-
Notifications
You must be signed in to change notification settings - Fork 49
/
label_constants.py
311 lines (295 loc) · 12.7 KB
/
label_constants.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
'''Label file for different datasets.'''
SCANNET_LABELS_20 = ('wall', 'floor', 'cabinet', 'bed', 'chair', 'sofa',
'table', 'door', 'window', 'bookshelf', 'picture','counter', 'desk', 'curtain', 'refrigerator', 'shower curtain',
'toilet', 'sink', 'bathtub', 'otherfurniture')
MATTERPORT_LABELS_21 = ('wall', 'floor', 'cabinet', 'bed', 'chair', 'sofa', 'table', 'door',
'window', 'bookshelf', 'picture', 'counter', 'desk', 'curtain', 'refrigerator',
'shower curtain', 'toilet', 'sink', 'bathtub', 'other', 'ceiling')
MATTERPORT_LABELS_40 = ('wall', 'door', 'ceiling', 'floor', 'picture', 'window', 'chair',
'pillow', 'lamp', 'cabinet', 'curtain', 'table', 'plant', 'mirror',
'towel', 'sink', 'shelves', 'sofa', 'bed', 'night stand', 'toilet', 'column',
'banister', 'stairs', 'stool', 'vase', 'television', 'pot', 'desk', 'box',
'coffee table', 'counter', 'bench', 'garbage bin', 'fireplace',
'clothes', 'bathtub', 'book', 'air vent', 'faucet')
MATTERPORT_LABELS_80 = ('wall', 'door', 'ceiling', 'floor', 'picture', 'window', 'chair', 'pillow', 'lamp',
'cabinet', 'curtain', 'table', 'plant', 'mirror', 'towel', 'sink', 'shelves', 'sofa',
'bed', 'night stand', 'toilet', 'column', 'banister', 'stairs', 'stool', 'vase',
'television', 'pot', 'desk', 'box', 'coffee table', 'counter', 'bench', 'garbage bin',
'fireplace', 'clothes', 'bathtub', 'book', 'air vent', 'faucet', 'photo', 'toilet paper',
'fan', 'railing', 'sculpture', 'dresser', 'rug', 'ottoman', 'bottle', 'refridgerator',
'bookshelf', 'wardrobe', 'pipe', 'monitor', 'stand', 'drawer', 'container', 'light switch',
'purse', 'door way', 'basket', 'chandelier', 'oven', 'clock', 'stove', 'washing machine',
'shower curtain', 'fire alarm', 'bin', 'chest', 'microwave', 'blinds', 'bowl', 'tissue box',
'plate', 'tv stand', 'shoe', 'heater', 'headboard', 'bucket')
MATTERPORT_LABELS_160 = ('wall', 'door', 'ceiling', 'floor', 'picture', 'window', 'chair', 'pillow', 'lamp',
'cabinet', 'curtain', 'table', 'plant', 'mirror', 'towel', 'sink', 'shelves', 'sofa',
'bed', 'night stand', 'toilet', 'column', 'banister', 'stairs', 'stool', 'vase',
'television', 'pot', 'desk', 'box', 'coffee table', 'counter', 'bench', 'garbage bin',
'fireplace', 'clothes', 'bathtub', 'book', 'air vent', 'faucet', 'photo', 'toilet paper',
'fan', 'railing', 'sculpture', 'dresser', 'rug', 'ottoman', 'bottle', 'refridgerator',
'bookshelf', 'wardrobe', 'pipe', 'monitor', 'stand', 'drawer', 'container', 'light switch',
'purse', 'door way', 'basket', 'chandelier', 'oven', 'clock', 'stove', 'washing machine',
'shower curtain', 'fire alarm', 'bin', 'chest', 'microwave', 'blinds', 'bowl', 'tissue box',
'plate', 'tv stand', 'shoe', 'heater', 'headboard', 'bucket', 'candle', 'flower pot',
'speaker', 'furniture', 'sign', 'air conditioner', 'fire extinguisher', 'curtain rod',
'floor mat', 'printer', 'telephone', 'blanket', 'handle', 'shower head', 'soap', 'keyboard',
'thermostat', 'radiator', 'kitchen island', 'paper towel', 'sheet', 'glass', 'dishwasher',
'cup', 'ladder', 'garage door', 'hat', 'exit sign', 'piano', 'board', 'rope', 'ball',
'excercise equipment', 'hanger', 'candlestick', 'light', 'scale', 'bag', 'laptop', 'treadmill',
'guitar', 'display case', 'toilet paper holder', 'bar', 'tray', 'urn', 'decorative plate', 'pool table',
'jacket', 'bottle of soap', 'water cooler', 'utensil', 'tea pot', 'stuffed animal', 'paper towel dispenser',
'lamp shade', 'car', 'toilet brush', 'doll', 'drum', 'whiteboard', 'range hood', 'candelabra', 'toy',
