Creating masking semantic segmentation

Course Q&A Deep Learning Specialization Convolutional Neural Networks
1

In Week 3 of 4th Course (Convolutional Neural Networks) of Deep Learning Specialization, there is one Programming Assignment: Image Segmentation with U-Net. Here there is “CameraMask” Dataset. I wish to know how this dataset has been generated from original image dataset

2

I believe the dataset in this assignment is a standard, obtained from this resource:
https://carla.readthedocs.io/en/latest/ref_sensors/#camera-semantic-segmentation