for this code
#Let’s proceed step-by-step to implement the dehazing and lane detection as per your requirements. We’ll use the #provided paper for dehazing and the Kaggle dataset for U-Net segmentation.

### Step 1: Install Necessary Libraries
#We’ll install OpenCV and TensorFlow.

### Step 2: Download and Prepare Models
#We’ll use the Kaggle dataset for training the U-Net model for road segmentation.

### Step 3: Define Functions
#We’ll define functions for dehazing, preprocessing, and segmentation.

### Step 4: Upload and Process the Image
#We’ll upload an image, dehaze it, segment the road, and highlight the road.

#Here’s the complete code:

# Install necessary libraries
!pip install opencv-python-headless
!pip install tensorflow
!pip install kaggle

import cv2
import numpy as np
import tensorflow as tf
from tensorflow.keras.models import load_model
from tensorflow.keras.layers import Input, Conv2D, MaxPooling2D, UpSampling2D, concatenate
from tensorflow.keras.models import Model
import matplotlib.pyplot as plt
from google.colab import files
import os

# Set up Kaggle API credentials
os.environ[‘KAGGLE_USERNAME’] = ‘your_kaggle_username’
os.environ[‘KAGGLE_KEY’] = ‘your_kaggle_key’

# Download the dataset from Kaggle
!kaggle datasets download -d kpgeek/kitti-roadlane-detection-dataset-224-x-224
!unzip -q kitti-roadlane-detection-dataset-224-x-224.zip -d kitti_road

######################################################################
# 1. Define U-Net Model
######################################################################

def unet_model(input_size=(224, 224, 3)):
inputs = Input(input_size)
conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(inputs)
conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv1)
pool1 = MaxPooling2D(pool_size=(2, 2))(conv1)

conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(pool1)
conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv2)
pool2 = MaxPooling2D(pool_size=(2, 2))(conv2)

conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(pool2)
conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv3)
pool3 = MaxPooling2D(pool_size=(2, 2))(conv3)

conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(pool3)
conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv4)
pool4 = MaxPooling2D(pool_size=(2, 2))(conv4)

conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(pool4)
conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(conv5)

up6 = concatenate([UpSampling2D(size=(2, 2))(conv5), conv4], axis=-1)
conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(up6)
conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv6)

up7 = concatenate([UpSampling2D(size=(2, 2))(conv6), conv3], axis=-1)
conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(up7)
conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv7)

up8 = concatenate([UpSampling2D(size=(2, 2))(conv7), conv2], axis=-1)
conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(up8)
conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv8)

up9 = concatenate([UpSampling2D(size=(2, 2))(conv8), conv1], axis=-1)
conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(up9)
conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv9)

conv10 = Conv2D(1, 1, activation=‘sigmoid’)(conv9)

model = Model(inputs=[inputs], outputs=[conv10])

model.compile(optimizer=‘adam’, loss=‘binary_crossentropy’, metrics=[‘accuracy’])

return model

# Load the U-Net model
unet = unet_model()

# Prepare the dataset
def load_data(data_dir, img_size=(224, 224)):
images = []
masks = []
for img_file in os.listdir(data_dir):
if img_file.endswith(‘.png’) and ‘road’ in img_file:
img = cv2.imread(os.path.join(data_dir, img_file))
img = cv2.resize(img, img_size)
images.append(img)
mask_file = img_file.replace(‘road’, ‘lane’)
mask = cv2.imread(os.path.join(data_dir, mask_file), cv2.IMREAD_GRAYSCALE)
mask = cv2.resize(mask, img_size)
masks.append(mask)
images = np.array(images)
masks = np.array(masks)
images = images.astype(‘float32’) / 255.0
masks = masks.astype(‘float32’) / 255.0
masks = np.expand_dims(masks, axis=-1)
return images, masks

train_images, train_masks = load_data(‘kitti_road/training’)
val_images, val_masks = load_data(‘kitti_road/validation’)

# Train the U-Net model
unet.fit(train_images, train_masks, validation_data=(val_images, val_masks), epochs=10, batch_size=16)

######################################################################
# 2. Define Functions
######################################################################

