semantics_cmap = {
    'living room': '#e6194b',
    'kitchen': '#3cb44b',
    'bedroom': '#ffe119',
    'bathroom': '#0082c8',
    'balcony': '#f58230',
    'corridor': '#911eb4',
    'dining room': '#46f0f0',
    'study': '#f032e6',
    'studio': '#d2f53c',
    'store room': '#fabebe',
    'garden': '#008080',
    'laundry room': '#e6beff',
    'office': '#aa6e28',
    'basement': '#fffac8',
    'garage': '#800000',
    'undefined': '#aaffc3',
    'door': '#808000',
    'window': '#ffd7b4',
    'outwall': '#000000',
}


colormap_255 = [
    [230,  25,  75],
    [ 60, 180,  75],
    [255, 225,  25],
    [  0, 130, 200],
    [245, 130,  48],
    [145,  30, 180],
    [ 70, 240, 240],
    [240,  50, 230],
    [210, 245,  60],
    [250, 190, 190],
    [  0, 128, 128],
    [230, 190, 255],
    [170, 110,  40],
    [255, 250, 200],
    [128,   0,   0],
    [170, 255, 195],
    [128, 128,   0],
    [255, 215, 180],
    [  0,   0, 128],
    [128, 128, 128],
    [255, 255, 255],
    [  0,   0,   0]
]