opencv/samples/data/dnn/enet-classes.txt

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Unlabeled 0 0 0
Road 128 64 128
Sidewalk 244 35 232
Building 70 70 70
Wall 102 102 156
Fence 190 153 153
Pole 153 153 153
TrafficLight 250 170 30
TrafficSign 220 220 0
Vegetation 107 142 35
Terrain 152 251 152
Sky 70 130 180
Person 220 20 60
Rider 255 0 0
Car 0 0 142
Truck 0 0 70
Bus 0 60 100
Train 0 80 100
Motorcycle 0 0 230
Bicycle 119 11 32