How you know the kitti sematic label mapping ?

[HuangChiEn]

Where can i find the kitti sematic label mapping like you give in helper.py ?

DEFAULT_VOID_LABELS = (0, 1, 2, 3, 4, 5, 6, 9, 10, 14, 15, 16, 18, 29, 30, -1) DEFAULT_VALID_LABELS = (7, 8, 11, 12, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 32, 33)

those class id is not clear how it come ?