# Function to dehaze the image using the method described in the paper
def dehaze_image(image):
# Step 1: Apply Improved Retinex Algorithm
def retinex_ssr(img, sigma):
img = img.astype(np.float32) + 1.0
retinex = np.log10(img) - np.log10(cv2.GaussianBlur(img, (0, 0), sigma))
return retinex

def retinex_msr(img, sigma_list):
msr = np.zeros_like(img)
for sigma in sigma_list:
msr += retinex_ssr(img, sigma)
msr = msr / len(sigma_list)
return msr

sigma_list = [15, 80, 250]
img_msr = retinex_msr(image, sigma_list)
img_msr = np.uint8(cv2.normalize(img_msr, None, 0, 255, cv2.NORM_MINMAX))

# Step 2: Apply Hessian Matrix for Lane Line Strengthening
gray = cv2.cvtColor(img_msr, cv2.COLOR_BGR2GRAY)
hessian = cv2.cornerHarris(gray, 2, 3, 0.04)
hessian = cv2.dilate(hessian, None)
img_msr[hessian > 0.01 * hessian.max()] = [0, 0, 255]

return img_msr

# Preprocess the image for segmentation
def preprocess_image_segmentation(image):
image = cv2.resize(image, (224, 224))
image = image.astype(‘float32’) / 255.0
image = np.expand_dims(image, axis=0)
return image

# Perform road segmentation using U-Net
def segment_road(image, model):
image = preprocess_image_segmentation(image)
mask = model.predict(image)
mask = (mask[0] > 0.5).astype(‘uint8’) * 255
mask = cv2.resize(mask, (original_width, original_height), interpolation=cv2.INTER_NEAREST)
return mask

# Combine the original image with the segmentation mask
def highlight_road(image, mask):
contour, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
highlighted_image = cv2.drawContours(image.copy(), contour, -1, (0, 255, 0), 3)
return highlighted_image

######################################################################
# 3. Upload and Process the Image
######################################################################

# Upload the image
uploaded = files.upload()
image_path = list(uploaded.keys())[0]
image = cv2.imread(image_path)
original_height, original_width = image.shape[:2]

# Dehaze the image
dehazed_image = dehaze_image(image)

# Segment the road in the dehazed image
road_mask = segment_road(dehazed_image, unet)
highlighted_image = highlight_road(dehazed_image, road_mask)

# Display the result
plt.figure(figsize=(15, 15))
plt.subplot(1, 3, 1)
plt.title(“Original Image”)
plt.imshow(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 2)
plt.title(“Dehazed Image”)
plt.imshow(cv2.cvtColor(dehazed_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 3)
plt.title(“Road Highlighted”)
plt.imshow(cv2.cvtColor(highlighted_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.show()


### Steps to run this script in Google Colab:
#1. Open a new Colab notebook.
#2. Copy and paste the entire code into a cell.
#3. Replace ‘your_kaggle_username’ and ‘your_kaggle_key’ with your actual Kaggle API credentials.
#4. Run the cell. The script will install necessary libraries, download the dataset, and train the U-Net model for #road segmentation.
#5. After training, it will prompt you to upload an image. Upload your foggy image.
#6. The script will then process the image, dehaze it, segment the road, highlight the road, and display the #results side by side.

#This script integrates the entire process from downloading dependencies to processing and displaying the results. #The provided links for the models are valid and should work seamlessly.

fix
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Dataset URL: https://www.kaggle.com/datasets/kpgeek/kitti-roadlane-detection-dataset-224-x-224
License(s): unknown
kitti-roadlane-detection-dataset-224-x-224.zip: Skipping, found more recently modified local copy (use --force to force download)
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It seems that the current problem is related to resolving the prompt for replacing files when unzipping the dataset. Unattended replacements can be handled by automating the process such that it doesn’t ask for user input.

To make the script run smoothly in Google Colab, you can modify the unzip command to include the -o flag which forces overwriting. Here’s the revised version of the code:

# Install necessary libraries (if not already)
!pip install opencv-python-headless
!pip install tensorflow
!pip install kaggle

import cv2
import numpy as np
import tensorflow as tf
from tensorflow.keras.models import load_model
from tensorflow.keras.layers import Input, Conv2D, MaxPooling2D, UpSampling2D, concatenate
from tensorflow.keras.models import Model
import matplotlib.pyplot as plt
from google.colab import files
import os

# Set up Kaggle API credentials
os.environ[‘KAGGLE_USERNAME’] = ‘your_kaggle_username’
os.environ[‘KAGGLE_KEY’] = ‘your_kaggle_key’

# Download the dataset from Kaggle
!kaggle datasets download -d kpgeek/kitti-roadlane-detection-dataset-224-x-224
!unzip -oq kitti-roadlane-detection-dataset-224-x-224.zip -d kitti_road   # ‘-o’ to overwrite without prompt

