dir = args.savedir
+
+    os.makedirs(os.path.join(args.root, args.savedir, "list"), exist_ok=True)
+    list_f = open(os.path.join(args.root, args.savedir, "list", "{}_gt.txt".format(image_set)), "w")
+
+    json_path = os.path.join(args.root, args.savedir, "{}.json".format(image_set))
+    with open(json_path) as f:
+        for line in f:
+            label = json.loads(line)
+            # ---------- clean and sort lanes -------------
+            lanes = []
+            _lanes = []
+            slope = [] # identify 0th, 1st, 2nd, 3rd, 4th, 5th lane through slope
+            for i in range(len(label['lanes'])):
+                l = [(x, y) for x, y in zip(label['lanes'][i], label['h_samples']) if x >= 0]
+                if (len(l)>1):
+                    _lanes.append(l)
+                    slope.append(np.arctan2(l[-1][1]-l[0][1], l[0][0]-l[-1][0]) / np.pi * 180)
+            _lanes = [_lanes[i] for i in np.argsort(slope)]
+            slope = [slope[i] for i in np.argsort(slope)]
+
+            idx = [None for i in range(6)]
+            for i in range(len(slope)):
+                if slope[i] <= 90:
+                    idx[2] = i
+                    idx[1] = i-1 if i > 0 else None
+                    idx[0] = i-2 if i > 1 else None
+                else:
+                    idx[3] = i
+                    idx[4] = i+1 if i+1 < len(slope) else None
+                    idx[5] = i+2 if i+2 < len(slope) else None
+                    break
+            for i in range(6):
+                lanes.append([] if idx[i] is None else _lanes[idx[i]])
+
+            # ---------------------------------------------
+
+            img_path = label['raw_file']
+            seg_img = np.zeros((H, W, 3))
+            list_str = []  # str to be written to list.txt
+            for i in range(len(lanes)):
+                coords = lanes[i]
+                if len(coords) < 4:
+                    list_str.append('0')
+                    continue
+                for j in range(len(coords)-1):
+                    cv2.line(seg_img, coords[j], coords[j+1], (i+1, i+1, i+1), SEG_WIDTH//2)
+                list_str.append('1')
+
+            seg_path = img_path.split("/")
+            seg_path, img_name = os.path.join(args.root, args.savedir, seg_path[1], seg_path[2]), seg_path[3]
+            os.makedirs(seg_path, exist_ok=True)
+            seg_path = os.path.join(seg_path, img_name[:-3]+"png")
+            cv2.imwrite(seg_path, seg_img)
+
+            seg_path = "/".join([args.savedir, *img_path.split("/")[1:3], img_name[:-3]+"png"])
+            if seg_path[0] != '/':
+                seg_path = '/' + seg_path
+            if img_path[0] != '/':
+                img_path = '/' + img_path
+            list_str.insert(0, seg_path)
+            list_str.insert(0, img_path)
+            list_str = " ".join(list_str) + "\n"
+            list_f.write(list_str)
+
+
+def generate_json_file(save_dir, json_file, image_set):
+    with open(os.path.join(save_dir, json_file), "w") as outfile:
+        for json_name in (image_set):
+            with open(os.path.join(args.root, json_name)) as infile:
+                for line in infile:
+                    outfile.write(line)
+
+def generate_label(args):
+    save_dir = os.path.join(args.root, args.savedir)
+    os.makedirs(save_dir, exist_ok=True)
+    generate_json_file(save_dir, "train_val.json", TRAIN_VAL_SET)
+    generate_json_file(save_dir, "test.json", TEST_SET)
+
+    print("generating train_val set...")
+    gen_label_for_json(args, 'train_val')
+    print("generating test set...")
+    gen_label_for_json(args, 'test')
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--root', help='The root of the tusimple dataset', default="../dataset/tusimple")
+    parser.add_argument('--savedir', type=str, default='seg_label', help='The root of the tusimple dataset')
+    args = parser.parse_args()
+
+    generate_label(args)
diff --git a/tusimple_resnet34.pth b/tusimple_resnet34.pth
new file mode 100644
index 0000000..2dd9875
Binary files /dev/null and b/tusimple_resnet34.pth differ
diff --git a/utils/__init__.py b/utils/__init__.py
new file mode 100644
index 0000000..eb99ab0
--- /dev/null
+++ b/utils/__init__.py
@@ -0,0 +1,2 @@
+from .config import Config
+from .registry import Registry, build_from_cfg
diff --git a/utils/config.py b/utils/config.py
new file mode 100644
index 0000000..42a0ff2
--- /dev/null
+++ b/utils/config.py
@@ -0,0 +1,417 @@
+# Copyright (c) Open-MMLab. All rights reserved.
