{
  "class_groups": {
    "flat": ["road", "sidewalk", "parking", "rail track"],
    "human": ["person", "rider"],
    "vehicle": ["car", "truck", "bus", "train", "motorcycle", "bicycle", "caravan", "trailer"],
    "construction": ["building", "wall", "fence", "guard rail", "bridge", "tunnel"],
    "object": ["pole", "pole group", "traffic sign", "traffic light"],
    "nature": ["vegetation", "terrain"],
    "sky": ["sky"],
    "void": ["unlabeled", "ego vehicle", "rectification border", "out of roi", "static", "dynamic", "ground"]
  },
  "cityscapes_mapping": {
    "0": 7, "1": 7, "2": 7, "3": 7, "4": 7, "5": 7, "6": 7,
    "7": 0, "8": 0, "9": 0, "10": 0,
    "11": 3, "12": 3, "13": 3, "14": 3, "15": 3, "16": 3,
    "17": 4, "18": 4, "19": 4, "20": 4,
    "21": 5, "22": 5,
    "23": 6,
    "24": 1, "25": 1,
    "26": 2, "27": 2, "28": 2, "29": 2, "30": 2, "31": 2, "32": 2, "33": 2
  },
  "id_to_label": {
    "0": "unlabeled",
    "1": "ego vehicle",
    "2": "rectification border",
    "3": "out of roi",
    "4": "static",
    "5": "dynamic",
    "6": "ground",
    "7": "road",
    "8": "sidewalk",
    "9": "parking",
    "10": "rail track",
    "11": "building",
    "12": "wall",
    "13": "fence",
    "14": "guard rail",
    "15": "bridge",
    "16": "tunnel",
    "17": "pole",
    "18": "pole group",
    "19": "traffic light",
    "20": "traffic sign",
    "21": "vegetation",
    "22": "terrain",
    "23": "sky",
    "24": "person",
    "25": "rider",
    "26": "car",
    "27": "truck",
    "28": "bus",
    "29": "caravan",
    "30": "trailer",
    "31": "train",
    "32": "motorcycle",
    "33": "bicycle"
  },
  "group_colors": [
    [128, 64, 128], [220, 20, 60], [0, 0, 142], [70, 70, 70],
    [220, 220, 0], [107, 142, 35], [70, 130, 180], [0, 0, 0]
  ],
  "group_names": ["flat", "human", "vehicle", "construction", "object", "nature", "sky", "void"]
}