# This file is covered by the LICENSE file in the root of this project.
nbr_classes: 11
grid_dims: [256, 32, 256]  # (W, H, D)
labels:
  10: "car"
  11: "bicycle"
  13: "bus"
  15: "motorcycle"
  18: "truck"
  20: "other-vehicle"
  30: "person"
  40: "road"
  48: "sidewalk"
  49: "other-ground"
  50: "building"
  70: "vegetation"
  90: "other-object"
  99: "other-object2"
color_map: # bgr
  10: [245, 150, 100]
  11: [245, 230, 100]
  13: [250, 80, 100]
  15: [150, 60, 30]
  18: [180, 30, 80]
  20: [255, 0, 0]
  30: [30, 30, 255]
  40: [255, 0, 255]
  48: [75, 0, 75]
  49: [75, 0, 175]
  50: [0, 200, 255]
  70: [0, 175, 0]
  90: [255, 255, 50]
  99: [255, 255, 50]
content: # as a ratio with the total number of points
  0: 1.98785873e-01
  10: 5.77638478e-04  
  11: 3.68250377e-06
  15: 5.21755341e-06
  18: 1.86707793e-04   
  20: 2.22423703e-04
  30: 5.49772336e-05
  40: 8.65070320e-03
  48: 1.93335044e-03   
  49: 1.73705954e-04
  50: 4.92616008e-03
  70: 4.89254452e-03
  99: 2.43197941e-05
# classes that are indistinguishable from single scan or inconsistent in
# ground truth are mapped to their closest equivalent
# learning_map:
#   10: 1     # "car"
#   11: 2     # "bicycle"
#   13: 5     # "bus" mapped to "other-vehicle" --------------------------mapped
#   15: 3     # "motorcycle"
#   18: 4     # "truck"
#   20: 5     # "other-vehicle"
#   30: 6     # "person"
#   40: 7     # "road"
#   48: 8    # "sidewalk"
#   49: 9    # "other-ground"
#   50: 10    # "building"
#   70: 11    # "vegetation"
#   71: 0    # "trunk"
#   99: 12     # "other-object" 
#   255: 0    # "moving-motorcyclist" to "unlabeled" ------------------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: 40     # "road"
#   8: 48    # "sidewalk"
#   9: 49    # "other-ground"
#   10: 50    # "building"
#   11: 70    # "vegetation"
#   12: 99    # "other-object"
# 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     # "road"
#   8: False    # "sidewalk"
#   9: False    # "other-ground"
#   10: False    # "building"
#   11: False    # "vegetation"
#   12: False    # "other-object"
learning_map:
  10: 1     # "car"
  11: 2     # "bicycle"
  13: 1     # "bus" mapped to "car" --------------------------mapped
  15: 3     # "motorcycle"
  18: 1     # "truck" mapped to "car" --------------------------mapped
  20: 1     # "other-vehicle" mapped to "car" --------------------------mapped
  30: 4     # "person"
  40: 5     # "road"
  48: 6    # "sidewalk"
  49: 7    # "other-ground"
  50: 8    # "building"
  70: 9    # "vegetation"
  71: 9    # "trunk" mapped to "vegetation" --------------------------mapped
  90: 10    # "other-object" 
  99: 10     # "other-object" 
  255: 0    # "moving-motorcyclist" to "unlabeled" ------------------mapped
learning_map_inv: # inverse of previous map
  0: 0      # "unlabeled", and others ignored
  1: 10     # "car"
  2: 11     # "bicycle"
  3: 15     # "motorcycle"
  4: 30     # "person"
  5: 40     # "road"
  6: 48    # "sidewalk"
  7: 49    # "other-ground"
  8: 50    # "building"
  9: 70    # "vegetation"
  10: 99    # "other-object"
learning_ignore: # Ignore classes
  0: True      # "unlabeled", and others ignored
  1: False     # "car"
  2: False     # "bicycle"
  3: False     # "motorcycle"
  4: False     # "person"
  5: False     # "road"
  6: False    # "sidewalk"
  7: False    # "other-ground"
  8: False    # "building"
  9: False    # "vegetation"
  10: False    # "other-object"