mIoU: 78.870% 
unlabeled: (nan%), building: (88.032%), fence: (56.842%), other: (nan%), pedestrian: (68.571%), pole: (61.413%), road line: (82.776%), road: (98.074%), sidewalk: (92.754%), vegetation: (79.486%), vehicle: (93.528%), wall: (86.722%), traffic sign: (57.622%), sky: (94.147%), ground: (nan%), bridge: (nan%), rail track: (nan%), guard rail: (nan%), traffic light: (67.522%), static: (nan%), dynamic: (nan%), water: (nan%), terrain: (76.689%)