'foot rest', 'soap dish', 'placemat', 'cleaner', 'computer', 'knob', 'paper', 'projector', 'coat hanger',
'case', 'pan', 'luggage', 'trinket', 'chimney', 'person', 'alarm')
NUSCENES_LABELS_16 = ('barrier', 'bicycle', 'bus', 'car', 'construction vehicle', 'motorcycle', 'person', 'traffic cone',
'trailer', 'truck', 'drivable surface', 'other flat', 'sidewalk', 'terrain', 'manmade', 'vegetation')
NUSCENES_LABELS_DETAILS = ('barrier', 'barricade', 'bicycle', 'bus', 'car', 'bulldozer', 'excavator', 'concrete mixer', 'crane', 'dump truck',
'motorcycle', 'person', 'pedestrian','traffic cone', 'trailer', 'semi trailer', 'cargo container', 'shipping container', 'freight container',
'truck', 'road', 'curb', 'traffic island', 'traffic median', 'sidewalk', 'grass', 'grassland', 'lawn', 'meadow', 'turf', 'sod',
'building', 'wall', 'pole', 'awning', 'tree', 'trunk', 'tree trunk', 'bush', 'shrub', 'plant', 'flower', 'woods')
MAPPING_NUSCENES_DETAILS = (0, 0, 1, 2, 3, 4, 4, 4, 4, 4,
5, 6, 6, 7, 8, 8, 8, 8, 8,
9, 10, 11, 11, 11, 12, 13, 13, 13, 13, 13, 13,
14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15
)
NUSCENES16_COLORMAP = {
1: (220,220, 0), # barrier
2: (119, 11, 32), # bicycle
3: (0, 60, 100), # bus
4: (0, 0, 250), # car
5: (230,230,250), # construction vehicle
6: (0, 0, 230), # motorcycle
7: (220, 20, 60), # person
8: (250, 170, 30), # traffic cone
9: (200, 150, 0), # trailer
10: (0, 0, 110) , # truck
11: (128, 64, 128), # road
12: (0,250, 250), # other flat
13: (244, 35, 232), # sidewalk
14: (152, 251, 152), # terrain
15: (70, 70, 70), # manmade
16: (107,142, 35), # vegetation
17: (0, 0, 0), # unknown
}
SCANNET_COLOR_MAP_20 = {
1: (174., 199., 232.),
2: (152., 223., 138.),
3: (31., 119., 180.),
4: (255., 187., 120.),
5: (188., 189., 34.),
6: (140., 86., 75.),
7: (255., 152., 150.),
8: (214., 39., 40.),
9: (197., 176., 213.),
10: (148., 103., 189.),
11: (196., 156., 148.),
12: (23., 190., 207.),
14: (247., 182., 210.),
16: (219., 219., 141.),
24: (255., 127., 14.),
28: (158., 218., 229.),
33: (44., 160., 44.),
34: (112., 128., 144.),
36: (227., 119., 194.),
39: (82., 84., 163.),
0: (0., 0., 0.), # unlabel/unknown
}
MATTERPORT_COLOR_MAP_21 = {
1: (174., 199., 232.), # wall
2: (152., 223., 138.), # floor
3: (31., 119., 180.), # cabinet
4: (255., 187., 120.), # bed
5: (188., 189., 34.), # chair
6: (140., 86., 75.), # sofa
7: (255., 152., 150.), # table
8: (214., 39., 40.), # door
9: (197., 176., 213.), # window
10: (148., 103., 189.), # bookshelf
11: (196., 156., 148.), # picture
12: (23., 190., 207.), # counter
14: (247., 182., 210.), # desk
16: (219., 219., 141.), # curtain
24: (255., 127., 14.), # refrigerator
28: (158., 218., 229.), # shower curtain
33: (44., 160., 44.), # toilet
34: (112., 128., 144.), # sink
36: (227., 119., 194.), # bathtub
39: (82., 84., 163.), # other
# 41: (186., 197., 62.), # ceiling
41: (58., 98., 26.), # ceiling
0: (0., 0., 0.), # unlabel/unknown
}
MATTERPORT_COLOR_MAP_160 = {
1: (174., 199., 232.), # wall
2: (214., 39., 40.), # door
3: (186., 197., 62.), # ceiling
4: (152., 223., 138.), # floor
5: (196., 156., 148.), # picture
6: (197., 176., 213.), # window
7: (188., 189., 34.), # chair
8: (141., 91., 229.), # pillow
9: (237.0, 204.0, 37.0), # lamp
10: (31., 119., 180.), # cabinet
11: (219., 219., 141.), # curtain
12: (255., 152., 150.), # table
13: (150.0, 53.0, 56.0), # plant
14: (162.0, 62.0, 60.0), # mirror
15: (62.0, 143.0, 148.0), # towel
16: (112., 128., 144.), # sink
17: (229.0, 91.0, 104.0), # shelves
18: (140., 86., 75.), # sofa
19: (255., 187., 120.), # bed
20: (137.0, 63.0, 14.0), # night stand
21: (44., 160., 44.), # toilet
22: (39.0, 19.0, 208.0), # column
23: (64.0, 158.0, 70.0), # banister