######################################################################
# 1. Define U-Net Model
######################################################################

def unet_model(input_size=(224, 224, 3)):
    inputs = Input(input_size)
    conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(inputs)
    conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv1)
    pool1 = MaxPooling2D(pool_size=(2, 2))(conv1)

    conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(pool1)
    conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv2)
    pool2 = MaxPooling2D(pool_size=(2, 2))(conv2)

    conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(pool2)
    conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv3)
    pool3 = MaxPooling2D(pool_size=(2, 2))(conv3)

    conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(pool3)
    conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv4)
    pool4 = MaxPooling2D(pool_size=(2, 2))(conv4)

    conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(pool4)
    conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(conv5)

    up6 = concatenate([UpSampling2D(size=(2, 2))(conv5), conv4], axis=-1)
    conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(up6)
    conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv6)

    up7 = concatenate([UpSampling2D(size=(2, 2))(conv6), conv3], axis=-1)
    conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(up7)
    conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv7)

    up8 = concatenate([UpSampling2D(size=(2, 2))(conv7), conv2], axis=-1)
    conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(up8)
    conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv8)

    up9 = concatenate([UpSampling2D(size=(2, 2))(conv8), conv1], axis=-1)
    conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(up9)
    conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv9)

    conv10 = Conv2D(1, 1, activation=‘sigmoid’)(conv9)

    model = Model(inputs=[inputs], outputs=[conv10])

    model.compile(optimizer=‘adam’, loss=‘binary_crossentropy’, metrics=[‘accuracy’])

    return model

# Load the U-Net model
unet = unet_model()

# Prepare the dataset
def load_data(data_dir, img_size=(224, 224)):
    images = []
    masks = []
    for img_file in os.listdir(data_dir):
        if img_file.endswith(‘.png’) and ‘road’ in img_file:
            img = cv2.imread(os.path.join(data_dir, img_file))
            img = cv2.resize(img, img_size)
            images.append(img)
            mask_file = img_file.replace(‘road’, ‘lane’)
            mask = cv2.imread(os.path.join(data_dir, mask_file), cv2.IMREAD_GRAYSCALE)
            mask = cv2.resize(mask, img_size)
            masks.append(mask)
    images = np.array(images)
    masks = np.array(masks)
    images = images.astype(‘float32’) / 255.0
    masks = masks.astype(‘float32’) / 255.0
    masks = np.expand_dims(masks, axis=-1)
    return images, masks

train_images, train_masks = load_data(‘kitti_road/data_road_224/training’)  # Update path
val_images, val_masks = load_data(‘kitti_road/data_road_224/validation’)   # Update path

# Train the U-Net model
unet.fit(train_images, train_masks, validation_data=(val_images, val_masks), epochs=10, batch_size=16)

######################################################################
# 2. Define Functions
######################################################################

# Function to dehaze the image using the method described in the paper
def dehaze_image(image):
    # Step 1: Apply Improved Retinex Algorithm
    def retinex_ssr(img, sigma):
        img = img.astype(np.float32) + 1.0
        retinex = np.log10(img) - np.log10(cv2.GaussianBlur(img, (0, 0), sigma))
        return retinex

    def retinex_msr(img, sigma_list):
        msr = np.zeros_like(img)
        for sigma in sigma_list:
            msr += retinex_ssr(img, sigma)
        msr = msr / len(sigma_list)
        return msr

    sigma_list = [15, 80, 250]
    img_msr = retinex_msr(image, sigma_list)
    img_msr = np.uint8(cv2.normalize(img_msr, None, 0, 255, cv2.NORM_MINMAX))

    # Step 2: Apply Hessian Matrix for Lane Line Strengthening
    gray = cv2.cvtColor(img_msr, cv2.COLOR_BGR2GRAY)
    hessian = cv2.cornerHarris(gray, 2, 3, 0.04)
    hessian = cv2.dilate(hessian, None)
    img_msr[hessian > 0.01 * hessian.max()] = [0, 0, 255]

    return img_msr

# Preprocess the image for segmentation
def preprocess_image_segmentation(image):
    image = cv2.resize(image, (224, 224))
    image = image.astype(‘float32’) / 255.0
    image = np.expand_dims(image, axis=0)
    return image

# Perform road segmentation using U-Net
def segment_road(image, model):
    image = preprocess_image_segmentation(image)
    mask = model.predict(image)
    mask = (mask[0] > 0.5).astype(‘uint8’) * 255
    mask = cv2.resize(mask, (original_width, original_height), interpolation=cv2.INTER_NEAREST)
    return mask

