0:  unlabeled
1:  dynamic
2:  ego vehicle
3:  ground
4:  static
5:  parking
6:  rail track
7:  road
8:  sidewalk
9:  bridge
10: building
11: fence
12: garage
13: guard rail
14: tunnel
15: wall
16: banner
17: billboard
18: lane divider
19: parking sign
20: pole
21: polegroup
22: street light
23: traffic cone
24: traffic device
25: traffic light
26: traffic sign
27: traffic sign frame
28: terrain
29: vegetation
30: sky
31: person
32: rider
33: bicycle
34: bus
35: car
36: caravan
37: motorcycle
38: trailer
39: train
40: truck