+import ast
+import os.path as osp
+import shutil
+import sys
+import tempfile
+from argparse import Action, ArgumentParser
+from collections import abc
+from importlib import import_module
+
+from addict import Dict
+from yapf.yapflib.yapf_api import FormatCode
+
+
+BASE_KEY = '_base_'
+DELETE_KEY = '_delete_'
+RESERVED_KEYS = ['filename', 'text', 'pretty_text']
+
+def check_file_exist(filename, msg_tmpl='file "{}" does not exist'):
+    if not osp.isfile(filename):
+        raise FileNotFoundError(msg_tmpl.format(filename))
+
+
+
+class ConfigDict(Dict):
+
+    def __missing__(self, name):
+        raise KeyError(name)
+
+    def __getattr__(self, name):
+        try:
+            value = super(ConfigDict, self).__getattr__(name)
+        except KeyError:
+            ex = AttributeError(f"'{self.__class__.__name__}' object has no "
+                                f"attribute '{name}'")
+        except Exception as e:
+            ex = e
+        else:
+            return value
+        raise ex
+
+
+def add_args(parser, cfg, prefix=''):
+    for k, v in cfg.items():
+        if isinstance(v, str):
+            parser.add_argument('--' + prefix + k)
+        elif isinstance(v, int):
+            parser.add_argument('--' + prefix + k, type=int)
+        elif isinstance(v, float):
+            parser.add_argument('--' + prefix + k, type=float)
+        elif isinstance(v, bool):
+            parser.add_argument('--' + prefix + k, action='store_true')
+        elif isinstance(v, dict):
+            add_args(parser, v, prefix + k + '.')
+        elif isinstance(v, abc.Iterable):
+            parser.add_argument('--' + prefix + k, type=type(v[0]), nargs='+')
+        else:
+            print(f'cannot parse key {prefix + k} of type {type(v)}')
+    return parser
+
+
+class Config:
+    """A facility for config and config files.
+    It supports common file formats as configs: python/json/yaml. The interface
+    is the same as a dict object and also allows access config values as
+    attributes.
+    Example:
+        >>> cfg = Config(dict(a=1, b=dict(b1=[0, 1])))
+        >>> cfg.a
+        1
+        >>> cfg.b
+        {'b1': [0, 1]}
+        >>> cfg.b.b1
+        [0, 1]
+        >>> cfg = Config.fromfile('tests/data/config/a.py')
+        >>> cfg.filename
+        "/home/kchen/projects/mmcv/tests/data/config/a.py"
+        >>> cfg.item4
+        'test'
+        >>> cfg
+        "Config [path: /home/kchen/projects/mmcv/tests/data/config/a.py]: "
+        "{'item1': [1, 2], 'item2': {'a': 0}, 'item3': True, 'item4': 'test'}"
+    """
+
+    @staticmethod
+    def _validate_py_syntax(filename):
+        with open(filename) as f:
+            content = f.read()
+        try:
+            ast.parse(content)
+        except SyntaxError:
+            raise SyntaxError('There are syntax errors in config '
+                              f'file {filename}')
+
+    @staticmethod
+    def _file2dict(filename):
+        filename = osp.abspath(osp.expanduser(filename))
+        check_file_exist(filename)
+        if filename.endswith('.py'):
+            with tempfile.TemporaryDirectory() as temp_config_dir:
+                temp_config_file = tempfile.NamedTemporaryFile(
+                    dir=temp_config_dir, suffix='.py')
+                temp_config_name = osp.basename(temp_config_file.name)
+                shutil.copyfile(filename,
+                                osp.join(temp_config_dir, temp_config_name))
+                temp_module_name = osp.splitext(temp_config_name)[0]
+                sys.path.insert(0, temp_config_dir)
+                Config._validate_py_syntax(filename)
+                mod = import_module(temp_module_name)
+                sys.path.pop(0)
+                cfg_dict = {
+                    name: value
+                    for name, value in mod.__dict__.items()
+                    if not name.startswith('__')
+                }
+                # delete imported module
+                del sys.modules[temp_module_name]
+                # close temp file
+                temp_config_file.close()
+        elif filename.endswith(('.yml', '.yaml', '.json')):
+            import mmcv
+            cfg_dict = mmcv.load(filename)
+        else:
+            raise IOError('Only py/yml/yaml/json type are supported now!')
