If you use this code, please cite our paper:
@inproceedings{kluger2020temporally,
title={Temporally Consistent Horizon Lines},
author={Kluger, Florian and Ackermann, Hanno and Yang, Michael Ying and Rosenhahn, Bodo},
booktitle={2020 International Conference on Robotics and Automation (ICRA)},
year={2020}
}
Get the code:
git clone https://github.com/fkluger/kitti_horizon.git
cd kitti_horizon
Install required libraries, e.g. via pip or conda:
- pykitti, numpy, scikit-image, opencv
- optional: pytorch, Pillow
Download the KITTI raw dataset.
Contains the KITTIHorizonRaw class, which extracts horizon lines in image coordinates from the KITTI raw data.
It also applies image scaling and padding in order to achieve consistent image resolutions.
See python kitti_horizon_raw.py --help
for a demo.
Pre-processes the KITTI Horizon dataset (using the KITTIHorizonRaw class) and stores it as pickle files, in order to
speed up the training process. See python process_kitti_horizon_raw.py --help
for usage.
Provides the KITTIHorizon class, derived from the PyTorch Dataset class. Requires the pre-processed KITTI Horizon
dataset. For usage as a training/validation dataset in PyTorch.
See python kitti_horizon_torch.py --help
for a demo.