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cityscapes/scripts/helpers/labels.py

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#!/usr/bin/python
#
# Cityscapes labels
#
from collections import namedtuple
#--------------------------------------------------------------------------------
# Definitions
#--------------------------------------------------------------------------------
# a label and all meta information
Label = namedtuple( 'Label' , [
'name' , # The identifier of this label, e.g. 'car', 'person', ... .
# We use them to uniquely name a class
'id' , # An integer ID that is associated with this label.
# The IDs are used to represent the label in ground truth images
# An ID of -1 means that this label does not have an ID and thus
# is ignored when creating ground truth images (e.g. license plate).
'trainId' , # An integer ID that overwrites the ID above, when creating ground truth
# images for training.
# For training, multiple labels might have the same ID. Then, these labels
# are mapped to the same class in the ground truth images. For the inverse
# mapping, we use the label that is defined first in the list below.
# For example, mapping all void-type classes to the same ID in training,
# might make sense for some approaches.
'category' , # The name of the category that this label belongs to
'categoryId' , # The ID of this category. Used to create ground truth images
# on category level.
'hasInstances', # Whether this label distinguishes between single instances or not
'ignoreInEval', # Whether pixels having this class as ground truth label are ignored
# during evaluations or not
'color' , # The color of this label
] )
#--------------------------------------------------------------------------------
# A list of all labels
#--------------------------------------------------------------------------------
# Please adapt the train IDs as appropriate for you approach.
# Note that you might want to ignore labels with ID 255 during training.
# Make sure to provide your results using the original IDs and not the training IDs.
# Note that many IDs are ignored in evaluation and thus you never need to predict these!
labels = [
# name id trainId category catId hasInstances ignoreInEval color
Label( 'unlabeled' , 0 , 255 , 'void' , 0 , False , True , ( 0, 0, 0) ),
Label( 'ego vehicle' , 1 , 255 , 'void' , 0 , False , True , ( 0, 0, 0) ),
Label( 'rectification border' , 2 , 255 , 'void' , 0 , False , True , ( 0, 0, 0) ),
Label( 'out of roi' , 3 , 255 , 'void' , 0 , False , True , ( 0, 0, 0) ),
Label( 'static' , 4 , 255 , 'void' , 0 , False , True , ( 0, 0, 0) ),
Label( 'dynamic' , 5 , 255 , 'void' , 0 , False , True , (111, 74, 0) ),
Label( 'ground' , 6 , 255 , 'void' , 0 , False , True , ( 81, 0, 81) ),
Label( 'road' , 7 , 0 , 'ground' , 1 , False , False , (128, 64,128) ),
Label( 'sidewalk' , 8 , 1 , 'ground' , 1 , False , False , (244, 35,232) ),
Label( 'parking' , 9 , 255 , 'ground' , 1 , False , True , (250,170,160) ),
Label( 'rail track' , 10 , 255 , 'ground' , 1 , False , True , (230,150,140) ),
Label( 'building' , 11 , 2 , 'construction' , 2 , False , False , ( 70, 70, 70) ),
Label( 'wall' , 12 , 3 , 'construction' , 2 , False , False , (102,102,156) ),
Label( 'fence' , 13 , 4 , 'construction' , 2 , False , False , (190,153,153) ),
Label( 'guard rail' , 14 , 255 , 'construction' , 2 , False , True , (180,165,180) ),
Label( 'bridge' , 15 , 255 , 'construction' , 2 , False , True , (150,100,100) ),
Label( 'tunnel' , 16 , 255 , 'construction' , 2 , False , True , (150,120, 90) ),
Label( 'pole' , 17 , 5 , 'object' , 3 , False , False , (153,153,153) ),
Label( 'polegroup' , 18 , 255 , 'object' , 3 , False , True , (153,153,153) ),
Label( 'traffic light' , 19 , 6 , 'object' , 3 , False , False , (250,170, 30) ),
Label( 'traffic sign' , 20 , 7 , 'object' , 3 , False , False , (220,220, 0) ),
Label( 'vegetation' , 21 , 8 , 'nature' , 4 , False , False , (107,142, 35) ),
Label( 'terrain' , 22 , 9 , 'nature' , 4 , False , False , (152,251,152) ),
Label( 'sky' , 23 , 10 , 'sky' , 5 , False , False , ( 70,130,180) ),
Label( 'person' , 24 , 11 , 'human' , 6 , True , False , (220, 20, 60) ),
Label( 'rider' , 25 , 12 , 'human' , 6 , True , False , (255, 0, 0) ),
Label( 'car' , 26 , 13 , 'vehicle' , 7 , True , False , ( 0, 0,142) ),
Label( 'truck' , 27 , 14 , 'vehicle' , 7 , True , False , ( 0, 0, 70) ),
Label( 'bus' , 28 , 15 , 'vehicle' , 7 , True , False , ( 0, 60,100) ),
Label( 'caravan' , 29 , 255 , 'vehicle' , 7 , True , True , ( 0, 0, 90) ),
Label( 'trailer' , 30 , 255 , 'vehicle' , 7 , True , True , ( 0, 0,110) ),
Label( 'train' , 31 , 16 , 'vehicle' , 7 , True , False , ( 0, 80,100) ),
Label( 'motorcycle' , 32 , 17 , 'vehicle' , 7 , True , False , ( 0, 0,230) ),
Label( 'bicycle' , 33 , 18 , 'vehicle' , 7 , True , False , (119, 11, 32) ),
Label( 'license plate' , -1 , -1 , 'vehicle' , 7 , False , True , ( 0, 0,142) ),
]
#--------------------------------------------------------------------------------
# Create dictionaries for a fast lookup
#--------------------------------------------------------------------------------
name2label = { label.name : label for label in labels }
id2label = { label.id : label for label in labels }
trainId2label = { label.trainId : label for label in reversed(labels) }
category2labels = {}
for label in labels:
category = label.category
if category in category2labels:
category2labels[category].append(label)
else:
category2labels[category] = [label]
#--------------------------------------------------------------------------------
# Assure single instance name
#--------------------------------------------------------------------------------
def assureSingleInstanceName( name ):
# if the name is known, it is not a group
if name in name2label:
return name
# test if the name actually denotes a group
if not name.endswith("group"):
return name
# remove group
name = name[:-len("group")]
# test if the new name exists
if not name in name2label:
return None
# test if the new name denotes a label that actually has instances
if not name2label[name].hasInstances:
return None
# all good then
return name
#--------------------------------------------------------------------------------
# Main for testing
#--------------------------------------------------------------------------------
if __name__ == "__main__":
# Print all the labels
print "List of cityscapes labels:"
print
print " {:>21} | {:>3} | {:>7} | {:>14} | {:>10} | {:>12} | {:>12}".format( 'name', 'id', 'trainId', 'category', 'categoryId', 'hasInstances', 'ignoreInEval' )
print " " + ('-' * 98)
for label in labels:
print " {:>21} | {:>3} | {:>7} | {:>14} | {:>10} | {:>12} | {:>12}".format( label.name, label.id, label.trainId, label.category, label.categoryId, label.hasInstances, label.ignoreInEval )
print
print "Example usages:"
# Map from name to label
name = 'car'
id = name2label[name].id
print "ID of label '{name}': {id}".format( name=name, id=id )
# Map from ID to label
category = id2label[id].category
print "Category of label with ID '{id}': {category}".format( id=id, category=category )
# Map from trainID to label
trainId = 0
name = trainId2label[trainId].name
print "Name of label with trainID '{id}': {name}".format( id=trainId, name=name )