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nuscenes.yaml
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labels:
0: 'noise'
1: 'animal'
2: 'human.pedestrian.adult'
3: 'human.pedestrian.child'
4: 'human.pedestrian.construction_worker'
5: 'human.pedestrian.personal_mobility'
6: 'human.pedestrian.police_officer'
7: 'human.pedestrian.stroller'
8: 'human.pedestrian.wheelchair'
9: 'movable_object.barrier'
10: 'movable_object.debris'
11: 'movable_object.pushable_pullable'
12: 'movable_object.trafficcone'
13: 'static_object.bicycle_rack'
14: 'vehicle.bicycle'
15: 'vehicle.bus.bendy'
16: 'vehicle.bus.rigid'
17: 'vehicle.car'
18: 'vehicle.construction'
19: 'vehicle.emergency.ambulance'
20: 'vehicle.emergency.police'
21: 'vehicle.motorcycle'
22: 'vehicle.trailer'
23: 'vehicle.truck'
24: 'flat.driveable_surface'
25: 'flat.other'
26: 'flat.sidewalk'
27: 'flat.terrain'
28: 'static.manmade'
29: 'static.other'
30: 'static.vegetation'
31: 'vehicle.ego'
labels_16:
0: 'noise'
1: 'barrier'
2: 'bicycle'
3: 'bus'
4: 'car'
5: 'construction_vehicle'
6: 'motorcycle'
7: 'pedestrian'
8: 'traffic_cone'
9: 'trailer'
10: 'truck'
11: 'driveable_surface'
12: 'other_flat'
13: 'sidewalk'
14: 'terrain'
15: 'manmade'
16: 'vegetation'
learning_map:
1: 0
5: 0
7: 0
8: 0
10: 0
11: 0
13: 0
19: 0
20: 0
0: 0
29: 0
31: 0
9: 1
14: 2
15: 3
16: 3
17: 4
18: 5
21: 6
2: 7
3: 7
4: 7
6: 7
12: 8
22: 9
23: 10
24: 11
25: 12
26: 13
27: 14
28: 15
30: 16
thing_class: # thing class in panoptic segmentation
0: False # "noise"
1: True # "barrier"
2: True # "bicycle"
3: True # "bus"
4: True # "car"
5: True # "construction_vehicle"
6: True # "motorcycle"
7: True # "pedestrian"
8: True # "traffic_cone"
9: True # "trailer"
10: True # "truck"
11: False # "driveable_surface"
12: False # "other_flat"
13: False # "sidewalk"
14: False # "terrain"
15: False # "manmade"
16: False # "vegetation"
stuff_class: # thing class in panoptic segmentation
0: False # "noise"
1: False # "barrier"
2: False # "bicycle"
3: False # "bus"
4: False # "car"
5: False # "construction_vehicle"
6: False # "motorcycle"
7: False # "pedestrian"
8: False # "traffic_cone"
9: False # "trailer"
10: False # "truck"
11: True # "driveable_surface"
12: True # "other_flat"
13: True # "sidewalk"
14: True # "terrain"
15: True # "manmade"
16: True # "vegetation"
base_thing_class:
0: False # "noise"
1: True # "barrier"
2: True # "bicycle"
3: False # "bus"
4: True # "car"
5: True # "construction_vehicle"
6: False # "motorcycle"
7: False # "pedestrian"
8: True # "traffic_cone"
9: True # "trailer"
10: True # "truck"
11: False # "driveable_surface"
12: False # "other_flat"
13: False # "sidewalk"
14: False # "terrain"
15: False # "manmade"
16: False # "vegetation"
base_stuff_class:
0: False # "noise"
1: False # "barrier"
2: False # "bicycle"
3: False # "bus"
4: False # "car"
5: False # "construction_vehicle"
6: False # "motorcycle"
7: False # "pedestrian"
8: False # "traffic_cone"
9: False # "trailer"
10: False # "truck"
11: True # "driveable_surface"
12: True # "other_flat"
13: True # "sidewalk"
14: True # "terrain"
15: True # "manmade"
16: False # "vegetation"
novel_thing_class:
0: False # "noise"
1: False # "barrier"
2: False # "bicycle"
3: True # "bus"
4: False # "car"
5: False # "construction_vehicle"
6: True # "motorcycle"
7: True # "pedestrian"
8: False # "traffic_cone"
9: False # "trailer"
10: False # "truck"
11: False # "driveable_surface"
12: False # "other_flat"
13: False # "sidewalk"
14: False # "terrain"
15: False # "manmade"
16: False # "vegetation"
novel_stuff_class:
0: False # "noise"
1: False # "barrier"
2: False # "bicycle"
3: False # "bus"
4: False # "car"
5: False # "construction_vehicle"
6: False # "motorcycle"
7: False # "pedestrian"
8: False # "traffic_cone"
9: False # "trailer"
10: False # "truck"
11: False # "driveable_surface"
12: False # "other_flat"
13: False # "sidewalk"
14: False # "terrain"
15: False # "manmade"
16: True # "vegetation"