0:flat:road
1:flat:sidewalk
2:construction:building
3:construction:wall
4:construction:fence
5:object:pole
6:object:traffic light
7:object:traffic sign
8:vegetation
9:nature:terrain
10:nature:sky
11:human:person
12:human:rider
13:vehicle:car
14:vehicle:truck
15:vehicle:bus
16:vehicle:train
17:vehicle:motorcycle
18:vehicle:bicycle
255:void:other