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dorn-gerhardBlyron
dorn-gerhard
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Blyron
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Update semantic labels (changed from version 0.9.13 -> 0.9.14)
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‎Docs/ref_sensors.md‎

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@@ -711,34 +711,39 @@ This raw [carla.Image](python_api.md#carla.Image) can be stored and converted it
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raw_image.save_to_disk("path/to/save/converted/image",carla.ColorConverter.cityScapesPalette)
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```
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The following tags are currently available:
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The following tags are currently available (Note, tags changed from version 0.9.13 to 0.9.14):
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| Value | Tag | Converted color | Description |
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| ----------------------------------- | ----------------------------------- | ----------------------------------- | ----------------------------------- |
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| `0` | Unlabeled | `(0, 0, 0)` | Elements that have not been categorized are considered `Unlabeled`. This category is meant to be empty or at least contain elements with no collisions. |
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| `1` | Building | `(70, 70, 70)` | Buildings like houses, skyscrapers,... and the elements attached to them. <br> E.g. air conditioners, scaffolding, awning or ladders and much more. |
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| `2` | Fence | `(100, 40, 40)` | Barriers, railing, or other upright structures. Basically wood or wire assemblies that enclose an area of ground. |
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| `3` | Other | `(55, 90, 80)` | Everything that does not belong to any other category. |
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| `4` | Pedestrian | `(220, 20, 60)` | Humans that walk or ride/drive any kind of vehicle or mobility system. <br> E.g. bicycles or scooters, skateboards, horses, roller-blades, wheel-chairs, etc. |
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| `5` | Pole | `(153, 153, 153)` | Small mainly vertically oriented pole. If the pole has a horizontal part (often for traffic light poles) this is also considered pole. <br> E.g. sign pole, traffic light poles. |
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| `6` | RoadLine | `(157, 234, 50)` | The markings on the road. |
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| `7` | Road | `(128, 64, 128)` | Part of ground on which cars usually drive. <br> E.g. lanes in any directions, and streets. |
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| `8` | SideWalk | `(244, 35, 232)` | Part of ground designated for pedestrians or cyclists. Delimited from the road by some obstacle (such as curbs or poles), not only by markings. This label includes a possibly delimiting curb, traffic islands (the walkable part), and pedestrian zones. |
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| `9` | Vegetation | `(107, 142, 35)` | Trees, hedges, all kinds of vertical vegetation. Ground-level vegetation is considered `Terrain`. |
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| `10` | Vehicles | `(0, 0, 142)` | Cars, vans, trucks, motorcycles, bikes, buses, trains. |
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| `11` | Wall | `(102, 102, 156)` | Individual standing walls. Not part of a building. |
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| `12` | TrafficSign | `(220, 220, 0)` | Signs installed by the state/city authority, usually for traffic regulation. This category does not include the poles where signs are attached to. <br> E.g. traffic- signs, parking signs, direction signs... |
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| `13` | Sky | `(70, 130, 180)` | Open sky. Includes clouds and the sun. |
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| `14` | Ground | `(81, 0, 81)` | Any horizontal ground-level structures that does not match any other category. For example areas shared by vehicles and pedestrians, or flat roundabouts delimited from the road by a curb. |
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| `15` | Bridge | `(150, 100, 100)` | Only the structure of the bridge. Fences, people, vehicles, an other elements on top of it are labeled separately. |
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| `16` | RailTrack | `(230, 150, 140)` | All kind of rail tracks that are non-drivable by cars. <br> E.g. subway and train rail tracks. |
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| `17` | GuardRail | `(180, 165, 180)` | All types of guard rails/crash barriers. |
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| `18` | TrafficLight | `(250, 170, 30)` | Traffic light boxes without their poles. |
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| `19` | Static | `(110, 190, 160)` | Elements in the scene and props that are immovable. <br> E.g. fire hydrants, fixed benches, fountains, bus stops, etc. |
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| `20` | Dynamic | `(170, 120, 50)` | Elements whose position is susceptible to change over time. <br> E.g. Movable trash bins, buggies, bags, wheelchairs, animals, etc. |
