Carla Instance Segmentation - Semantic IDs Embedded in B and G Channel Extraction

[Jadams29]

I have found this question asked multiple times but I have not found an answer. I am working with the instance segmentation sensor in carla. In the release summary linked below it states that the semantic ID's are embedded in the G and B channels. How are those ID's extracted from those channels?

https://carla.org/2021/11/16/release-0.9.13/#instance-segmentation

[Emcyz]

unique_id == G + ( B << 8 ) + 0x10000 (if unique_id is larger than 0x10000)
BTW unique_ id is Unreal Engine's id, not carla's id

#5047

[dk-kling]

Is there any way to get the carla's ID with images using a kind of camera sensor?

[alexkutsan]

I am also interested in getting Carlas object id to get object details for ground truth.