24: (208.0, 49.0, 84.0), # stairs
25: (90.0, 119.0, 201.0), # stool
26: (118., 174., 76.), # vase
27: (143.0, 45.0, 115.0), # television
28: (153., 108., 234.), # pot
29: (247., 182., 210.), # desk
30: (177.0, 82.0, 239.0), # box
31: (58.0, 98.0, 137.0), # coffee table
32: (23., 190., 207.), # counter
33: (17.0, 242.0, 171.0), # bench
34: (79.0, 55.0, 137.0), # garbage bin
35: (127.0, 63.0, 52.0), # fireplace
36: (34.0, 14.0, 130.0), # clothes
37: (227., 119., 194.), # bathtub
38: (192.0, 229.0, 91.0), # book
39: (49.0, 206.0, 87.0), # air vent
40: (250., 253., 26.), # faucet
41: (0., 0., 0.), # unlabel/unknown
80: (82., 75., 227.),
82: (253., 59., 222.),
84: (240., 130., 89.),
86: (123., 172., 47.),
87: (71., 194., 133.),
88: (24., 94., 205.),
89: (134., 16., 179.),
90: (159., 32., 52.),
93: (213., 208., 88.),
95: (64., 158., 70.),
96: (18., 163., 194.),
97: (65., 29., 153.),
98: (177., 10., 109.),
99: (152., 83., 7.),
100: (83., 175., 30.),
101: (18., 199., 153.),
102: (61., 81., 208.),
103: (213., 85., 216.),
104: (170., 53., 42.),
105: (161., 192., 38.),
106: (23., 241., 91.),
107: (12., 103., 170.),
110: (151., 41., 245.),
112: (133., 51., 80.),
115: (184., 162., 91.),
116: (50., 138., 38.),
118: (31., 237., 236.),
120: (39., 19., 208.),
121: (223., 27., 180.),
122: (254., 141., 85.),
125: (97., 144., 39.),
128: (106., 231., 176.),
130: (12., 61., 162.),
131: (124., 66., 140.),
132: (137., 66., 73.),
134: (250., 253., 26.),
136: (55., 191., 73.),
138: (60., 126., 146.),
139: (153., 108., 234.),
140: (184., 58., 125.),
141: (135., 84., 14.),
145: (139., 248., 91.),
148: (53., 200., 172.),
154: (63., 69., 134.),
155: (190., 75., 186.),
156: (127., 63., 52.),
157: (141., 182., 25.),
159: (56., 144., 89.),
161: (64., 160., 250.),
163: (182., 86., 245.),
165: (139., 18., 53.),
166: (134., 120., 54.),
168: (49., 165., 42.),
169: (51., 128., 133.),
170: (44., 21., 163.),
177: (232., 93., 193.),
180: (176., 102., 54.),
185: (116., 217., 17.),
188: (54., 209., 150.),
191: (60., 99., 204.),
193: (129., 43., 144.),
195: (252., 100., 106.),
202: (187., 196., 73.),
208: (13., 158., 40.),
213: (52., 122., 152.),
214: (128., 76., 202.),
221: (187., 50., 115.),
229: (180., 141., 71.),
230: (77., 208., 35.),
232: (72., 183., 168.),
233: (97., 99., 203.),
242: (172., 22., 158.),
250: (155., 64., 40.),
261: (118., 159., 30.),
264: (69., 252., 148.),
276: (45., 103., 173.),
283: (111., 38., 149.),
286: (184., 9., 49.),
300: (188., 174., 67.),
304: (53., 206., 53.),
312: (97., 235., 252.),
323: (66., 32., 182.),
325: (236., 114., 195.),
331: (241., 154., 83.),
342: (133., 240., 52.),
356: (16., 205., 144.),
370: (75., 101., 198.),
392: (237., 95., 251.),
395: (191., 52., 49.),
399: (227., 254., 54.),
408: (49., 206., 87.),
417: (48., 113., 150.),
488: (125., 73., 182.),
540: (229., 32., 114.),
562: (158., 119., 28.),
570: (60., 205., 27.),
572: (18., 215., 201.),
581: (79., 76., 153.),
609: (134., 13., 116.),
748: (192., 97., 63.),
776: (108., 163., 18.),
1156: (95., 220., 156.),
1163: (98., 141., 208.),
1164: (144., 19., 193.),
1165: (166., 36., 57.),
1166: (212., 202., 34.),
1167: (23., 206., 34.),
1168: (91., 211., 236.),
1169: (79., 55., 137.),
1170: (182., 19., 117.),
1171: (134., 76., 14.),
1172: (87., 185., 28.),
1173: (82., 224., 187.),
1174: (92., 110., 214.),
1175: (168., 80., 171.),
1176: (197., 63., 51.),
1178: (175., 199., 77.),
1179: (62., 180., 98.),
1180: (8., 91., 150.),
1181: (77., 15., 130.),
1182: (154., 65., 96.),
1183: (197., 152., 11.),
1184: (59., 155., 45.),
1185: (12., 147., 145.),
1186: (54., 35., 219.),
1187: (210., 73., 181.),
1188: (221., 124., 77.),
1189: (149., 214., 66.),
1190: (72., 185., 134.),
1191: (42., 94., 198.),
1200: (0, 0, 0)
}