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./data/nuscenes.xxx.bin file and xxx_idx.bin file.1W, H, Z = 200, 200, 16
2sample_idx = results['sample_idx'] # nuScenes sample token
3data_path = os.path.join('./data/nuscenes', 'occ_flow_sparse_ext', sample_idx)
4
5occ_flow = np.ones((W*H*Z, 2)) * pad_value # pad_value could be zero
6sparse_flow = np.fromfile(data_path + '.bin', dtype=np.float16).reshape(-1, 3)[:, :2]
7sparse_idx = np.fromfile(data_path + '_idx.bin', dtype=np.int32).reshape(-1)
8occ_flow[sparse_idx] = sparse_flow
9occ_flow = occ_flow.reshape(W, H, Z, 2)1 @article{li2024viewformer,
2 title={ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformers},
3 author={Jinke Li and Xiao He and Chonghua Zhou and Xiaoqiang Cheng and Yang Wen and Dan Zhang},
4 journal={arXiv preprint arXiv:2405.04299},
5 year={2024},
6 }