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Add new Tags for Semantic Segmentation

This commit is contained in:
XGodina 2022-11-21 12:55:35 +01:00 committed by bernat
parent 91501aa5ab
commit 88dbe952ff
5 changed files with 32 additions and 5 deletions
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10
LibCarla/source/carla/image/CityScapesPalette.h
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@ -41,15 +41,15 @@ namespace detail {
{170u, 120u, 50u}, // dynamic = 20u,
{ 45u, 60u, 150u}, // water = 21u,
{145u, 170u, 100u}, // terrain = 22u,
// { 0u, 0u, 70u}, // truck
{ 0u, 0u, 70u}, // truck = 24u,
// { 0u, 0u, 90u}, // caravan
// { 0u, 0u, 110u}, // trailer
// { 0u, 0u, 142u}, // license plate
// { 0u, 0u, 230u}, // motorcycle
// { 0u, 60u, 100u}, // bus
{ 0u, 0u, 230u}, // motorcycle = 26u,
{ 0u, 60u, 100u}, // bus = 25u,
// { 0u, 80u, 100u}, // train
// {119u, 11u, 32u}, // bicycle
// {150u, 120u, 90u}, // tunnel
{119u, 11u, 32u}, // bicycle = 27u,
{150u, 120u, 90u}, // tunnel = 23u,
// {153u, 153u, 153u}, // polegroup
// {250u, 170u, 160u}, // parking
// {255u, 0u, 0u}, // rider

5
LibCarla/source/carla/rpc/ObjectLabel.h
View File

@ -37,6 +37,11 @@ namespace rpc {
Dynamic = 20u,
Water = 21u,
Terrain = 22u,
Tunnel = 23u,
Truck = 24u,
Bus = 25u,
Motorcycle = 26u,
Bicycle = 27u,
Any = 0xFF
};

7
PythonAPI/carla/source/libcarla/World.cpp
View File

@ -225,6 +225,13 @@ void export_world() {
.value("Dynamic", cr::CityObjectLabel::Dynamic)
.value("Water", cr::CityObjectLabel::Water)
.value("Terrain", cr::CityObjectLabel::Terrain)
.value("Tunnel", cr::CityObjectLabel::Tunnel)
.value("Truck", cr::CityObjectLabel::Truck)
.value("bus", cr::CityObjectLabel::bus)
.value("Motorcycle", cr::CityObjectLabel::Motorcycle)
.value("bicycle", cr::CityObjectLabel::bicycle)
.value("Any", cr::CityObjectLabel::Any)
;

1
Unreal/CarlaUE4/Config/OptionalModules.ini Normal file
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@ -0,0 +1 @@
"CarSim OFF" "Chrono OFF"

14
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
View File

@ -46,6 +46,13 @@ crp::CityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
else if (String == "Dynamic") return crp::CityObjectLabel::Dynamic;
else if (String == "Water") return crp::CityObjectLabel::Water;
else if (String == "Terrain") return crp::CityObjectLabel::Terrain;
else if (String == "Tunnel") return crp::CityObjectLabel::Tunnel;
else if (String == "Car") return crp::CityObjectLabel::Car;
else if (String == "Truck") return crp::CityObjectLabel::Truck;
else if (String == "Bus") return crp::CityObjectLabel::Bus;
else if (String == "Motorcycle") return crp::CityObjectLabel::Motorcycle;
else if (String == "Bicycle") return crp::CityObjectLabel::Motorcycle;
else return crp::CityObjectLabel::None;
}
@ -251,6 +258,13 @@ FString ATagger::GetTagAsString(const crp::CityObjectLabel Label)
CARLA_GET_LABEL_STR(Dynamic)
CARLA_GET_LABEL_STR(Water)
CARLA_GET_LABEL_STR(Terrain)
CARLA_GET_LABEL_STR(Tunnel)
CARLA_GET_LABEL_STR(Truck)
CARLA_GET_LABEL_STR(Tunnel)
CARLA_GET_LABEL_STR(Bus)
CARLA_GET_LABEL_STR(Motorcycle)
CARLA_GET_LABEL_STR(Bicycle)
#undef CARLA_GET_LABEL_STR
}
}