undefined      0 0 0;
bridge         128 128 128;
building       255 0 0; 
car            128 0 128; 
median strip   192 192 192; 
pedestrian     0 0 128; 
pole           0 128 128; 
road           0 0 255;
sky            0 255 255; 
traffic lights 0 255 0; 
traffic sign   255 0 255;
tree           0 128 0; 
vegetation     255 255 0; 
wiper          128 128 0