Here's a video about this project

• Bash on ubuntu on windows
• Python 2.7
• Numpy
• SciPy
• Tensorflow
• Keras 1.1.0
• udacity-driving-reader from rwightman, used to extract images from ROS bag files

the dataset can be downloaded from here:

training: link CH2_002

testing:link : "scenario1" folder then go to "data" folder then finally video data set is on "car" folder, [scenario1 -> data -> car -> car1_camera1.mp4 ]

Directory structure for data:

- data
-- models
-- test
--- center
---- 1477431483393873340.jpg
-- train
--- center
---- 1477431802438024821.jpg 

Change data_path value in config.py to point to this data directory.

To pre-process training data, run:

python train_data.py

To pre-process test data, run:

python test_data.py

These pre-processing scripts convert image sets to numpy arrays.

To train different models, run:

python model.py

You can change these parameters in the config.py file:

To predict steering angles from test data, run:

python drive.py

• Visualizing predicted steering angles

To visualize model predictions on test data, run:

python renderview.py