# This file is covered by the LICENSE file in the root of this project. labels: 0 : "unlabeled" 1 : "outlier" 10: "car" 11: "bicycle" 13: "bus" 15: "motorcycle" 16: "on-rails" 18: "truck" 20: "other-vehicle" 30: "person" 31: "bicyclist" 32: "motorcyclist" 40: "road" 44: "parking" 48: "sidewalk" 49: "other-ground" 50: "building" 51: "fence" 52: "other-structure" 60: "lane-marking" 70: "vegetation" 71: "trunk" 72: "terrain" 80: "pole" 81: "traffic-sign" 99: "other-object" 252: "moving-car" 253: "moving-bicyclist" 254: "moving-person" 255: "moving-motorcyclist" 256: "moving-on-rails" 257: "moving-bus" 258: "moving-truck" 259: "moving-other-vehicle" color_map: # bgr 0 : [0, 0, 0] 1 : [0, 0, 255] 10: [245, 150, 100] 11: [245, 230, 100] 13: [250, 80, 100] 15: [150, 60, 30] 16: [255, 0, 0] 18: [180, 30, 80] 20: [255, 0, 0] 30: [30, 30, 255] 31: [200, 40, 255] 32: [90, 30, 150] 40: [255, 0, 255] 44: [255, 150, 255] 48: [75, 0, 75] 49: [75, 0, 175] 50: [0, 200, 255] 51: [50, 120, 255] 52: [0, 150, 255] 60: [170, 255, 150] 70: [0, 175, 0] 71: [0, 60, 135] 72: [80, 240, 150] 80: [150, 240, 255] 81: [0, 0, 255] 99: [255, 255, 50] 252: [245, 150, 100] 256: [255, 0, 0] 253: [200, 40, 255] 254: [30, 30, 255] 255: [90, 30, 150] 257: [250, 80, 100] 258: [180, 30, 80] 259: [255, 0, 0] content: # as a ratio with the total number of points 0: 0.018889854628292943 1: 0.0002937197336781505 10: 0.040818519255974316 11: 0.00016609538710764618 13: 2.7879693665067774e-05 15: 0.00039838616015114444 16: 0.0 18: 0.0020633612104619787 20: 0.0016218197275284021 30: 0.00017698551338515307 31: 1.1065903904919655e-08 32: 5.532951952459828e-09 40: 0.1987493871255525 44: 0.014717169549888214 48: 0.14392298360372 49: 0.0039048553037472045 50: 0.1326861944777486 51: 0.0723592229456223 52: 0.002395131480328884 60: 4.7084144280367186e-05 70: 0.26681502148037506 71: 0.006035012012626033 72: 0.07814222006271769 80: 0.002855498193863172 81: 0.0006155958086189918 99: 0.009923127583046915 252: 0.001789309418528068 253: 0.00012709999297008662 254: 0.00016059776092534436 255: 3.745553104802113e-05 256: 0.0 257: 0.00011351574470342043 258: 0.00010157861367183268 259: 4.3840131989471124e-05 # classes that are indistinguishable from single scan or inconsistent in # ground truth are mapped to their closest equivalent learning_map: 0 : 0 # "unlabeled" 1 : 0 # "outlier" mapped to "unlabeled" --------------------------mapped 10: 1 # "car" 11: 2 # "bicycle" 13: 5 # "bus" mapped to "other-vehicle" --------------------------mapped 15: 3 # "motorcycle" 16: 5 # "on-rails" mapped to "other-vehicle" ---------------------mapped 18: 4 # "truck" 20: 5 # "other-vehicle" 30: 6 # "person" 31: 7 # "bicyclist" 32: 8 # "motorcyclist" 40: 9 # "road" 44: 10 # "parking" 48: 11 # "sidewalk" 49: 12 # "other-ground" 50: 13 # "building" 51: 14 # "fence" 52: 0 # "other-structure" mapped to "unlabeled" ------------------mapped 60: 9 # "lane-marking" to "road" ---------------------------------mapped 70: 15 # "vegetation" 71: 16 # "trunk" 72: 17 # "terrain" 80: 18 # "pole" 81: 19 # "traffic-sign" 99: 0 # "other-object" to "unlabeled" ----------------------------mapped 252: 1 # "moving-car" to "car" ------------------------------------mapped 253: 7 # "moving-bicyclist" to "bicyclist" ------------------------mapped 254: 6 # "moving-person" to "person" ------------------------------mapped 255: 8 # "moving-motorcyclist" to "motorcyclist" ------------------mapped 256: 5 # "moving-on-rails" mapped to "other-vehicle" --------------mapped 257: 5 # "moving-bus" mapped to "other-vehicle" -------------------mapped 258: 4 # "moving-truck" to "truck" --------------------------------mapped 259: 5 # "moving-other"-vehicle to "other-vehicle" ----------------mapped learning_map_inv: # inverse of previous map 0: 0 # "unlabeled", and others ignored 1: 10 # "car" 2: 11 # "bicycle" 3: 15 # "motorcycle" 4: 18 # "truck" 5: 20 # "other-vehicle" 6: 30 # "person" 7: 31 # "bicyclist" 8: 32 # "motorcyclist" 9: 40 # "road" 10: 44 # "parking" 11: 48 # "sidewalk" 12: 49 # "other-ground" 13: 50 # "building" 14: 51 # "fence" 15: 70 # "vegetation" 16: 71 # "trunk" 17: 72 # "terrain" 18: 80 # "pole" 19: 81 # "traffic-sign" learning_ignore: # Ignore classes 0: True # "unlabeled", and others ignored 1: False # "car" 2: False # "bicycle" 3: False # "motorcycle" 4: False # "truck" 5: False # "other-vehicle" 6: False # "person" 7: False # "bicyclist" 8: False # "motorcyclist" 9: False # "road" 10: False # "parking" 11: False # "sidewalk" 12: False # "other-ground" 13: False # "building" 14: False # "fence" 15: False # "vegetation" 16: False # "trunk" 17: False # "terrain" 18: False # "pole" 19: False # "traffic-sign" split: # sequence numbers train: - 0 - 1 - 2 - 3 - 4 - 5 - 6 - 7 - 9 - 10 valid: - 8 test: - 11 - 12 - 13 - 14 - 15 - 16 - 17 - 18 - 19 - 20 - 21