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Using same id's as the cityscape labels

This commit is contained in:
bernatx 2022-12-12 20:53:41 +01:00 committed by bernat
parent 7f2d656c25
commit ef54692f45
4 changed files with 59 additions and 53 deletions
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1
CHANGELOG.md
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@ -5,6 +5,7 @@
* Improved algorithm to move signals out of the road by computing the desired displacement direction.
* Added `TrafficManager.vehicle_lane_offset(actor, offset)` and `TrafficManager.global_lane_offset(offset)` methods.
* Some of the warnings shown when building a map will now only be showing when debugging.
* The ids for semantic segmentation has been modified to be the same as cityscapes (labels, ids and colors)
* Fixed bug causing traffic signals at the end points of a road to sometimes create malformed waypoints.
* Fixed pedestrian skeleton frame, where sometimes it was draw displaced from the body
* Fixed decals when importing maps. It was using other .json files found in other packages.

69
LibCarla/source/carla/image/CityScapesPalette.h
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@ -18,41 +18,42 @@ namespace detail {
#endif
// Please update documentation if you change this.
uint8_t CITYSCAPES_PALETTE_MAP[][3u] = {
{ 0u, 0u, 0u}, // unlabeled = 0u,
{ 70u, 70u, 70u}, // building = 1u,
{100u, 40u, 40u}, // fence = 2u,
{ 55u, 90u, 80u}, // other = 3u,
{220u, 20u, 60u}, // pedestrian = 4u,
{153u, 153u, 153u}, // pole = 5u,
{157u, 234u, 50u}, // road line = 6u,
{128u, 64u, 128u}, // road = 7u,
{244u, 35u, 232u}, // sidewalk = 8u,
{107u, 142u, 35u}, // vegetation = 9u,
{ 0u, 0u, 142u}, // Car = 10u,
{102u, 102u, 156u}, // wall = 11u,
{220u, 220u, 0u}, // traffic sign = 12u,
{ 70u, 130u, 180u}, // sky = 13u,
{ 81u, 0u, 81u}, // ground = 14u,
{150u, 100u, 100u}, // bridge = 15u,
{230u, 150u, 140u}, // rail track = 16u,
{180u, 165u, 180u}, // guard rail = 17u,
{250u, 170u, 30u}, // traffic light = 18u,
{110u, 190u, 160u}, // static = 19u,
{170u, 120u, 50u}, // dynamic = 20u,
{ 45u, 60u, 150u}, // water = 21u,
{145u, 170u, 100u}, // terrain = 22u,
{ 0u, 0u, 70u}, // truck = 23u,
// { 0u, 0u, 90u}, // caravan
// { 0u, 0u, 110u}, // trailer
// { 0u, 0u, 142u}, // license plate
{ 0u, 0u, 230u}, // motorcycle = 24u,
// { 0u, 80u, 100u}, // train
{119u, 11u, 32u}, // bicycle = 25u,
{ 0u, 60u, 100u}, // bus = 26u,
{255u, 0u, 0u}, // rider = 27u,
{ 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
{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
{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
{ 70u, 130u, 180u}, // sky = 23u
{220u, 20u, 60u}, // pedestrian = 24u
{255u, 0u, 0u}, // rider = 25u
{ 0u, 0u, 142u}, // Car = 26u
{ 0u, 0u, 70u}, // truck = 27u
{ 0u, 60u, 100u}, // bus = 28u
{ 0u, 80u, 100u}, // train = 31u
{ 0u, 0u, 230u}, // motorcycle = 32u
{119u, 11u, 32u} // bicycle = 33u
//{ 0u, 0u, 90u}, // caravan
//{ 0u, 0u, 110u}, // trailer
//{ 0u, 0u, 142u}, // license plate
//{150u, 120u, 90u}, // tunnel
// {153u, 153u, 153u}, // polegroup
// {250u, 170u, 160u}, // parking
//{153u, 153u, 153u}, // polegroup
//{250u, 170u, 160u}, // parking
};
} // namespace detail

39
LibCarla/source/carla/rpc/ObjectLabel.h
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@ -15,33 +15,34 @@ namespace rpc {
enum class CityObjectLabel : uint8_t {
None = 0u,
Buildings = 1u,
Fences = 2u,
Static = 1u,
Dynamic = 2u,
Other = 3u,
Pedestrians = 4u,
Poles = 5u,
Water = 4u,
RoadLines = 6u,
Roads = 7u,
Sidewalks = 8u,
Vegetation = 9u,
Car = 10u,
Walls = 11u,
TrafficSigns = 12u,
Sky = 13u,
Buildings = 11u,
Walls = 12u,
Fences = 13u,
Ground = 14u,
Bridge = 15u,
RailTrack = 16u,
GuardRail = 17u,
TrafficLight = 18u,
Static = 19u,
Dynamic = 20u,
Water = 21u,
Poles = 17u,
GuardRail = 18u,
TrafficLight = 19u,
TrafficSigns = 20u,
Vegetation = 21u,
Terrain = 22u,
Truck = 23u,
Motorcycle = 24u,
Bicycle = 25u,
Bus = 26u,
Rider = 27u,
Sky = 23u,
Pedestrians = 24u,
Rider = 25u,
Car = 26u,
Truck = 27u,
Bus = 28u,
Train = 31u,
Motorcycle = 32u,
Bicycle = 33u,
Any = 0xFF
};

3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
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@ -51,6 +51,7 @@ crp::CityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
else if (String == "Bicycle") return crp::CityObjectLabel::Bicycle;
else if (String == "Bus") return crp::CityObjectLabel::Bus;
else if (String == "Rider") return crp::CityObjectLabel::Rider;
else if (String == "Train") return crp::CityObjectLabel::Train;
else return crp::CityObjectLabel::None;
}
@ -69,6 +70,7 @@ bool ATagger::IsThing(const crp::CityObjectLabel &Label)
return (Label == crp::CityObjectLabel::Pedestrians ||
Label == crp::CityObjectLabel::TrafficSigns ||
Label == crp::CityObjectLabel::Car ||
Label == crp::CityObjectLabel::Train ||
Label == crp::CityObjectLabel::Bicycle ||
Label == crp::CityObjectLabel::Motorcycle ||
Label == crp::CityObjectLabel::Bus ||
@ -275,6 +277,7 @@ FString ATagger::GetTagAsString(const crp::CityObjectLabel Label)
CARLA_GET_LABEL_STR(Motorcycle)
CARLA_GET_LABEL_STR(Bicycle)
CARLA_GET_LABEL_STR(Bus)
CARLA_GET_LABEL_STR(Train)
CARLA_GET_LABEL_STR(Rider)
#undef CARLA_GET_LABEL_STR