mIoU: 80.713% 
unlabeled: (nan%), building: (92.680%), fence: (62.454%), other: (nan%), pedestrian: (68.337%), pole: (62.163%), road line: (82.041%), road: (98.274%), sidewalk: (93.993%), vegetation: (86.786%), vehicle: (93.424%), wall: (88.038%), traffic sign: (58.288%), sky: (98.272%), ground: (nan%), bridge: (nan%), rail track: (nan%), guard rail: (nan%), traffic light: (64.943%), static: (nan%), dynamic: (nan%), water: (nan%), terrain: (80.289%)