# This file is covered by the LICENSE file in the root of this project.
labels:
  0 : "unlabeled"
  1: "car"
  2: "pick-up"
  3: "truck"
  4: "bus"
  5: "bicycle"
  6: "motorcycle"
  7: "other-vehicle"
  8: "road"
  9: "sidewalk"
  10: "parking"
  11: "other-ground"
  12: "female"
  13: "male"
  14: "kid"
  15: "crowd"  # multiple person that are very close
  16: "bicyclist"
  17: "motorcyclist"
  18: "building"
  19: "other-structure"
  20: "vegetation"
  21: "trunk"
  22: "terrain"
  23: "traffic-sign"
  24: "pole"
  25: "traffic-cone"
  26: "fence"
  27: "garbage-can"
  28: "electric-box"
  29: "table"
  30: "chair"
  31: "bench"
  32: "other-object"
color_map: # bgr
  0 : [0, 0, 0]
  1 : [0, 0, 255]
  2: [245, 150, 100]
  3: [245, 230, 100]
  4: [250, 80, 100]
  5: [150, 60, 30]
  6: [255, 0, 0]
  7: [180, 30, 80]
  8: [255, 0, 0]
  9: [30, 30, 255]
  10: [200, 40, 255]
  11: [90, 30, 150]
  12: [255, 0, 255]
  13: [255, 150, 255]
  14: [75, 0, 75]
  15: [75, 0, 175]
  16: [0, 200, 255]
  17: [50, 120, 255]
  18: [0, 150, 255]
  19: [170, 255, 150]
  20: [0, 175, 0]
  21: [0, 60, 135]
  22: [80, 240, 150]
  23: [150, 240, 255]
  24: [0, 0, 255]
  25: [255, 255, 50]
  26: [245, 150, 100]
  27: [255, 0, 0]
  28: [200, 40, 255]
  29: [30, 30, 255]
  30: [90, 30, 150]
  31: [250, 80, 100]
  32: [180, 30, 80]
# An example of class mapping from synlidar to semantickitti,
# classes that are indistinguishable from single scan or inconsistent in
# ground truth are mapped to their closest equivalent.
map_2_semantickitti:
  0: 0  # "unlabeled"
  1: 1  # "car"
  2: 4  # "pick-up"
  3: 4  # "truck"
  4: 5  # "bus"
  5: 2  # "bicycle"
  6: 3  # "motorcycle"
  7: 5  # "other-vehicle"
  8: 9  # "road"
  9: 11  # "sidewalk"
  10: 10  # "parking"
  11: 12  # "other-ground"
  12: 6  # "female"
  13: 6  # "male"
  14: 6  # "kid"
  15: 6  # "crowd"
  16: 7  # "bicyclist"
  17: 8  # "motorcyclist"
  18: 13  # "building"
  19: 0  # "other-structure"
  20: 15  # "vegetation"
  21: 16  # "trunk"
  22: 17  # "terrain"
  23: 19  # "traffic-sign"
  24: 18  # "pole"
  25: 0  # "traffic-cone"
  26: 14  # "fence"
  27: 0  # "garbage-can"
  28: 0  # "electric-box"
  29: 0  # "table"
  30: 0  # "chair"
  31: 0  # "bench"
  32: 0  # "other-object"
# An example of class mapping from synlidar to semanticposs,
# classes that are indistinguishable from single scan or inconsistent in
# ground truth are mapped to their closest equivalent.
map_2_semanticposs:
  0: 255 # "unlabeled"
  1: 2   # "car"
  2: 2  
  3: 2
  4: 2
  5: 11  # "bike"
  6: 11
  7: 255
  8: 12  # "ground"
  9: 12
  10: 12
  11: 12
  12: 0  # "person"
  13: 0
  14: 0
  15: 0
  16: 1  # "rider"
  17: 1
  18: 8  # "building"
  19: 255
  20: 4  # "plant"
  21: 3  # "trunk"
  22: 4
  23: 5  # "traffic-sign"
  24: 6  # "pole"
  25: 9  # "cone/stone"
  26: 10 # "fence"
  27: 7  # "trashcan"
  28: 255  
  29: 255 
  30: 255 
  31: 255 
  32: 255
sequences: # sequence numbers
  - 00
  - 01
  - 02
  - 03
  - 04
  - 05
  - 06
  - 07
  - 08
  - 09
  - 10
  - 11
  - 12