How to get Mask value of an object

[hanyangyu1021]

When collecting demo, i can get the one-channel mask image. It seems like each mask value corresponding to a specific object. But how I can I find the correspondence map, like 145 corresponding to the pencil?

[zhenglianchi]

def get_mask(sensor: VisionSensor, mask_fn):
    mask = None
    if sensor is not None:
        sensor.handle_explicitly()
        mask = mask_fn(sensor.capture_rgb())
    return mask

def rgb_handles_to_mask(rgb_coded_handles):
    # rgb_coded_handles should be (w, h, c)
    # Handle encoded as : handle = R + G * 256 + B * 256 * 256

    # If reading from a PIL image, the values will already be on the 
    # range [0, 255] and uint8. However, if rgb_coded_handles is read directly from 
    # a sensor, it will be on the range [0, 1].
    if rgb_coded_handles.dtype != np.uint8:
        rgb_coded_handles *= 255  # takes rgb range to 0 -> 255
    rgb_coded_handles.astype(int)
    return (rgb_coded_handles[:, :, 0] +
            rgb_coded_handles[:, :, 1] * 256 +
            rgb_coded_handles[:, :, 2] * 256 * 256)

查看源码你会发现mask值是通过上述代码计算，直接通过rgb像素值处理得到