From 64bc1c1a6505b6cd1779b65f9127180840b8a4fa Mon Sep 17 00:00:00 2001
From: Liang-Chieh Chen <lcchen@google.com>
Date: Mon, 17 Apr 2023 17:58:44 +0000
Subject: [PATCH] Update WOD constants to match WOD spec.

PiperOrigin-RevId: 524893268
---
 data/dataset.py         |  5 +----
 data/waymo_constants.py | 18 +++++++-----------
 2 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/data/dataset.py b/data/dataset.py
index 7dc865e..332c7d9 100644
--- a/data/dataset.py
+++ b/data/dataset.py
@@ -351,10 +351,7 @@ def _build_waymo_image_panoptic_seg_dataset(**kwargs):
       },
       ignore_label=waymo_constants.IGNORE_LABEL,
       panoptic_label_divisor=waymo_constants.PANOPTIC_LABEL_DIVISOR,
-      num_classes=len(
-          list(
-              filter(lambda val: val['id'] != waymo_constants.IGNORE_LABEL,
-                     waymo_meta))),
+      num_classes=len(waymo_meta),
       class_has_instances_list=list(
           map(lambda val: val['id'],
               filter(lambda val: val['isthing'], waymo_meta))),
diff --git a/data/waymo_constants.py b/data/waymo_constants.py
index ccaafe0..df9caca 100644
--- a/data/waymo_constants.py
+++ b/data/waymo_constants.py
@@ -32,8 +32,8 @@
 COLORMAP = "waymo"
 PANOPTIC_LABEL_DIVISOR = 100000
 
-IGNORE_LABEL_NAME = "ignore_label"
-IGNORE_LABEL = 255
+IGNORE_LABEL_NAME = "unknown"
+IGNORE_LABEL = 0
 
 _WAYMO_COLORS = immutabledict.immutabledict({
     "bicycle": [119, 11, 32],
@@ -55,6 +55,7 @@
     "pole": [153, 153, 153],
     "road": [128, 64, 128],
     "road_marker": [217, 210, 233],
+    "sdc": [102, 102, 102],
     "sidewalk": [244, 35, 232],
     "sign": [246, 178, 107],
     "sky": [70, 130, 180],
@@ -62,12 +63,13 @@
     "traffic_light": [250, 170, 30],
     "trailer": [111, 168, 220],
     "truck": [0, 0, 70],
-    "unknown(sdc)": [102, 102, 102],
-    "vegetation": [107, 142, 35]
+    "unknown": [102, 102, 102],
+    "vegetation": [107, 142, 35],
 })
 
 _WAYMO_CLASS_NAMES = [
-    "unknown(sdc)",
+    "unknown",
+    "sdc",
     "car",
     "truck",
     "bus",
@@ -114,10 +116,4 @@ def get_waymo_meta() -> Sequence[Any]:
         "isthing": int(name in _IS_THINGS)
     }
     meta.append(item)
-  meta.append({
-      "color": [0, 0, 0],
-      "name": IGNORE_LABEL_NAME,
-      "id": IGNORE_LABEL,
-      "isthing": 0
-  })
   return meta