+
+        cfg_text = filename + '\n'
+        with open(filename, 'r') as f:
+            cfg_text += f.read()
+
+        if BASE_KEY in cfg_dict:
+            cfg_dir = osp.dirname(filename)
+            base_filename = cfg_dict.pop(BASE_KEY)
+            base_filename = base_filename if isinstance(
+                base_filename, list) else [base_filename]
+
+            cfg_dict_list = list()
+            cfg_text_list = list()
+            for f in base_filename:
+                _cfg_dict, _cfg_text = Config._file2dict(osp.join(cfg_dir, f))
+                cfg_dict_list.append(_cfg_dict)
+                cfg_text_list.append(_cfg_text)
+
+            base_cfg_dict = dict()
+            for c in cfg_dict_list:
+                if len(base_cfg_dict.keys() & c.keys()) > 0:
+                    raise KeyError('Duplicate key is not allowed among bases')
+                base_cfg_dict.update(c)
+
+            base_cfg_dict = Config._merge_a_into_b(cfg_dict, base_cfg_dict)
+            cfg_dict = base_cfg_dict
+
+            # merge cfg_text
+            cfg_text_list.append(cfg_text)
+            cfg_text = '\n'.join(cfg_text_list)
+
+        return cfg_dict, cfg_text
+
+    @staticmethod
+    def _merge_a_into_b(a, b):
+        # merge dict `a` into dict `b` (non-inplace). values in `a` will
+        # overwrite `b`.
+        # copy first to avoid inplace modification
+        b = b.copy()
+        for k, v in a.items():
+            if isinstance(v, dict) and k in b and not v.pop(DELETE_KEY, False):
+                if not isinstance(b[k], dict):
+                    raise TypeError(
+                        f'{k}={v} in child config cannot inherit from base '
+                        f'because {k} is a dict in the child config but is of '
+                        f'type {type(b[k])} in base config. You may set '
+                        f'`{DELETE_KEY}=True` to ignore the base config')
+                b[k] = Config._merge_a_into_b(v, b[k])
+            else:
+                b[k] = v
+        return b
+
+    @staticmethod
+    def fromfile(filename):
+        cfg_dict, cfg_text = Config._file2dict(filename)
+        return Config(cfg_dict, cfg_text=cfg_text, filename=filename)
+
+    @staticmethod
+    def auto_argparser(description=None):
+        """Generate argparser from config file automatically (experimental)
+        """
+        partial_parser = ArgumentParser(description=description)
+        partial_parser.add_argument('config', help='config file path')
+        cfg_file = partial_parser.parse_known_args()[0].config
+        cfg = Config.fromfile(cfg_file)
+        parser = ArgumentParser(description=description)
+        parser.add_argument('config', help='config file path')
+        add_args(parser, cfg)
+        return parser, cfg
+
+    def __init__(self, cfg_dict=None, cfg_text=None, filename=None):
+        if cfg_dict is None:
+            cfg_dict = dict()
+        elif not isinstance(cfg_dict, dict):
+            raise TypeError('cfg_dict must be a dict, but '
+                            f'got {type(cfg_dict)}')
+        for key in cfg_dict:
+            if key in RESERVED_KEYS:
+                raise KeyError(f'{key} is reserved for config file')
+
+        super(Config, self).__setattr__('_cfg_dict', ConfigDict(cfg_dict))
+        super(Config, self).__setattr__('_filename', filename)
+        if cfg_text:
+            text = cfg_text
+        elif filename:
+            with open(filename, 'r') as f:
+                text = f.read()
+        else:
+            text = ''
+        super(Config, self).__setattr__('_text', text)
+
+    @property
+    def filename(self):
+        return self._filename
+
+    @property
+    def text(self):
+        return self._text
+
+    @property
+    def pretty_text(self):
+
+        indent = 4
+
+        def _indent(s_, num_spaces):
+            s = s_.split('\n')
+            if len(s) == 1:
+                return s_
+            first = s.pop(0)
+            s = [(num_spaces * ' ') + line for line in s]
+            s = '\n'.join(s)
+            s = first + '\n' + s
+            return s
+
+        def _format_basic_types(k, v, use_mapping=False):
+            if isinstance(v, str):
+                v_str = f"'{v}'"
+            else:
+                v_str = str(v)
+
+            if use_mapping:
+                k_str = f"'{k}'" if isinstance(k, str) else str(k)
+                attr_str = f'{k_str}: {v_str}'
+            else:
+                attr_str = f'{str(k)}={v_str}'
+            attr_str = _indent(attr_str, indent)
+
+            return attr_str
+
