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