From d7d10b9efde1e8802c57957cfa8d9419b3eecfe8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Iv=C3=A1n=20del=20Pino?= <idelpino@iri.upc.edu>
Date: Wed, 21 Dec 2022 10:25:29 +0100
Subject: [PATCH] added constants to represent gt labels in colors in the point
 cloud

---
 include/structs_definitions.h | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/include/structs_definitions.h b/include/structs_definitions.h
index 1ea91ef..01aa17d 100644
--- a/include/structs_definitions.h
+++ b/include/structs_definitions.h
@@ -73,8 +73,28 @@ const int TRUNK = 71;
 const int POLE = 80;
 const int TRAFFIC_SIGN = 81;
 
-// Key obstacles like cars, pedestrians and so on are the rest of the classes so we will not explicitly write them here
+// KITTI Classes rgb codes:
+const uint8_t R_CLASS_ROAD = 0;
+const uint8_t G_CLASS_ROAD = 0;
+const uint8_t B_CLASS_ROAD = 255;
+
+const uint8_t R_CLASS_SIDEWALK = 127;
+const uint8_t G_CLASS_SIDEWALK = 127;
+const uint8_t B_CLASS_SIDEWALK = 127;
+
+const uint8_t R_CLASS_TERRAIN = 127;
+const uint8_t G_CLASS_TERRAIN = 127;
+const uint8_t B_CLASS_TERRAIN = 0;
 
+const uint8_t R_CLASS_VEGETATION = 0;
+const uint8_t G_CLASS_VEGETATION = 255;
+const uint8_t B_CLASS_VEGETATION = 0;
+
+const uint8_t R_CLASS_KITTI_OBSTACLE = 0;
+const uint8_t G_CLASS_KITTI_OBSTACLE = 255;
+const uint8_t B_CLASS_KITTI_OBSTACLE = 255;
+
+// Key obstacles like cars, pedestrians and so on are the rest of the classes so we will not explicitly write them here
 
 //Custom labels not present in Kitti semantic
 const int CLASS_GROUND = 46;
-- 
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