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Revert "Update semantic labels (changed from version 0.9.13 -> 0.9.14)"
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This reverts commit 6ee572e.
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@Blyron
Blyron committed Feb 2, 2024
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Showing 1 changed file with 24 additions and 29 deletions.
53 changes: 24 additions & 29 deletions Docs/ref_sensors.md
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Expand Up @@ -711,39 +711,34 @@ This raw [carla.Image](python_api.md#carla.Image) can be stored and converted it
raw_image.save_to_disk("path/to/save/converted/image",carla.ColorConverter.cityScapesPalette)
```

The following tags are currently available (Note, tags changed from version 0.9.13 to 0.9.14):
The following tags are currently available:

| Value | Tag | Converted color | Description |
| ----------------------------------- | ----------------------------------- | ----------------------------------- | ----------------------------------- |
| `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. |
| `1` | Roads | `(128, 64, 128)` | Part of ground on which cars usually drive. <br> E.g. lanes in any directions, and streets. |
| `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. |
| `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. |
| `4` | Wall | `(102, 102, 156)` | Individual standing walls. Not part of a building. |
| `5` | Fence | `(190, 153, 153)` | Barriers, railing, or other upright structures. Basically wood or wire assemblies that enclose an area of ground. |
| `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. |
| `7` | TrafficLight | `(250, 170, 30)` | Traffic light boxes without their poles. |
| `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... |
| `9` | Vegetation | `(107, 142, 35)` | Trees, hedges, all kinds of vertical vegetation. Ground-level vegetation is considered `Terrain`. |
| `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. |
| `11` | Sky | `(70, 130, 180)` | Open sky. Includes clouds and the sun. |
| `12` | Pedestrian | `(220, 20, 60)` | Humans that walk |
| `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. . |
| `14` | Car | `(0, 0, 142)` | Cars, vans |
| `15` | Truck | `(0, 0, 70)` | Trucks |
| `16` | Bus | `(0, 60, 100)` | Busses |
| `17` | Train | `(0, 60, 100)` | Trains |
| `18` | Motorcycle | `(0, 0, 230)` | Motorcycle, Motorbike |
| `19` | Bicycle | `(119, 11, 32)` | Bicylces |
| `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. |
| `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. |
| `22` | Other | `(55, 90, 80)` | Other objects |
| `23` | Water | `(45, 60, 150)` | Horizontal water surfaces. <br> E.g. Lakes, sea, rivers. |
| `24` | RoadLine | `(157, 234, 50)` | The markings on the road. |
| `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. |
| `26` | Bridge | `(150, 100, 100)` | Only the structure of the bridge. Fences, people, vehicles, an other elements on top of it are labeled separately. |
| `27` | RailTrack | `(230, 150, 140)` | All kind of rail tracks that are non-drivable by cars. <br> E.g. subway and train rail tracks. |
| `28` | GuardRail | `(180, 165, 180)` | All types of guard rails/crash barriers. |
| `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. |
| `2` | Fence | `(100, 40, 40)` | Barriers, railing, or other upright structures. Basically wood or wire assemblies that enclose an area of ground. |
| `3` | Other | `(55, 90, 80)` | Everything that does not belong to any other category. |
| `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. |
| `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. |
| `6` | RoadLine | `(157, 234, 50)` | The markings on the road. |
| `7` | Road | `(128, 64, 128)` | Part of ground on which cars usually drive. <br> E.g. lanes in any directions, and streets. |
| `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. |
| `9` | Vegetation | `(107, 142, 35)` | Trees, hedges, all kinds of vertical vegetation. Ground-level vegetation is considered `Terrain`. |
| `10` | Vehicles | `(0, 0, 142)` | Cars, vans, trucks, motorcycles, bikes, buses, trains. |
| `11` | Wall | `(102, 102, 156)` | Individual standing walls. Not part of a building. |
| `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... |
| `13` | Sky | `(70, 130, 180)` | Open sky. Includes clouds and the sun. |
| `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. |
| `15` | Bridge | `(150, 100, 100)` | Only the structure of the bridge. Fences, people, vehicles, an other elements on top of it are labeled separately. |
| `16` | RailTrack | `(230, 150, 140)` | All kind of rail tracks that are non-drivable by cars. <br> E.g. subway and train rail tracks. |
| `17` | GuardRail | `(180, 165, 180)` | All types of guard rails/crash barriers. |
| `18` | TrafficLight | `(250, 170, 30)` | Traffic light boxes without their poles. |
| `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. |
| `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. |
| `21` | Water | `(45, 60, 150)` | Horizontal water surfaces. <br> E.g. Lakes, sea, rivers. |
| `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. |

<br>

!!! Note
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