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The data format for OCFBench-nuScenes after mounting should be as the following:
```
OCFBench-nuScenes
βββ calib # Camera calibration
| βββ 0000 # scene index
| | βββ CAM_NAME_intrinsic.bin # 3x3 camera intrinsic
| | βββ CAM_NAME_extrinsic.BIN # 4x4 camera extrinsic w.r.t. ego-vehicle
| | βββ ...
| βββ ...
βββ cam_pose
| βββ 0000 # scene index
| | βββ 0000_pose.bin # 4x4 ego-vehicle pose w.r.t. global coordinate
| | βββ 0001_pose.bin
| | βββ ...
| βββ ...
βββ image
| βββ 0000 # scene index
| | βββ 0000_CAM_NAME.jpg
| | βββ 0001_CAM_NAME.jpg
| | βββ ...
| βββ ...
βββ image
| βββ 1_2 # 1/2 downsample
| | βββ ... # same as image folder
| βββ 1_4 # 1/4 downsample
| | βββ ...
βββ voxel
| βββ 0000 # scene index
| | βββ 0010_input.npy # Start from 10th frame
| | βββ 0010_label.npy
| | βββ 0010_invalid.npy
| | βββ ...
| βββ ...
βββ vis # Optional
``` |