{ "road": { "id": 1, "has_instance": false }, "sidewalk": { "id": 2, "has_instance": false }, "building": { "id": 3, "has_instance": false }, "wall": { "id": 4, "has_instance": false }, "fence": { "id": 5, "has_instance": false }, "pole": { "id": 6, "has_instance": false }, "traffic light": { "id": 7, "has_instance": false }, "traffic sign": { "id": 8, "has_instance": false }, "vegetation": { "id": 9, "has_instance": false }, "terrain": { "id": 10, "has_instance": false }, "sky": { "id": 11, "has_instance": false }, "person": { "id": 12, "has_instance": true }, "rider": { "id": 13, "has_instance": true }, "car": { "id": 14, "has_instance": true }, "truck": { "id": 15, "has_instance": true }, "bus": { "id": 16, "has_instance": true }, "train": { "id": 17, "has_instance": true }, "motorcycle": { "id": 18, "has_instance": true }, "bicycle": { "id": 19, "has_instance": true } }