74 lines
2.6 KiB
C
74 lines
2.6 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <cstdint>
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namespace carla {
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namespace image {
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namespace detail {
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static constexpr
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#if __cplusplus >= 201703L // C++17
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inline
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#endif
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// Please update documentation if you change this.
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uint8_t CITYSCAPES_PALETTE_MAP[][3u] = {
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{ 0u, 0u, 0u}, // unlabeled = 0u
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// cityscape
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{128u, 64u, 128u}, // road = 1u
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{244u, 35u, 232u}, // sidewalk = 2u
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{ 70u, 70u, 70u}, // building = 3u
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{102u, 102u, 156u}, // wall = 4u
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{190u, 153u, 153u}, // fence = 5u
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{153u, 153u, 153u}, // pole = 6u
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{250u, 170u, 30u}, // traffic light = 7u
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{220u, 220u, 0u}, // traffic sign = 8u
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{107u, 142u, 35u}, // vegetation = 9u
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{152u, 251u, 152u}, // terrain = 10u
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{ 70u, 130u, 180u}, // sky = 11u
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{220u, 20u, 60u}, // pedestrian = 12u
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{255u, 0u, 0u}, // rider = 13u
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{ 0u, 0u, 142u}, // Car = 14u
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{ 0u, 0u, 70u}, // truck = 15u
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{ 0u, 60u, 100u}, // bus = 16u
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{ 0u, 80u, 100u}, // train = 17u
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{ 0u, 0u, 230u}, // motorcycle = 18u
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{119u, 11u, 32u}, // bicycle = 19u
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// custom
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{110u, 190u, 160u}, // static = 20u
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{170u, 120u, 50u}, // dynamic = 21u
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{ 55u, 90u, 80u}, // other = 22u
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{ 45u, 60u, 150u}, // water = 23u
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{157u, 234u, 50u}, // road line = 24u
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{ 81u, 0u, 81u}, // ground = 25u
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{150u, 100u, 100u}, // bridge = 26u
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{230u, 150u, 140u}, // rail track = 27u
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{180u, 165u, 180u} // guard rail = 28u
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};
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} // namespace detail
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class CityScapesPalette {
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public:
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static constexpr auto GetNumberOfTags() {
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return sizeof(detail::CITYSCAPES_PALETTE_MAP) /
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sizeof(*detail::CITYSCAPES_PALETTE_MAP);
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}
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/// Return an RGB uint8_t array.
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///
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/// @warning It overflows if @a tag is greater than GetNumberOfTags().
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static constexpr auto GetColor(uint8_t tag) {
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return detail::CITYSCAPES_PALETTE_MAP[tag % GetNumberOfTags()];
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}
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};
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} // namespace image
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} // namespace carla
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