+        def _format_list(k, v, use_mapping=False):
+            # check if all items in the list are dict
+            if all(isinstance(_, dict) for _ in v):
+                v_str = '[\n'
+                v_str += '\n'.join(
+                    f'dict({_indent(_format_dict(v_), indent)}),'
+                    for v_ in v).rstrip(',')
+                if use_mapping:
+                    k_str = f"'{k}'" if isinstance(k, str) else str(k)
+                    attr_str = f'{k_str}: {v_str}'
+                else:
+                    attr_str = f'{str(k)}={v_str}'
+                attr_str = _indent(attr_str, indent) + ']'
+            else:
+                attr_str = _format_basic_types(k, v, use_mapping)
+            return attr_str
+
+        def _contain_invalid_identifier(dict_str):
+            contain_invalid_identifier = False
+            for key_name in dict_str:
+                contain_invalid_identifier |= \
+                    (not str(key_name).isidentifier())
+            return contain_invalid_identifier
+
+        def _format_dict(input_dict, outest_level=False):
+            r = ''
+            s = []
+
+            use_mapping = _contain_invalid_identifier(input_dict)
+            if use_mapping:
+                r += '{'
+            for idx, (k, v) in enumerate(input_dict.items()):
+                is_last = idx >= len(input_dict) - 1
+                end = '' if outest_level or is_last else ','
+                if isinstance(v, dict):
+                    v_str = '\n' + _format_dict(v)
+                    if use_mapping:
+                        k_str = f"'{k}'" if isinstance(k, str) else str(k)
+                        attr_str = f'{k_str}: dict({v_str}'
+                    else:
+                        attr_str = f'{str(k)}=dict({v_str}'
+                    attr_str = _indent(attr_str, indent) + ')' + end
+                elif isinstance(v, list):
+                    attr_str = _format_list(k, v, use_mapping) + end
+                else:
+                    attr_str = _format_basic_types(k, v, use_mapping) + end
+
+                s.append(attr_str)
+            r += '\n'.join(s)
+            if use_mapping:
+                r += '}'
+            return r
+
+        cfg_dict = self._cfg_dict.to_dict()
+        text = _format_dict(cfg_dict, outest_level=True)
+        # copied from setup.cfg
+        yapf_style = dict(
+            based_on_style='pep8',
+            blank_line_before_nested_class_or_def=True,
+            split_before_expression_after_opening_paren=True)
+        text, _ = FormatCode(text, style_config=yapf_style, verify=True)
+
+        return text
+
+    def __repr__(self):
+        return f'Config (path: {self.filename}): {self._cfg_dict.__repr__()}'
+
+    def __len__(self):
+        return len(self._cfg_dict)
+
+    def __getattr__(self, name):
+        return getattr(self._cfg_dict, name)
+
+    def __getitem__(self, name):
+        return self._cfg_dict.__getitem__(name)
+
+    def __setattr__(self, name, value):
+        if isinstance(value, dict):
+            value = ConfigDict(value)
+        self._cfg_dict.__setattr__(name, value)
+
+    def __setitem__(self, name, value):
+        if isinstance(value, dict):
+            value = ConfigDict(value)
+        self._cfg_dict.__setitem__(name, value)
+
+    def __iter__(self):
+        return iter(self._cfg_dict)
+
+    def dump(self, file=None):
+        cfg_dict = super(Config, self).__getattribute__('_cfg_dict').to_dict()
+        if self.filename.endswith('.py'):
+            if file is None:
+                return self.pretty_text
+            else:
+                with open(file, 'w') as f:
+                    f.write(self.pretty_text)
+        else:
+            import mmcv
+            if file is None:
+                file_format = self.filename.split('.')[-1]
+                return mmcv.dump(cfg_dict, file_format=file_format)
+            else:
+                mmcv.dump(cfg_dict, file)
+
+    def merge_from_dict(self, options):
+        """Merge list into cfg_dict
+        Merge the dict parsed by MultipleKVAction into this cfg.
+        Examples:
+            >>> options = {'model.backbone.depth': 50,
+            ...            'model.backbone.with_cp':True}
+            >>> cfg = Config(dict(model=dict(backbone=dict(type='ResNet'))))
+            >>> cfg.merge_from_dict(options)
+            >>> cfg_dict = super(Config, self).__getattribute__('_cfg_dict')
+            >>> assert cfg_dict == dict(
+            ...     model=dict(backbone=dict(depth=50, with_cp=True)))
+        Args:
+            options (dict): dict of configs to merge from.
