From 88dbe952ff2ab027b47ac8d6b6271b7fea36b6b9 Mon Sep 17 00:00:00 2001 From: XGodina Date: Mon, 21 Nov 2022 12:55:35 +0100 Subject: [PATCH] Add new Tags for Semantic Segmentation --- LibCarla/source/carla/image/CityScapesPalette.h | 10 +++++----- LibCarla/source/carla/rpc/ObjectLabel.h | 5 +++++ PythonAPI/carla/source/libcarla/World.cpp | 7 +++++++ Unreal/CarlaUE4/Config/OptionalModules.ini | 1 + .../Plugins/Carla/Source/Carla/Game/Tagger.cpp | 14 ++++++++++++++ 5 files changed, 32 insertions(+), 5 deletions(-) create mode 100644 Unreal/CarlaUE4/Config/OptionalModules.ini diff --git a/LibCarla/source/carla/image/CityScapesPalette.h b/LibCarla/source/carla/image/CityScapesPalette.h index 2be428e31..30ef67c14 100644 --- a/LibCarla/source/carla/image/CityScapesPalette.h +++ b/LibCarla/source/carla/image/CityScapesPalette.h @@ -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 diff --git a/LibCarla/source/carla/rpc/ObjectLabel.h b/LibCarla/source/carla/rpc/ObjectLabel.h index b53c6aca6..449416f5b 100644 --- a/LibCarla/source/carla/rpc/ObjectLabel.h +++ b/LibCarla/source/carla/rpc/ObjectLabel.h @@ -37,6 +37,11 @@ namespace rpc { Dynamic = 20u, Water = 21u, Terrain = 22u, + Tunnel = 23u, + Truck = 24u, + Bus = 25u, + Motorcycle = 26u, + Bicycle = 27u, Any = 0xFF }; diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp index 0f336d6ad..c36108249 100644 --- a/PythonAPI/carla/source/libcarla/World.cpp +++ b/PythonAPI/carla/source/libcarla/World.cpp @@ -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) ; diff --git a/Unreal/CarlaUE4/Config/OptionalModules.ini b/Unreal/CarlaUE4/Config/OptionalModules.ini new file mode 100644 index 000000000..763ed0c7e --- /dev/null +++ b/Unreal/CarlaUE4/Config/OptionalModules.ini @@ -0,0 +1 @@ +"CarSim OFF" "Chrono OFF" diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp index f9645288b..7f2c231c6 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp @@ -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 } }