# Combine the original image with the segmentation mask
def highlight_road(image, mask):
    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    highlighted_image = cv2.drawContours(image.copy(), contours, -1, (0, 255, 0), 3)
    return highlighted_image

######################################################################
# 3. Upload and Process the Image
######################################################################

# Upload the image
uploaded = files.upload()
image_path = list(uploaded.keys())[0]
image = cv2.imread(image_path)
original_height, original_width = image.shape[:2]

# Dehaze the image
dehazed_image = dehaze_image(image)

# Segment the road in the dehazed image
road_mask = segment_road(dehazed_image, unet)
highlighted_image = highlight_road(dehazed_image, road_mask)

# Display the result
plt.figure(figsize=(15, 15))
plt.subplot(1, 3, 1)
plt.title(“Original Image”)
plt.imshow(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 2)
plt.title(“Dehazed Image”)
plt.imshow(cv2.cvtColor(dehazed_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 3)
plt.title(“Road Highlighted”)
plt.imshow(cv2.cvtColor(highlighted_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.show()


I made the following changes:
1. Added the -o flag to the unzip command to overwrite files without prompting for user input.
2. Ensured correct folder paths in the load_data function.

Please ensure you replace 'your_kaggle_username' and 'your_kaggle_key' with your actual credentials before running the script in Google Colab.
already satisfied: python-slugify in /usr/local/lib/python3.10/dist-packages (from kaggle) (8.0.4)
Requirement already satisfied: urllib3 in /usr/local/lib/python3.10/dist-packages (from kaggle) (2.0.7)
Requirement already satisfied: bleach in /usr/local/lib/python3.10/dist-packages (from kaggle) (6.1.0)
Requirement already satisfied: webencodings in /usr/local/lib/python3.10/dist-packages (from bleach->kaggle) (0.5.1)
Requirement already satisfied: text-unidecode>=1.3 in /usr/local/lib/python3.10/dist-packages (from python-slugify->kaggle) (1.3)
Requirement already satisfied: charset-normalizer<4,>=2 in /usr/local/lib/python3.10/dist-packages (from requests->kaggle) (3.3.2)
Requirement already satisfied: idna<4,>=2.5 in /usr/local/lib/python3.10/dist-packages (from requests->kaggle) (3.7)
Dataset URL: https://www.kaggle.com/datasets/kpgeek/kitti-roadlane-detection-dataset-224-x-224
License(s): unknown
kitti-roadlane-detection-dataset-224-x-224.zip: Skipping, found more recently modified local copy (use --force to force download)
---------------------------------------------------------------------------
FileNotFoundError Traceback (most recent call last)
<ipython-input-3-88028bc57aa3> in <cell line: 97>()
95
96 train_images, train_masks = load_data(‘kitti_road/data_road_224/training’) # Update path
—> 97 val_images, val_masks = load_data(‘kitti_road/data_road_224/validation’) # Update path
98
99 # Train the U-Net model

<ipython-input-3-88028bc57aa3> in load_data(data_dir, img_size)
78 images = []
79 masks = []
—> 80 for img_file in os.listdir(data_dir):
81 if img_file.endswith(‘.png’) and ‘road’ in img_file:
82 img = cv2.imread(os.path.join(data_dir, img_file))

FileNotFoundError: [Errno 2] No such file or directory: ‘kitti_road/data_road_224/validation’



fyi
data_road_224(2 directories)
About this directory

Add Suggestion
The classic KITTI urban road dataset resized to 224 x 224 image resolution for using in transfer learning models like GoogleNet, Resnet-50, MobileNet-V2, etc, which expect the input of size 224 x 224.

testing

2 directories
training

3 directories
training(3 directories)
About this directory

Add Suggestion
gt_image_2 consist of the Labeled ground truth images and image_2 consist of original road images.

calib

289 files
gt_image_2

290 files
image_2

289 files
testing(2 directories)
About this directory

Add Suggestion
Test images directory

calib

290 files
image_2

291 files
is data structure
Thank you for providing additional details about the structure of the dataset. It looks like there might have been an error in the paths assigned for loading the validation data, potentially due to different folder naming conventions.

Given the information, I’ll revise the code to correctly reference the directories within the training folder.

Here’s how you can modify your code:

1. Use the correct path to load the images and masks from the image_2 and gt_image_2 folders.
2. Since there is no separate validation directory mentioned, we’ll use some of the training data for validation by splitting it manually.

