From d4c1bfc6729a32d6f780f3f3349e4287380ffae5 Mon Sep 17 00:00:00 2001
From: xgodina <xgodina@cvc.uab.cat>
Date: Thu, 24 Nov 2022 15:59:09 +0100
Subject: [PATCH] Add new tags for semantic segmentation "Bus" and "Rider"

---
 LibCarla/source/carla/image/CityScapesPalette.h           | 6 +++---
 LibCarla/source/carla/rpc/ObjectLabel.h                   | 4 +++-
 PythonAPI/carla/source/libcarla/World.cpp                 | 4 +++-
 .../CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp   | 8 ++++++--
 4 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/LibCarla/source/carla/image/CityScapesPalette.h b/LibCarla/source/carla/image/CityScapesPalette.h
index 44bd0972c..54d42e633 100644
--- a/LibCarla/source/carla/image/CityScapesPalette.h
+++ b/LibCarla/source/carla/image/CityScapesPalette.h
@@ -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
diff --git a/LibCarla/source/carla/rpc/ObjectLabel.h b/LibCarla/source/carla/rpc/ObjectLabel.h
index 1bdc4ce5d..7d1f7b474 100644
--- a/LibCarla/source/carla/rpc/ObjectLabel.h
+++ b/LibCarla/source/carla/rpc/ObjectLabel.h
@@ -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
   };
 
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index 842bec5b1..4471a26ac 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -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)
   ;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
index 01744f2e1..0b9755c63 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
@@ -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
   }