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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
``` |