fix: Two bugs fix

Convert float to int for index usage in lane.py.

lane.py

@@ -221,7 +221,7 @@ def warper(img, M):
 ## fit the lane line
 def full_search(binary_warped, visualization=False):
 
-    histogram = np.sum(binary_warped[binary_warped.shape[0]/2:,:], axis=0)
+    histogram = np.sum(binary_warped[binary_warped.shape[0]//2:,:], axis=0)
     # Create an output image to draw on and  visualize the result
     out_img = np.dstack((binary_warped, binary_warped, binary_warped))*255
     out_img = out_img.astype('uint8')
@@ -462,7 +462,7 @@ def create_output_frame(offcenter, pts, undist_ori, fps, curvature, curve_direct
     color_warp = np.zeros_like(undist_ori).astype(np.uint8)
 
     # create a frame to hold every image
-    whole_frame = np.zeros((h*2.5,w*2.34, 3), dtype=np.uint8)
+    whole_frame = np.zeros((int(h*2.5), int(w*2.34), 3), dtype=np.uint8)
 
 
     if abs(offcenter) > threshold:  # car is offcenter more than 0.6 m

main.py

@@ -1,5 +1,5 @@
 from moviepy.editor import VideoFileClip
-from svn_pipeline import *
+from svm_pipeline import *
 from yolo_pipeline import *
 from lane import *
 
@@ -21,7 +21,7 @@ def pipeline_svm(img):
 
 if __name__ == "__main__":
 
-    demo = 3  # 1:image (YOLO and SVN), 2: video (YOLO Pipeline), 3: video (SVN pipeline)
+    demo = 1  # 1:image (YOLO and SVM), 2: video (YOLO Pipeline), 3: video (SVM pipeline)
 
     if demo == 1:
         filename = 'examples/test4.jpg'
@@ -49,7 +49,7 @@ def pipeline_svm(img):
 
     else:
         # SVM pipeline
-        video_output = 'examples/project_svn.mp4'
+        video_output = 'examples/project_svm.mp4'
         clip1 = VideoFileClip("examples/project_video.mp4").subclip(30,32)
         clip = clip1.fl_image(pipeline_svm)
         clip.write_videofile(video_output, audio=False)