From dda82223dbc74a530d68a89e831ca4c700fc27cc Mon Sep 17 00:00:00 2001
From: bernatx <bernatx@gmail.com>
Date: Thu, 15 Dec 2022 18:23:26 +0100
Subject: [PATCH] Rearranging labels

---
 .../source/carla/image/CityScapesPalette.h    | 26 ++++----
 LibCarla/source/carla/rpc/ObjectLabel.h       | 61 ++++++++++---------
 2 files changed, 46 insertions(+), 41 deletions(-)

diff --git a/LibCarla/source/carla/image/CityScapesPalette.h b/LibCarla/source/carla/image/CityScapesPalette.h
index 6c23a4ece..083216e3c 100644
--- a/LibCarla/source/carla/image/CityScapesPalette.h
+++ b/LibCarla/source/carla/image/CityScapesPalette.h
@@ -19,25 +19,17 @@ namespace detail {
     // Please update documentation if you change this.
     uint8_t CITYSCAPES_PALETTE_MAP[][3u] = {
         {  0u,   0u,   0u},   // unlabeled     =   0u
-        {110u, 190u, 160u},   // static        =   1u
-        {170u, 120u,  50u},   // dynamic       =   2u
-        { 55u,  90u,  80u},   // other         =   3u
-        { 45u,  60u, 150u},   // water         =   4u
-        {157u, 234u,  50u},   // road line     =   6u
+        // cityscape
         {128u,  64u, 128u},   // road          =   7u
         {244u,  35u, 232u},   // sidewalk      =   8u
         { 70u,  70u,  70u},   // building      =  11u
         {102u, 102u, 156u},   // wall          =  12u
-        {100u,  40u,  40u},   // fence         =  13u
-        { 81u,   0u,  81u},   // ground        =  14u
-        {150u, 100u, 100u},   // bridge        =  15u
-        {230u, 150u, 140u},   // rail track    =  16u
+        {190u, 153u, 153u},   // fence         =  13u
         {153u, 153u, 153u},   // pole          =  17u
-        {180u, 165u, 180u},   // guard rail    =  18u
         {250u, 170u,  30u},   // traffic light =  19u
         {220u, 220u,   0u},   // traffic sign  =  20u
         {107u, 142u,  35u},   // vegetation    =  21u
-        {145u, 170u, 100u},   // terrain       =  22u
+        {152u, 251u, 152u},   // terrain       =  22u
         { 70u, 130u, 180u},   // sky           =  23u
         {220u,  20u,  60u},   // pedestrian    =  24u
         {255u,   0u,   0u},   // rider         =  25u
@@ -46,7 +38,17 @@ namespace detail {
         {  0u,  60u, 100u},   // bus           =  28u
         {  0u,  80u, 100u},   // train         =  31u
         {  0u,   0u, 230u},   // motorcycle    =  32u
-        {119u,  11u,  32u}    // bicycle       =  33u
+        {119u,  11u,  32u},    // bicycle       =  33u
+        // custom
+        {110u, 190u, 160u},   // static        =   1u
+        {170u, 120u,  50u},   // dynamic       =   2u
+        { 55u,  90u,  80u},   // other         =   3u
+        { 45u,  60u, 150u},   // water         =   4u
+        {157u, 234u,  50u},   // road line     =   6u
+        { 81u,   0u,  81u},   // ground        =  14u
+        {150u, 100u, 100u},   // bridge        =  15u
+        {230u, 150u, 140u},   // rail track    =  16u
+        {180u, 165u, 180u}    // guard rail    =  18u
         
         //{  0u,   0u,  90u}, // caravan
         //{  0u,   0u, 110u}, // trailer
diff --git a/LibCarla/source/carla/rpc/ObjectLabel.h b/LibCarla/source/carla/rpc/ObjectLabel.h
index 9810bd723..4df7f79c5 100644
--- a/LibCarla/source/carla/rpc/ObjectLabel.h
+++ b/LibCarla/source/carla/rpc/ObjectLabel.h
@@ -14,35 +14,38 @@ namespace carla {
 namespace rpc {
 
   enum class CityObjectLabel : uint8_t {
-    None         =   0u,
-    Static       =   1u,
-    Dynamic      =   2u,
-    Other        =   3u,
-    Water        =   4u,
-    RoadLines    =   6u,
-    Roads        =   7u,
-    Sidewalks    =   8u,
-    Buildings    =  11u,
-    Walls        =  12u,
-    Fences       =  13u,
-    Ground       =  14u,
-    Bridge       =  15u,
-    RailTrack    =  16u,
-    Poles        =  17u,
-    GuardRail    =  18u,
-    TrafficLight =  19u,
-    TrafficSigns =  20u,
-    Vegetation   =  21u,
-    Terrain      =  22u,
-    Sky          =  23u,
-    Pedestrians  =  24u,
-    Rider        =  25u,
-    Car          =  26u,
-    Truck        =  27u,
-    Bus          =  28u,
-    Train        =  31u,
-    Motorcycle   =  32u,
-    Bicycle      =  33u,
+    None         =    0u,
+    // cityscape labels
+    Roads        =    1u,
+    Sidewalks    =    2u,
+    Buildings    =    3u,
+    Walls        =    4u,
+    Fences       =    5u,
+    Poles        =    6u,
+    TrafficLight =    7u,
+    TrafficSigns =    8u,
+    Vegetation   =    9u,
+    Terrain      =   10u,
+    Sky          =   11u,
+    Pedestrians  =   12u,
+    Rider        =   13u,
+    Car          =   14u,
+    Truck        =   15u,
+    Bus          =   16u,
+    Train        =   17u,
+    Motorcycle   =   18u,
+    Bicycle      =   19u,
+    // custom
+    Static       =   20u,
+    Dynamic      =   21u,
+    Other        =   22u,
+    Water        =   23u,
+    RoadLines    =   24u,
+    Ground       =   25u,
+    Bridge       =   26u,
+    RailTrack    =   27u,
+    GuardRail    =   28u,
+
     Any          =  0xFF
   };