+        """
+        option_cfg_dict = {}
+        for full_key, v in options.items():
+            d = option_cfg_dict
+            key_list = full_key.split('.')
+            for subkey in key_list[:-1]:
+                d.setdefault(subkey, ConfigDict())
+                d = d[subkey]
+            subkey = key_list[-1]
+            d[subkey] = v
+
+        cfg_dict = super(Config, self).__getattribute__('_cfg_dict')
+        super(Config, self).__setattr__(
+            '_cfg_dict', Config._merge_a_into_b(option_cfg_dict, cfg_dict))
+
+
+class DictAction(Action):
+    """
+    argparse action to split an argument into KEY=VALUE form
+    on the first = and append to a dictionary. List options should
+    be passed as comma separated values, i.e KEY=V1,V2,V3
+    """
+
+    @staticmethod
+    def _parse_int_float_bool(val):
+        try:
+            return int(val)
+        except ValueError:
+            pass
+        try:
+            return float(val)
+        except ValueError:
+            pass
+        if val.lower() in ['true', 'false']:
+            return True if val.lower() == 'true' else False
+        return val
+
+    def __call__(self, parser, namespace, values, option_string=None):
+        options = {}
+        for kv in values:
+            key, val = kv.split('=', maxsplit=1)
+            val = [self._parse_int_float_bool(v) for v in val.split(',')]
+            if len(val) == 1:
+                val = val[0]
+            options[key] = val
+        setattr(namespace, self.dest, options)
diff --git a/utils/registry.py b/utils/registry.py
new file mode 100644
index 0000000..e850f5c
--- /dev/null
+++ b/utils/registry.py
@@ -0,0 +1,81 @@
+import inspect
+
+import six
+
+# borrow from mmdetection
+
+def is_str(x):
+    """Whether the input is an string instance."""
+    return isinstance(x, six.string_types)
+
+class Registry(object):
+
+    def __init__(self, name):
+        self._name = name
+        self._module_dict = dict()
+
+    def __repr__(self):
+        format_str = self.__class__.__name__ + '(name={}, items={})'.format(
+            self._name, list(self._module_dict.keys()))
+        return format_str
+
+    @property
+    def name(self):
+        return self._name
+
+    @property
+    def module_dict(self):
+        return self._module_dict
+
+    def get(self, key):
+        return self._module_dict.get(key, None)
+
+    def _register_module(self, module_class):
+        """Register a module.
+
+        Args:
+            module (:obj:`nn.Module`): Module to be registered.
+        """
+        if not inspect.isclass(module_class):
+            raise TypeError('module must be a class, but got {}'.format(
+                type(module_class)))
+        module_name = module_class.__name__
+        if module_name in self._module_dict:
+            raise KeyError('{} is already registered in {}'.format(
+                module_name, self.name))
+        self._module_dict[module_name] = module_class
+
+    def register_module(self, cls):
+        self._register_module(cls)
+        return cls
+
+
+def build_from_cfg(cfg, registry, default_args=None):
+    """Build a module from config dict.
+
+    Args:
+        cfg (dict): Config dict. It should at least contain the key "type".
+        registry (:obj:`Registry`): The registry to search the type from.
+        default_args (dict, optional): Default initialization arguments.
+
+    Returns:
+        obj: The constructed object.
