# 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