viewformer/ViewFormer-Occ

FlowOcc3D (3D Occypancy Flow Dataset)

Download FlowOcc3D. Unzip it in ./data/nuscenes.

Our FlowOcc3D assigns a flow vector to each foreground occupancy of Occ3D.

Here we briefly introduce how to use FlowOcc3D. We store the flow and index of each foreground voxel in the xxx.bin file and xxx_idx.bin file.

W, H, Z = 200, 200, 16
sample_idx = results['sample_idx'] # nuScenes sample token
data_path = os.path.join('./data/nuscenes', 'occ_flow_sparse_ext', sample_idx)

occ_flow = np.ones((W*H*Z, 2)) * pad_value # pad_value could be zero
sparse_flow = np.fromfile(data_path + '.bin', dtype=np.float16).reshape(-1, 3)[:, :2]
sparse_idx = np.fromfile(data_path + '_idx.bin', dtype=np.int32).reshape(-1)
occ_flow[sparse_idx] = sparse_flow
occ_flow = occ_flow.reshape(W, H, Z, 2)

Citation

    @article{li2024viewformer,
        title={ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformers}, 
        author={Jinke Li and Xiao He and Chonghua Zhou and Xiaoqiang Cheng and Yang Wen and Dan Zhang},
        journal={arXiv preprint arXiv:2405.04299},
        year={2024},
    }