| id,name,r,g,b | |
| 0,others,0,0,0 | |
| 1,buildling,70,70,70 | |
| 2,wall,150,150,150 | |
| 3,obstacle,255,0,255 | |
| 4,traffic_light,250,170,30 | |
| 5,traffic_sign,220,220,0 | |
| 6,person,220,20,60 | |
| 7,vehicle,0,0,142 | |
| 8,bike,220,20,60 | |
| 9,road,128,64,128 | |
| 10,sidewalk,255,0,255 | |
| 11,roadPaint,128,64,128 | |
| 12,curbstone,10,0,10 | |
| 13,crosswalk_others,128,64,128 | |
| 14,vegetation,147,253,194 | |
| 15,sky,135,206,255 | |