hunterlew / sky-detector

A modified version of https://maybeshewill-cv.github.io/sky-detector/, for Kitti

Modification in this branch

1. support gray image sky detection
2. fix bugs in computing energy function
3. speed up computing procedure by half
4. special process or param setting for kitti dataset

Sky-Area-Detector

sky area detection without deep neural networks. A c++ implemention of the algorithm mentioned in paper "Sky Region Detection in a Single Image for Autonomous Ground Robot Navigation". A fast and robust method to extract the sky area of an image.

Installation

This implementation need opencv library. Since the project is static compiled for conveniently transplanting you need static opencv library linked to this project. If static compilation is not necessary for you feel free to modify the CMakeList to dynamic compile the project.

This software has only been tested on ubuntu 16.04(x64), opencv3.4. To install this package your compiler need to support C++11.

git clone https://github.com/MaybeShewill-CV/sky-detector.git

Build

cd ROOT_FOLDER_DIR
mkdir build
cd build
cmake ..
make -j

The project will generate a static binary file which can be used on other platform without any dynamic library. The binary file built on Ubuntu 16.04LTS was tested on CentOS 6 and worked correctly.

Usage

cd build_dir
./detect input_image_file_path output_image_file_path

结果示意图如下

Test input image with full sky

Test input image with ful sky result

Test input image with part sky

Test input image with part sky result

TODO

• Accelerate the calculation process