code: def voc_colormap(labels):
      """Color map used in PASCAL VOC
  
      Args:
          labels (iterable of ints): Class ids.
  
      Returns:
          numpy.ndarray: Colors in RGB order. The shape is :math:`(N, 3)`,
          where :math:`N` is the size of :obj:`labels`. The range of the values
          is :math:`[0, 255]`.
  
      """
      colors = []
      for label in labels:
          r, g, b = 0, 0, 0
          i = label
          for j in range(8):
              if i & (1 << 0):
                  r |= 1 << (7 - j)
              if i & (1 << 1):
                  g |= 1 << (7 - j)
              if i & (1 << 2):
                  b |= 1 << (7 - j)
              i >>= 3
          colors.append((r, g, b))
      return np.array(colors, dtype=np.float32)
  
label_desc: Use image node_id 1 for calling a global function with example usage: voc_colormap(labels) and returns: np