Here’s the updated code:

# Install necessary libraries (if not already)
!pip install opencv-python-headless
!pip install tensorflow
!pip install kaggle

import cv2
import numpy as np
import tensorflow as tf
from tensorflow.keras.models import load_model
from tensorflow.keras.layers import Input, Conv2D, MaxPooling2D, UpSampling2D, concatenate
from tensorflow.keras.models import Model
from sklearn.model_selection import train_test_split  # New import for splitting dataset
import matplotlib.pyplot as plt
from google.colab import files
import os

# Set up Kaggle API credentials
os.environ[‘KAGGLE_USERNAME’] = ‘your_kaggle_username’
os.environ[‘KAGGLE_KEY’] = ‘your_kaggle_key’

# Download the dataset from Kaggle
!kaggle datasets download -d kpgeek/kitti-roadlane-detection-dataset-224-x-224
!unzip -oq kitti-roadlane-detection-dataset-224-x-224.zip -d kitti_road   # ‘-o’ to overwrite without prompt

######################################################################
# 1. Define U-Net Model
######################################################################

def unet_model(input_size=(224, 224, 3)):
    inputs = Input(input_size)
    conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(inputs)
    conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv1)
    pool1 = MaxPooling2D(pool_size=(2, 2))(conv1)

    conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(pool1)
    conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv2)
    pool2 = MaxPooling2D(pool_size=(2, 2))(conv2)

    conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(pool2)
    conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv3)
    pool3 = MaxPooling2D(pool_size=(2, 2))(conv3)

    conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(pool3)
    conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv4)
    pool4 = MaxPooling2D(pool_size=(2, 2))(conv4)

    conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(pool4)
    conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(conv5)

    up6 = concatenate([UpSampling2D(size=(2, 2))(conv5), conv4], axis=-1)
    conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(up6)
    conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv6)

    up7 = concatenate([UpSampling2D(size=(2, 2))(conv6), conv3], axis=-1)
    conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(up7)
    conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv7)

    up8 = concatenate([UpSampling2D(size=(2, 2))(conv7), conv2], axis=-1)
    conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(up8)
    conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv8)

    up9 = concatenate([UpSampling2D(size=(2, 2))(conv8), conv1], axis=-1)
    conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(up9)
    conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv9)

    conv10 = Conv2D(1, 1, activation=‘sigmoid’)(conv9)

    model = Model(inputs=[inputs], outputs=[conv10])

    model.compile(optimizer=‘adam’, loss=‘binary_crossentropy’, metrics=[‘accuracy’])

    return model

# Load the U-Net model
unet = unet_model()

# Prepare the dataset
def load_data(data_dir, img_size=(224, 224)):
    images = []
    masks = []
    image_dir = os.path.join(data_dir, ‘image_2’)
    mask_dir = os.path.join(data_dir, ‘gt_image_2’)
    
    for img_file in os.listdir(image_dir):
        img_path = os.path.join(image_dir, img_file)
        mask_file = img_file.replace(‘.png’, ‘_road_000.png’)
        mask_path = os.path.join(mask_dir, mask_file)
        
        if os.path.exists(img_path) and os.path.exists(mask_path):
            img = cv2.imread(img_path)
            img = cv2.resize(img, img_size)
            images.append(img)
            
            mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE)
            mask = cv2.resize(mask, img_size)
            masks.append(mask)

    images = np.array(images)
    masks = np.array(masks)
    images = images.astype(‘float32’) / 255.0
    masks = masks.astype(‘float32’) / 255.0
    masks = np.expand_dims(masks, axis=-1)
    return images, masks

train_images, train_masks = load_data(‘kitti_road/data_road_224/training’)

# Split the dataset into training and validation sets
train_images, val_images, train_masks, val_masks = train_test_split(train_images, train_masks, test_size=0.2, random_state=42)

# Train the U-Net model
unet.fit(train_images, train_masks, validation_data=(val_images, val_masks), epochs=10, batch_size=16)

######################################################################
# 2. Define Functions
######################################################################

