| # Semantic Label Color Legend | |
| # Category -> (R, G, B) in 0-255 range | |
| 0 FreeSurface 127 127 127 | |
| 1 HorizontalPlane 0 0 255 | |
| 2 LateralPlane_X 0 255 0 | |
| 3 LateralPlane_Z 255 0 0 | |
| 4 NearHorizontal 255 255 0 | |
| 5 NearLateral_X 255 0 255 | |
| 6 NearLateral_Z 0 255 255 | |
| 7 Degenerate 255 127 0 | |
| 8 ConvexFeature_Bolt 127 0 255 | |
| 9 ConcaveFeature_Hole 0 127 255 | |
| 10 Flange 204 204 0 | |
| 11 Boss 0 204 102 | |
| # Instance Segmentation Encoding | |
| # Pixel (R, G, B) = (InstanceID, FeatureTypeID, FeatureIndex) | |
| # InstanceID: unique per object in scene (1-255) | |
| # FeatureTypeID: semantic category (0-11) | |
| # FeatureIndex: instance index within that feature type | |