Description
Hello,
I have trained with a custom dataset from CARLA with 29 classes which are stored with the tag information encoded in the red channel: A pixel with a red value of x belongs to an object with tag x. After training I ran it on my testing data and the results are not what I expected. I want the colors to match CARLA's CityScapesPalette in [carla.ColorConverter]. (https://carla.readthedocs.io/en/latest/python_api/#carla.ColorConverter)
I made a mapping for the original 150 classes to Carla's 29 classes. I updated the
`def segm_transform(self, segm):
# remap values in segm according to classMapping
segm = np.array(segm)[:, :, 0]
mapped_segm = np.zeros(segm.shape, dtype=np.uint64)
for k, v in self.classMapping.items():
mapped_segm[segm == k] = v
mapped_segm = torch.from_numpy(mapped_segm).long() - 1
return mapped_segm
#modify how segmenation masks are read for 13 classes in
#mapping their classes to Carla's classes
self.classMapping = {
1: 4, # wall -> Wall
2: 3, # building -> Building
3: 11, # sky -> Sky
4: 25, # floor -> ground
5: 9, # tree -> Vegetation
6: 10, # ceiling -> Terrain
7: 1, # road -> Roads
8: 22, # bed -> Other
9: 3, # window -> building
10: 10, # grass -> Terrain
11: 22, # cabinet -> other
12: 2, # sidewalk -> sidewalk
13: 12, # person -> Pedestrian
14: 10, # earth -> Terrain
15: 3, # door -> building
16: 22, # table -> other
17: 22, # mountain -> other
18: 9, # plant -> Vegetation
19: 22, # curtain -> other
20: 21, # chair -> dynamic
21: 14, # car -> Car
22: 23, # water -> Water
23: 22, # painting -> other
24: 22, # sofa -> other
25: 22, # shelf -> other
26: 3, # house -> building
27: 23, # sea -> water
28: 22, # mirror -> other
29: 22, # rug -> other
30: 10, # field -> Terrain
31: 20, # armchair -> Static
32: 20, # seat -> Static
33: 5, # fence -> Fence
34: 20, # desk -> Static
35: 3, # rock -> Building
36: 20, # wardrobe -> Static
37: 20, # lamp -> Static
38: 23, # bathtub -> Water
39: 5, # railing -> Fence
40: 20, # cushion -> Static
41: 20, # base -> Static
42: 20, # box -> Static
43: 5, # column -> Fence
44: 10, # signboard -> Terrain
45: 20, # chest of drawers -> Static
46: 20, # counter -> Static
47: 10, # sand -> Terrain
48: 23, # sink -> Water
49: 3, # skyscraper -> Building
50: 23, # fireplace -> Water
51: 23, # refrigerator -> Water
52: 20, # grandstand -> Static
53: 10, # path -> Terrain
54: 20, # stairs -> Static
55: 10, # runway -> Terrain
56: 20, # case -> Static
57: 20, # pool table -> Static
58: 20, # pillow -> Static
59: 20, # screen door -> Static
60: 20, # stairway -> Static
61: 23, # river -> Water
62: 10, # bridge -> Terrain
63: 20, # bookcase -> Static
64: 20, # blind -> Static
65: 20, # coffee table -> Static
66: 20, # toilet -> Static
67: 9, # flower -> Vegetation
68: 20, # book -> Static
69: 3, # hill -> Building
70: 20, # bench -> Static
71: 20, # countertop -> Static
72: 20, # stove -> Static
73: 9, # palm -> Vegetation
74: 20, # kitchen island -> Static
75: 20, # computer -> Static
76: 20, # swivel chair -> Static
77: 23, # boat -> Water
78: 20, # bar -> Static
79: 20, # arcade machine -> Static
80: 20, # hovel -> Static
81: 16, # bus -> Static
82: 20, # towel -> Static
83: 20, # light -> Static
84: 15, # truck -> Truck
85: 20, # tower -> Static
86: 20, # chandelier -> Static
87: 20, # awning -> Static
88: 20, # streetlight -> Static
89: 20, # booth -> Static
90: 20, # television -> Static
91: 20, # airplane -> Static
92: 25, # dirt track -> ground
93: 22, # apparel -> other
94: 6, # pole -> pole
95: 25, # land -> ground
96: 22, # bannister -> other
97: 22, # escalator -> other
98: 22, # ottoman -> other
99: 20, # bottle -> Static
100: 22, # buffet -> other
101: 20, # poster -> Static
102: 22, # stage -> other
103: 14, # van -> car
104: 21, # ship -> dynamic
105: 20, # fountain -> static
106: 22, # conveyer belt -> other
107: 22, # canopy -> other
108: 22, # washer -> other
109: 22, # plaything -> other
110: 22, # swimming pool -> Static
111: 22, # stool -> Static
112: 21, # barrel -> dynamic
113: 20, # basket -> Static
114: 23, # waterfall -> water
115: 20, # tent -> Static
116: 21, # bag -> dynamic
117: 19, # minibike -> bike
118: 20, # cradle -> Static
119: 20, # oven -> other
120: 21, # ball -> dynamic
121: 22, # food -> other
122: 22, # step -> other
123: 22, # tank -> other
124: 22, # trade name -> other
125: 22, # microwave -> other
126: 22, # pot -> Static
127: 21, # animal -> dynamic
128: 19, # bicycle -> bike
129: 23, # lake -> water
130: 22, # dishwasher -> other
131: 22, # screen -> other
132: 22, # blanket -> Static
133: 20, # sculpture -> Static
134: 22, # hood -> other
135: 22, # sconce -> other
136: 22, # vase -> other
137: 7, # traffic light -> traffic light
138: 22, # tray -> Static
139: 22, # ashcan -> Static
140: 22, # fan -> Static
141: 22, # pier -> Static
142: 22, # crt screen -> Static
143: 22, # plate -> Static
144: 22, # monitor -> Static
145: 22, # bulletin board -> Static
146: 22, # shower -> Static
147: 22, # radiator -> Static
148: 22, # glass -> Static
149: 22, # clock -> Static
150: 20 # flag -> Static
}`
I also made my own odgt files and updated the config.