+    """
+    assert isinstance(cfg, dict) and 'type' in cfg
+    assert isinstance(default_args, dict) or default_args is None
+    args = {}
+    obj_type = cfg.type 
+    if is_str(obj_type):
+        obj_cls = registry.get(obj_type)
+        if obj_cls is None:
+            raise KeyError('{} is not in the {} registry'.format(
+                obj_type, registry.name))
+    elif inspect.isclass(obj_type):
+        obj_cls = obj_type
+    else:
+        raise TypeError('type must be a str or valid type, but got {}'.format(
+            type(obj_type)))
+    if default_args is not None:
+        for name, value in default_args.items():
+            args.setdefault(name, value)
+    return obj_cls(**args)
diff --git a/utils/transforms.py b/utils/transforms.py
new file mode 100644
index 0000000..0960b68
--- /dev/null
+++ b/utils/transforms.py
@@ -0,0 +1,357 @@
+import random
+import cv2
+import numpy as np
+import numbers
+import collections
+
+# copy from: https://github.com/cardwing/Codes-for-Lane-Detection/blob/master/ERFNet-CULane-PyTorch/utils/transforms.py
+
+__all__ = ['GroupRandomCrop', 'GroupCenterCrop', 'GroupRandomPad', 'GroupCenterPad',
+           'GroupRandomScale', 'GroupRandomHorizontalFlip', 'GroupNormalize']
+
+
+class SampleResize(object):
+    def __init__(self, size):
+        assert (isinstance(size, collections.Iterable) and len(size) == 2)
+        self.size = size
+
+    def __call__(self, sample):
+        out = list()
+        out.append(cv2.resize(sample[0], self.size,
+                              interpolation=cv2.INTER_CUBIC))
+        if len(sample) > 1:
+            out.append(cv2.resize(sample[1], self.size,
+                                  interpolation=cv2.INTER_NEAREST))
+        return out
+
+
+class GroupRandomCrop(object):
+    def __init__(self, size):
+        if isinstance(size, numbers.Number):
+            self.size = (int(size), int(size))
+        else:
+            self.size = size
+
+    def __call__(self, img_group):
+        h, w = img_group[0].shape[0:2]
+        th, tw = self.size
+
+        out_images = list()
+        h1 = random.randint(0, max(0, h - th))
+        w1 = random.randint(0, max(0, w - tw))
+        h2 = min(h1 + th, h)
+        w2 = min(w1 + tw, w)
+
+        for img in img_group:
+            assert (img.shape[0] == h and img.shape[1] == w)
+            out_images.append(img[h1:h2, w1:w2, ...])
+        return out_images
+
+
+class GroupRandomCropRatio(object):
+    def __init__(self, size):
+        if isinstance(size, numbers.Number):
+            self.size = (int(size), int(size))
+        else:
+            self.size = size
+
+    def __call__(self, img_group):
+        h, w = img_group[0].shape[0:2]
+        tw, th = self.size
+
+        out_images = list()
+        h1 = random.randint(0, max(0, h - th))
+        w1 = random.randint(0, max(0, w - tw))
+        h2 = min(h1 + th, h)
+        w2 = min(w1 + tw, w)
+
+        for img in img_group:
+            assert (img.shape[0] == h and img.shape[1] == w)
+            out_images.append(img[h1:h2, w1:w2, ...])
+        return out_images
+
+
+class GroupCenterCrop(object):
+    def __init__(self, size):
+        if isinstance(size, numbers.Number):
+            self.size = (int(size), int(size))
+        else:
+            self.size = size
+
+    def __call__(self, img_group):
+        h, w = img_group[0].shape[0:2]
+        th, tw = self.size
+
+        out_images = list()
+        h1 = max(0, int((h - th) / 2))
+        w1 = max(0, int((w - tw) / 2))
+        h2 = min(h1 + th, h)
+        w2 = min(w1 + tw, w)
+
+        for img in img_group:
+            assert (img.shape[0] == h and img.shape[1] == w)
+            out_images.append(img[h1:h2, w1:w2, ...])
+        return out_images
+
+
+class GroupRandomPad(object):
+    def __init__(self, size, padding):
+        if isinstance(size, numbers.Number):
+            self.size = (int(size), int(size))
+        else:
+            self.size = size
+        self.padding = padding
+
+    def __call__(self, img_group):
+        assert (len(self.padding) == len(img_group))
+        h, w = img_group[0].shape[0:2]
+        th, tw = self.size
+
+        out_images = list()
+        h1 = random.randint(0, max(0, th - h))
+        w1 = random.randint(0, max(0, tw - w))
+        h2 = max(th - h - h1, 0)
+        w2 = max(tw - w - w1, 0)
+
+        for img, padding in zip(img_group, self.padding):
+            assert (img.shape[0] == h and img.shape[1] == w)
+            out_images.append(cv2.copyMakeBorder(
+                img, h1, h2, w1, w2, cv2.BORDER_CONSTANT, value=padding))
+            if len(img.shape) > len(out_images[-1].shape):
+                out_images[-1] = out_images[-1][...,
+                                                np.newaxis]  # single channel image
+        return out_images