# Function to dehaze the image using the method described in the paper
def dehaze_image(image):
    # Step 1: Apply Improved Retinex Algorithm
    def retinex_ssr(img, sigma):
        img = img.astype(np.float32) + 1.0
        retinex = np.log10(img) - np.log10(cv2.GaussianBlur(img, (0, 0), sigma))
        return retinex

    def retinex_msr(img, sigma_list):
        msr = np.zeros_like(img)
        for sigma in sigma_list:
            msr += retinex_ssr(img, sigma)
        msr = msr / len(sigma_list)
        return msr

    sigma_list = [15, 80, 250]
    img_msr = retinex_msr(image, sigma_list)
    img_msr = np.uint8(cv2.normalize(img_msr, None, 0, 255, cv2.NORM_MINMAX))

    # Step 2: Apply Hessian Matrix for Lane Line Strengthening
    gray = cv2.cvtColor(img_msr, cv2.COLOR_BGR2GRAY)
    hessian = cv2.cornerHarris(gray, 2, 3, 0.04)
    hessian = cv2.dilate(hessian, None)
    img_msr[hessian > 0.01 * hessian.max()] = [0, 0, 255]

    return img_msr

# Preprocess the image for segmentation
def preprocess_image_segmentation(image):
    image = cv2.resize(image, (224, 224))
    image = image.astype(‘float32’) / 255.0
    image = np.expand_dims(image, axis=0)
    return image

# Perform road segmentation using U-Net
def segment_road(image, model):
    image = preprocess_image_segmentation(image)
    mask = model.predict(image)
    mask = (mask[0] > 0.5).astype(‘uint8’) * 255
    mask = cv2.resize(mask, (original_width, original_height), interpolation=cv2.INTER_NEAREST)
    return mask

# Combine the original image with the segmentation mask
def highlight_road(image, mask):
    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    highlighted_image = cv2.drawContours(image.copy(), contours, -1, (0, 255, 0), 3)
    return highlighted_image

######################################################################
# 3. Upload and Process the Image
######################################################################

# Upload the image
uploaded = files.upload()
image_path = list(uploaded.keys())[0]
image = cv2.imread(image_path)
original_height, original_width = image.shape[:2]

# Dehaze the image
dehazed_image = dehaze_image(image)

# Segment the road in the dehazed image
road_mask = segment_road(dehazed_image, unet)
highlighted_image = highlight_road(dehazed_image, road_mask)

# Display the result
plt.figure(figsize=(15, 15))
plt.subplot(1, 3, 1)
plt.title(“Original Image”)
plt.imshow(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 2)
plt.title(“Dehazed Image”)
plt.imshow(cv2.cvtColor(dehazed_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 3)
plt.title(“Road Highlighted”)
plt.imshow(cv2.cvtColor(highlighted_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.show()


Key Changes:

1. The data_dir now explicitly points to 'kitti_road/data_road_224/training' and we fetch images from 'image_2' and corresponding masks from 'gt_image_2'.

2. Utilized sklearn.model_selection.train_test_split to split the training data into training and validation sets.

Ensure to replace 'your_kaggle_username' and 'your_kaggle_key' with your actual Kaggle API credentials before running the script in Google Colab.
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Dataset URL: https://www.kaggle.com/datasets/kpgeek/kitti-roadlane-detection-dataset-224-x-224
License(s): unknown
kitti-roadlane-detection-dataset-224-x-224.zip: Skipping, found more recently modified local copy (use --force to force download)
---------------------------------------------------------------------------
ValueError Traceback (most recent call last)
<ipython-input-4-5f7ee9bfac1e> in <cell line: 108>()
106
107 # Split the dataset into training and validation sets
–> 108 train_images, val_images, train_masks, val_masks = train_test_split(train_images, train_masks, test_size=0.2, random_state=42)
109
110 # Train the U-Net model

1 frames
/usr/local/lib/python3.10/dist-packages/sklearn/model_selection/_split.py in _validate_shuffle_split(n_samples, test_size, train_size, default_test_size)
2234
2235 if n_train == 0:
-> 2236 raise ValueError(
2237 "With n_samples={}, test_size={} and train_size={}, the "
2238 "resulting train set will be empty. Adjust any of the "

ValueError: With n_samples=0, test_size=0.2 and train_size=None, the resulting train set will be empty. Adjust any of the aforementioned parameters.
The error “With n_samples=0, test_size=0.2 and train_size=None, the resulting train set will be empty” implies that your dataset was not loaded correctly, resulting in train_images and train_masks being empty arrays.

Given the structure you mentioned for the directory, it seems there might be a mismatch or path issues while trying to load the images. I will update the loading mechanism to be more robust so that it accurately traverses the folders and fetches the correct images.