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| `21` | Water | `(45, 60, 150)` | Horizontal water surfaces. <br> E.g. Lakes, sea, rivers. |
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| `22` | Terrain | `(145, 170, 100)` | Grass, ground-level vegetation, soil or sand. These areas are not meant to be driven on. This label includes a possibly delimiting curb. |
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| `1` | Roads | `(128, 64, 128)` | Part of ground on which cars usually drive. <br> E.g. lanes in any directions, and streets. |
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| `2` | SideWalks | `(244, 35, 232)` | Part of ground designated for pedestrians or cyclists. Delimited from the road by some obstacle (such as curbs or poles), not only by markings. This label includes a possibly delimiting curb, traffic islands (the walkable part), and pedestrian zones. |
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| `3` | Building | `(70, 70, 70)` | Buildings like houses, skyscrapers,... and the elements attached to them. <br> E.g. air conditioners, scaffolding, awning or ladders and much more. |
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| `4` | Wall | `(102, 102, 156)` | Individual standing walls. Not part of a building. |
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| `5` | Fence | `(190, 153, 153)` | Barriers, railing, or other upright structures. Basically wood or wire assemblies that enclose an area of ground. |
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| `6` | Pole | `(153, 153, 153)` | Small mainly vertically oriented pole. If the pole has a horizontal part (often for traffic light poles) this is also considered pole. <br> E.g. sign pole, traffic light poles. |
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| `7` | TrafficLight | `(250, 170, 30)` | Traffic light boxes without their poles. |
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| `8` | TrafficSign | `(220, 220, 0)` | Signs installed by the state/city authority, usually for traffic regulation. This category does not include the poles where signs are attached to. <br> E.g. traffic- signs, parking signs, direction signs... |
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| `9` | Vegetation | `(107, 142, 35)` | Trees, hedges, all kinds of vertical vegetation. Ground-level vegetation is considered `Terrain`. |
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| `10` | Terrain | `(152, 251, 152)` | Grass, ground-level vegetation, soil or sand. These areas are not meant to be driven on. This label includes a possibly delimiting curb. |
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| `11` | Sky | `(70, 130, 180)` | Open sky. Includes clouds and the sun. |
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| `12` | Pedestrian | `(220, 20, 60)` | Humans that walk |
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| `13` | Rider | `(255, 0, 0)` | Humans that ride/drive any kind of vehicle or mobility system <br> E.g. bicycles or scooters, skateboards, horses, roller-blades, wheel-chairs, etc. . |
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| `14` | Car | `(0, 0, 142)` | Cars, vans |
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| `15` | Truck | `(0, 0, 70)` | Trucks |
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| `16` | Bus | `(0, 60, 100)` | Busses |
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| `17` | Train | `(0, 60, 100)` | Trains |
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| `18` | Motorcycle | `(0, 0, 230)` | Motorcycle, Motorbike |
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| `19` | Bicycle | `(119, 11, 32)` | Bicylces |
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| `20` | Static | `(110, 190, 160)` | Elements in the scene and props that are immovable. <br> E.g. fire hydrants, fixed benches, fountains, bus stops, etc. |
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| `21` | Dynamic | `(170, 120, 50)` | Elements whose position is susceptible to change over time. <br> E.g. Movable trash bins, buggies, bags, wheelchairs, animals, etc. |
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| `22` | Other | `(55, 90, 80)` | Other objects |
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| `23` | Water | `(45, 60, 150)` | Horizontal water surfaces. <br> E.g. Lakes, sea, rivers. |
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| `24` | RoadLine | `(157, 234, 50)` | The markings on the road. |
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| `25` | Ground | `(81, 0, 81)` | Any horizontal ground-level structures that does not match any other category. For example areas shared by vehicles and pedestrians, or flat roundabouts delimited from the road by a curb. |
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| `26` | Bridge | `(150, 100, 100)` | Only the structure of the bridge. Fences, people, vehicles, an other elements on top of it are labeled separately. |
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| `27` | RailTrack | `(230, 150, 140)` | All kind of rail tracks that are non-drivable by cars. <br> E.g. subway and train rail tracks. |
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| `28` | GuardRail | `(180, 165, 180)` | All types of guard rails/crash barriers. |
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<br>
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!!! Note

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