+
+
+class GroupCenterPad(object):
+    def __init__(self, size, padding):
+        if isinstance(size, numbers.Number):
+            self.size = (int(size), int(size))
+        else:
+            self.size = size
+        self.padding = padding
+
+    def __call__(self, img_group):
+        assert (len(self.padding) == len(img_group))
+        h, w = img_group[0].shape[0:2]
+        th, tw = self.size
+
+        out_images = list()
+        h1 = max(0, int((th - h) / 2))
+        w1 = max(0, int((tw - w) / 2))
+        h2 = max(th - h - h1, 0)
+        w2 = max(tw - w - w1, 0)
+
+        for img, padding in zip(img_group, self.padding):
+            assert (img.shape[0] == h and img.shape[1] == w)
+            out_images.append(cv2.copyMakeBorder(
+                img, h1, h2, w1, w2, cv2.BORDER_CONSTANT, value=padding))
+            if len(img.shape) > len(out_images[-1].shape):
+                out_images[-1] = out_images[-1][...,
+                                                np.newaxis]  # single channel image
+        return out_images
+
+
+class GroupConcerPad(object):
+    def __init__(self, size, padding):
+        if isinstance(size, numbers.Number):
+            self.size = (int(size), int(size))
+        else:
+            self.size = size
+        self.padding = padding
+
+    def __call__(self, img_group):
+        assert (len(self.padding) == len(img_group))
+        h, w = img_group[0].shape[0:2]
+        th, tw = self.size
+
+        out_images = list()
+        h1 = 0
+        w1 = 0
+        h2 = max(th - h - h1, 0)
+        w2 = max(tw - w - w1, 0)
+
+        for img, padding in zip(img_group, self.padding):
+            assert (img.shape[0] == h and img.shape[1] == w)
+            out_images.append(cv2.copyMakeBorder(
+                img, h1, h2, w1, w2, cv2.BORDER_CONSTANT, value=padding))
+            if len(img.shape) > len(out_images[-1].shape):
+                out_images[-1] = out_images[-1][...,
+                                                np.newaxis]  # single channel image
+        return out_images
+
+
+class GroupRandomScaleNew(object):
+    def __init__(self, size=(976, 208), interpolation=(cv2.INTER_LINEAR, cv2.INTER_NEAREST)):
+        self.size = size
+        self.interpolation = interpolation
+
+    def __call__(self, img_group):
+        assert (len(self.interpolation) == len(img_group))
+        scale_w, scale_h = self.size[0] * 1.0 / 1640, self.size[1] * 1.0 / 590
+        out_images = list()
+        for img, interpolation in zip(img_group, self.interpolation):
+            out_images.append(cv2.resize(img, None, fx=scale_w,
+                                         fy=scale_h, interpolation=interpolation))
+            if len(img.shape) > len(out_images[-1].shape):
+                out_images[-1] = out_images[-1][...,
+                                                np.newaxis]  # single channel image
+        return out_images
+
+
+class GroupRandomScale(object):
+    def __init__(self, size=(0.5, 1.5), interpolation=(cv2.INTER_LINEAR, cv2.INTER_NEAREST)):
+        self.size = size
+        self.interpolation = interpolation
+
+    def __call__(self, img_group):
+        assert (len(self.interpolation) == len(img_group))
+        scale = random.uniform(self.size[0], self.size[1])
+        out_images = list()
+        for img, interpolation in zip(img_group, self.interpolation):
+            out_images.append(cv2.resize(img, None, fx=scale,
+                                         fy=scale, interpolation=interpolation))
+            if len(img.shape) > len(out_images[-1].shape):
+                out_images[-1] = out_images[-1][...,
+                                                np.newaxis]  # single channel image
+        return out_images
+
+
+class GroupRandomMultiScale(object):
+    def __init__(self, size=(0.5, 1.5), interpolation=(cv2.INTER_LINEAR, cv2.INTER_NEAREST)):
+        self.size = size
+        self.interpolation = interpolation
+
+    def __call__(self, img_group):
+        assert (len(self.interpolation) == len(img_group))
+        scales = [0.5, 1.0, 1.5]  # random.uniform(self.size[0], self.size[1])
+        out_images = list()
+        for scale in scales:
+            for img, interpolation in zip(img_group, self.interpolation):
+                out_images.append(cv2.resize(
+                    img, None, fx=scale, fy=scale, interpolation=interpolation))
+                if len(img.shape) > len(out_images[-1].shape):
+                    out_images[-1] = out_images[-1][...,
+                                                    np.newaxis]  # single channel image
+        return out_images
+
+
+class GroupRandomScaleRatio(object):
+    def __init__(self, size=(680, 762, 562, 592), interpolation=(cv2.INTER_LINEAR, cv2.INTER_NEAREST)):
+        self.size = size
+        self.interpolation = interpolation