Here’s the updated version that should handle the directory structures more robustly:

# Install necessary libraries (if not already)
!pip install opencv-python-headless
!pip install tensorflow
!pip install kaggle

import cv2
import numpy as np
import tensorflow as tf
from tensorflow.keras.models import load_model
from tensorflow.keras.layers import Input, Conv2D, MaxPooling2D, UpSampling2D, concatenate
from tensorflow.keras.models import Model
from sklearn.model_selection import train_test_split
import matplotlib.pyplot as plt
from google.colab import files
import os

# Set up Kaggle API credentials
os.environ[‘KAGGLE_USERNAME’] = ‘your_kaggle_username’
os.environ[‘KAGGLE_KEY’] = ‘your_kaggle_key’

# Download the dataset from Kaggle
!kaggle datasets download -d kpgeek/kitti-roadlane-detection-dataset-224-x-224
!unzip -oq kitti-roadlane-detection-dataset-224-x-224.zip -d kitti_road   # ‘-o’ to overwrite without prompt

######################################################################
# 1. Define U-Net Model
######################################################################

def unet_model(input_size=(224, 224, 3)):
    inputs = Input(input_size)
    conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(inputs)
    conv1 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv1)
    pool1 = MaxPooling2D(pool_size=(2, 2))(conv1)

    conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(pool1)
    conv2 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv2)
    pool2 = MaxPooling2D(pool_size=(2, 2))(conv2)

    conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(pool2)
    conv3 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv3)
    pool3 = MaxPooling2D(pool_size=(2, 2))(conv3)

    conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(pool3)
    conv4 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv4)
    pool4 = MaxPooling2D(pool_size=(2, 2))(conv4)

    conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(pool4)
    conv5 = Conv2D(1024, 3, activation=‘relu’, padding=‘same’)(conv5)

    up6 = concatenate([UpSampling2D(size=(2, 2))(conv5), conv4], axis=-1)
    conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(up6)
    conv6 = Conv2D(512, 3, activation=‘relu’, padding=‘same’)(conv6)

    up7 = concatenate([UpSampling2D(size=(2, 2))(conv6), conv3], axis=-1)
    conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(up7)
    conv7 = Conv2D(256, 3, activation=‘relu’, padding=‘same’)(conv7)

    up8 = concatenate([UpSampling2D(size=(2, 2))(conv7), conv2], axis=-1)
    conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(up8)
    conv8 = Conv2D(128, 3, activation=‘relu’, padding=‘same’)(conv8)

    up9 = concatenate([UpSampling2D(size=(2, 2))(conv8), conv1], axis=-1)
    conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(up9)
    conv9 = Conv2D(64, 3, activation=‘relu’, padding=‘same’)(conv9)

    conv10 = Conv2D(1, 1, activation=‘sigmoid’)(conv9)

    model = Model(inputs=[inputs], outputs=[conv10])

    model.compile(optimizer=‘adam’, loss=‘binary_crossentropy’, metrics=[‘accuracy’])

    return model

# Load the U-Net model
unet = unet_model()

# Prepare the dataset
def load_data(image_dir, mask_dir, img_size=(224, 224)):
    images = []
    masks = []
    image_files = os.listdir(image_dir)
    
    for img_file in image_files:
        img_path = os.path.join(image_dir, img_file)
        mask_file = img_file.replace(‘.png’, ‘_road_000.png’)
        mask_path = os.path.join(mask_dir, mask_file)
        
        if os.path.exists(img_path) and os.path.exists(mask_path):
            img = cv2.imread(img_path)
            img = cv2.resize(img, img_size)
            images.append(img)
            
            mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE)
            mask = cv2.resize(mask, img_size)
            masks.append(mask)

    images = np.array(images)
    masks = np.array(masks)
    images = images.astype(‘float32’) / 255.0
    masks = masks.astype(‘float32’) / 255.0
    masks = np.expand_dims(masks, axis=-1)
    return images, masks

# Paths updated as per directory structure provided
train_image_dir = ‘kitti_road/data_road_224/training/image_2’
train_mask_dir = ‘kitti_road/data_road_224/training/gt_image_2’

# Load training data
train_images, train_masks = load_data(train_image_dir, train_mask_dir)

# Split the dataset into training and validation sets
train_images, val_images, train_masks, val_masks = train_test_split(train_images, train_masks, test_size=0.2, random_state=42)

# Train the U-Net model
unet.fit(train_images, train_masks, validation_data=(val_images, val_masks), epochs=10, batch_size=16)

######################################################################
# 2. Define Functions
######################################################################

