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Added sem seg water and changed Dynamic color

This commit is contained in:
Marc Garcia Puig 2020-08-26 12:26:14 +02:00
parent c6b6fe6d71
commit 564a15989b
4 changed files with 15 additions and 10 deletions
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5
LibCarla/source/carla/image/CityScapesPalette.h
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@ -28,7 +28,7 @@ namespace detail {
{128u, 64u, 128u}, // road = 7u,
{244u, 35u, 232u}, // sidewalk = 8u,
{107u, 142u, 35u}, // vegetation = 9u,
{ 0u, 0u, 142u}, // car = 10u,
{ 0u, 0u, 142u}, // vehicle = 10u,
{102u, 102u, 156u}, // wall = 11u,
{220u, 220u, 0u}, // traffic sign = 12u,
{ 70u, 130u, 180u}, // sky = 13u,
@ -38,7 +38,8 @@ namespace detail {
{180u, 165u, 180u}, // guard rail = 17u,
{110u, 190u, 160u}, // traffic light = 18u,
{ 45u, 60u, 150u}, // static = 19u,
{250u, 170u, 30u}, // dynamic = 20u,
{170u, 120u, 50u}, // dynamic = 20u,
{ 45u, 60u, 150u}, // water = 21u,
// { 0u, 0u, 70u}, // truck
// { 0u, 0u, 90u}, // caravan
// { 0u, 0u, 110u}, // trailer

17
PythonAPI/examples/opend3d.py
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@ -33,17 +33,17 @@ VIRIDIS = np.array(cm.get_cmap('plasma').colors)
VID_RANGE = np.linspace(0.0, 1.0, VIRIDIS.shape[0])
LABEL_COLORS = np.array([
(255, 255, 255), # None
(70, 70, 70), # Buildings
(70, 70, 70), # Building
(100, 40, 40), # Fences
(55, 90, 80), # Other
(220, 20, 60), # Pedestrians
(153, 153, 153), # Poles
(220, 20, 60), # Pedestrian
(153, 153, 153), # Pole
(157, 234, 50), # RoadLines
(128, 64, 128), # Roads
(244, 35, 232), # Sidewalks
(128, 64, 128), # Road
(244, 35, 232), # Sidewalk
(107, 142, 35), # Vegetation
(0, 0, 142), # Car
(102, 102, 156), # Walls
(0, 0, 142), # Vehicle
(102, 102, 156), # Wall
(220, 220, 0), # TrafficSign
(70, 130, 180), # Sky
(81, 0, 81), # Ground
@ -52,7 +52,8 @@ LABEL_COLORS = np.array([
(180, 165, 180), # GuardRail
(110, 190, 160), # TrafficLight
(45, 60, 150), # Static
(250, 170, 30), # Dynamic
(170, 120, 50), # Dynamic
(45, 60, 150), # Water
]) / 255.0 # normalize each channel [0-1] since is what Open3D uses

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
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@ -41,6 +41,7 @@ ECityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
else if (String == "TrafficLight") return ECityObjectLabel::TrafficLight;
else if (String == "Static") return ECityObjectLabel::Static;
else if (String == "Dynamic") return ECityObjectLabel::Dynamic;
else if (String == "Water") return ECityObjectLabel::Water;
else return ECityObjectLabel::None;
}
@ -136,6 +137,7 @@ FString ATagger::GetTagAsString(const ECityObjectLabel Label)
CARLA_GET_LABEL_STR(TrafficLight)
CARLA_GET_LABEL_STR(Static)
CARLA_GET_LABEL_STR(Dynamic)
CARLA_GET_LABEL_STR(Water)
#undef CARLA_GET_LABEL_STR
}
}

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.h
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@ -33,6 +33,7 @@ enum class ECityObjectLabel : uint8
TrafficLight = 18u,
Static = 19u,
Dynamic = 20u,
Water = 21u,
};
/// Sets actors' custom depth stencil value for semantic segmentation according