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Add new tags for semantic segmentation "Bus" and "Rider"

This commit is contained in:
xgodina 2022-11-24 15:59:09 +01:00 committed by bernat
parent 2b6f94c8af
commit d4c1bfc672
4 changed files with 15 additions and 7 deletions
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6
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}, // vehicle = 10u,
{ 0u, 0u, 142u}, // Car = 10u,
{102u, 102u, 156u}, // wall = 11u,
{220u, 220u, 0u}, // traffic sign = 12u,
{ 70u, 130u, 180u}, // sky = 13u,
@ -46,13 +46,13 @@ namespace detail {
// { 0u, 0u, 110u}, // trailer
// { 0u, 0u, 142u}, // license plate
{ 0u, 0u, 230u}, // motorcycle = 24u,
//{ 0u, 60u, 100u}, // bus
// { 0u, 80u, 100u}, // train
{119u, 11u, 32u}, // bicycle = 25u,
{ 0u, 60u, 100u}, // bus = 26u,
{255u, 0u, 0u}, // rider = 27u,
//{150u, 120u, 90u}, // tunnel
// {153u, 153u, 153u}, // polegroup
// {250u, 170u, 160u}, // parking
// {255u, 0u, 0u}, // rider
};
} // namespace detail

4
LibCarla/source/carla/rpc/ObjectLabel.h
View File

@ -24,7 +24,7 @@ namespace rpc {
Roads = 7u,
Sidewalks = 8u,
Vegetation = 9u,
Vehicles = 10u,
Car = 10u,
Walls = 11u,
TrafficSigns = 12u,
Sky = 13u,
@ -40,6 +40,8 @@ namespace rpc {
Truck = 23u,
Motorcycle = 24u,
Bicycle = 25u,
Bus = 26u,
Rider = 27u,
Any = 0xFF
};

4
PythonAPI/carla/source/libcarla/World.cpp
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@ -213,7 +213,7 @@ void export_world() {
.value("Sidewalks", cr::CityObjectLabel::Sidewalks)
.value("TrafficSigns", cr::CityObjectLabel::TrafficSigns)
.value("Vegetation", cr::CityObjectLabel::Vegetation)
.value("Vehicles", cr::CityObjectLabel::Vehicles)
.value("Car", cr::CityObjectLabel::Vehicles)
.value("Walls", cr::CityObjectLabel::Walls)
.value("Sky", cr::CityObjectLabel::Sky)
.value("Ground", cr::CityObjectLabel::Ground)
@ -228,6 +228,8 @@ void export_world() {
.value("Truck", cr::CityObjectLabel::Truck)
.value("Motorcycle", cr::CityObjectLabel::Motorcycle)
.value("Bicycle", cr::CityObjectLabel::Bicycle)
.value("Bus", cr::CityObjectLabel::Bus)
.value("Rider", cr::CityObjectLabel::Rider)
.value("Any", cr::CityObjectLabel::Any)
;

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
View File

@ -34,7 +34,7 @@ crp::CityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
else if (String == "SideWalk") return crp::CityObjectLabel::Sidewalks;
else if (String == "TrafficSign") return crp::CityObjectLabel::TrafficSigns;
else if (String == "Vegetation") return crp::CityObjectLabel::Vegetation;
else if (String == "Vehicles") return crp::CityObjectLabel::Vehicles;
else if (String == "Car") return crp::CityObjectLabel::Car;
else if (String == "Wall") return crp::CityObjectLabel::Walls;
else if (String == "Sky") return crp::CityObjectLabel::Sky;
else if (String == "Ground") return crp::CityObjectLabel::Ground;
@ -49,6 +49,8 @@ crp::CityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
else if (String == "Truck") return crp::CityObjectLabel::Truck;
else if (String == "Motorcycle") return crp::CityObjectLabel::Motorcycle;
else if (String == "Bicycle") return crp::CityObjectLabel::Bicycle;
else if (String == "Bus") return crp::CityObjectLebel::Bus;
else if (String == "Rider") return crp::CityObjectLebel::Rider;
else return crp::CityObjectLabel::None;
}
@ -242,7 +244,7 @@ FString ATagger::GetTagAsString(const crp::CityObjectLabel Label)
CARLA_GET_LABEL_STR(Sidewalks)
CARLA_GET_LABEL_STR(TrafficSigns)
CARLA_GET_LABEL_STR(Vegetation)
CARLA_GET_LABEL_STR(Vehicles)
CARLA_GET_LABEL_STR(Car)
CARLA_GET_LABEL_STR(Walls)
CARLA_GET_LABEL_STR(Sky)
CARLA_GET_LABEL_STR(Ground)
@ -257,6 +259,8 @@ FString ATagger::GetTagAsString(const crp::CityObjectLabel Label)
CARLA_GET_LABEL_STR(Truck)
CARLA_GET_LABEL_STR(Motorcycle)
CARLA_GET_LABEL_STR(Bicycle)
CARLA_GET_LABEL_STR(Bus)
CARLA_GET_LABEL_STR(Rider)
#undef CARLA_GET_LABEL_STR
}