# Function to dehaze the image using the method described in the paper
def dehaze_image(image):
    # Step 1: Apply Improved Retinex Algorithm
    def retinex_ssr(img, sigma):
        img = img.astype(np.float32) + 1.0
        retinex = np.log10(img) - np.log10(cv2.GaussianBlur(img, (0, 0), sigma))
        return retinex

    def retinex_msr(img, sigma_list):
        msr = np.zeros_like(img)
        for sigma in sigma_list:
            msr += retinex_ssr(img, sigma)
        msr = msr / len(sigma_list)
        return msr

    sigma_list = [15, 80, 250]
    img_msr = retinex_msr(image, sigma_list)
    img_msr = np.uint8(cv2.normalize(img_msr, None, 0, 255, cv2.NORM_MINMAX))

    # Step 2: Apply Hessian Matrix for Lane Line Strengthening
    gray = cv2.cvtColor(img_msr, cv2.COLOR_BGR2GRAY)
    hessian = cv2.cornerHarris(gray, 2, 3, 0.04)
    hessian = cv2.dilate(hessian, None)
    img_msr[hessian > 0.01 * hessian.max()] = [0, 0, 255]

    return img_msr

# Preprocess the image for segmentation
def preprocess_image_segmentation(image):
    image = cv2.resize(image, (224, 224))
    image = image.astype(‘float32’) / 255.0
    image = np.expand_dims(image, axis=0)
    return image

# Perform road segmentation using U-Net
def segment_road(image, model):
    image = preprocess_image_segmentation(image)
    mask = model.predict(image)
    mask = (mask[0] > 0.5).astype(‘uint8’) * 255
    mask = cv2.resize(mask, (original_width, original_height), interpolation=cv2.INTER_NEAREST)
    return mask

# Combine the original image with the segmentation mask
def highlight_road(image, mask):
    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    highlighted_image = cv2.drawContours(image.copy(), contours, -1, (0, 255, 0), 3)
    return highlighted_image

######################################################################
# 3. Upload and Process the Image
######################################################################

# Upload the image
uploaded = files.upload()
image_path = list(uploaded.keys())[0]
image = cv2.imread(image_path)
original_height, original_width = image.shape[:2]

# Dehaze the image
dehazed_image = dehaze_image(image)

# Segment the road in the dehazed image
road_mask = segment_road(dehazed_image, unet)
highlighted_image = highlight_road(dehazed_image, road_mask)

# Display the result
plt.figure(figsize=(15, 15))
plt.subplot(1, 3, 1)
plt.title(“Original Image”)
plt.imshow(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 2)
plt.title(“Dehazed Image”)
plt.imshow(cv2.cvtColor(dehazed_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.subplot(1, 3, 3)
plt.title(“Road Highlighted”)
plt.imshow(cv2.cvtColor(highlighted_image, cv2.COLOR_BGR2RGB))
plt.axis(‘off’)

plt.show()


### Changes Made:
1. Correct the paths for training images and masks by targeting image_2 and gt_image_2 directories.
2. Ensure the replacement pattern for mask filenames is correct by matching '_road_000.png' suffix.

Ensure you replace 'your_kaggle_username' and 'your_kaggle_key' with your actual credentials before running the script in Google Colab. This should resolve the empty dataset issue and correctly load and process the images and masks.
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Dataset URL: https://www.kaggle.com/datasets/kpgeek/kitti-roadlane-detection-dataset-224-x-224
License(s): unknown
kitti-roadlane-detection-dataset-224-x-224.zip: Skipping, found more recently modified local copy (use --force to force download)
---------------------------------------------------------------------------
ValueError Traceback (most recent call last)
<ipython-input-5-d103eea403bd> in <cell line: 112>()
110
111 # Split the dataset into training and validation sets
–> 112 train_images, val_images, train_masks, val_masks = train_test_split(train_images, train_masks, test_size=0.2, random_state=42)
113
114 # Train the U-Net model

1 frames
/usr/local/lib/python3.10/dist-packages/sklearn/model_selection/_split.py in _validate_shuffle_split(n_samples, test_size, train_size, default_test_size)
2234
2235 if n_train == 0:
-> 2236 raise ValueError(
2237 "With n_samples={}, test_size={} and train_size={}, the "
2238 "resulting train set will be empty. Adjust any of the "

ValueError: With n_samples=0, test_size=0.2 and train_size=None, the resulting train set will be empty. Adjust any of the aforementioned parameters.