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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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Unexplained Semantic Lidar Instance Masks #3181

Closed dHonerkamp closed 3 years ago

dHonerkamp commented 3 years ago

Hi,

I am using the new semantic lidar to get instance mask annotations for the camera by projecting them with the constructed intrinsic matrix. This seems to work well for most parts. But from time to time there seem to appear unexplainable instances.

For example in the image below (left-most are the projected instance labels from the semantic lidar, right most is a standard semantic camera) we get an instance in the top right which does not appear on the cameras. Inspecting its semantic label in the lidar data we find that it is labelled as 10 (car). Screenshot from 2020-08-12 11-20-18

Is anyone experiencing something similar? Any idea where this might come from?

Carla version: c56a7738 (latest docker image) Python API: 0.9.9.4-255-gc56a7738

dHonerkamp commented 3 years ago

I am realising this might have been an issue of mirroring points from the background. Checking for this I couldn't find any further occurances. In case this should not have completely fixed it, I'll open this again.