+        self.origin_id = [0, 1360, 580, 768, 255, 300, 680, 710, 312, 1509, 800, 1377, 880, 910, 1188, 128, 960, 1784,
+                          1414, 1150, 512, 1162, 950, 750, 1575, 708, 2111, 1848, 1071, 1204, 892, 639, 2040, 1524, 832, 1122, 1224, 2295]
+
+    def __call__(self, img_group):
+        assert (len(self.interpolation) == len(img_group))
+        w_scale = random.randint(self.size[0], self.size[1])
+        h_scale = random.randint(self.size[2], self.size[3])
+        h, w, _ = img_group[0].shape
+        out_images = list()
+        out_images.append(cv2.resize(img_group[0], None, fx=w_scale*1.0/w, fy=h_scale*1.0/h,
+                                     interpolation=self.interpolation[0]))  # fx=w_scale*1.0/w, fy=h_scale*1.0/h
+        ### process label map ###
+        origin_label = cv2.resize(
+            img_group[1], None, fx=w_scale*1.0/w, fy=h_scale*1.0/h, interpolation=self.interpolation[1])
+        origin_label = origin_label.astype(int)
+        label = origin_label[:, :, 0] * 5 + \
+            origin_label[:, :, 1] * 3 + origin_label[:, :, 2]
+        new_label = np.ones(label.shape) * 100
+        new_label = new_label.astype(int)
+        for cnt in range(37):
+            new_label = (
+                label == self.origin_id[cnt]) * (cnt - 100) + new_label
+        new_label = (label == self.origin_id[37]) * (36 - 100) + new_label
+        assert(100 not in np.unique(new_label))
+        out_images.append(new_label)
+        return out_images
+
+
+class GroupRandomRotation(object):
+    def __init__(self, degree=(-10, 10), interpolation=(cv2.INTER_LINEAR, cv2.INTER_NEAREST), padding=None):
+        self.degree = degree
+        self.interpolation = interpolation
+        self.padding = padding
+        if self.padding is None:
+            self.padding = [0, 0]
+
+    def __call__(self, img_group):
+        assert (len(self.interpolation) == len(img_group))
+        v = random.random()
+        if v < 0.5:
+            degree = random.uniform(self.degree[0], self.degree[1])
+            h, w = img_group[0].shape[0:2]
+            center = (w / 2, h / 2)
+            map_matrix = cv2.getRotationMatrix2D(center, degree, 1.0)
+            out_images = list()
+            for img, interpolation, padding in zip(img_group, self.interpolation, self.padding):
+                out_images.append(cv2.warpAffine(
+                    img, map_matrix, (w, h), flags=interpolation, borderMode=cv2.BORDER_CONSTANT, borderValue=padding))
+                if len(img.shape) > len(out_images[-1].shape):
+                    out_images[-1] = out_images[-1][...,
+                                                    np.newaxis]  # single channel image
+            return out_images
+        else:
+            return img_group
+
+
+class GroupRandomBlur(object):
+    def __init__(self, applied):
+        self.applied = applied
+
+    def __call__(self, img_group):
+        assert (len(self.applied) == len(img_group))
+        v = random.random()
+        if v < 0.5:
+            out_images = []
+            for img, a in zip(img_group, self.applied):
+                if a:
+                    img = cv2.GaussianBlur(
+                        img, (5, 5), random.uniform(1e-6, 0.6))
+                out_images.append(img)
+                if len(img.shape) > len(out_images[-1].shape):
+                    out_images[-1] = out_images[-1][...,
+                                                    np.newaxis]  # single channel image
+            return out_images
+        else:
+            return img_group
+
+
+class GroupRandomHorizontalFlip(object):
+    """Randomly horizontally flips the given numpy Image with a probability of 0.5
+    """
+
+    def __init__(self, is_flow=False):
+        self.is_flow = is_flow
+
+    def __call__(self, img_group, is_flow=False):
+        v = random.random()
+        if v < 0.5:
+            out_images = [np.fliplr(img) for img in img_group]
+            if self.is_flow:
+                for i in range(0, len(out_images), 2):
+                    # invert flow pixel values when flipping
+                    out_images[i] = -out_images[i]
+            return out_images
+        else:
+            return img_group
+
+
+class GroupNormalize(object):
+    def __init__(self, mean, std):
+        self.mean = mean
+        self.std = std
+
+    def __call__(self, img_group):
+        out_images = list()
+        for img, m, s in zip(img_group, self.mean, self.std):
+            if len(m) == 1:
+                img = img - np.array(m)  # single channel image
+                img = img / np.array(s)
+            else:
+                img = img - np.array(m)[np.newaxis, np.newaxis, ...]
+                img = img / np.array(s)[np.newaxis, np.newaxis, ...]
+            out_images.append(img)
+
+        return out_images