Some questions about the Occ labels Carla

[BuaaS]

Thanks for your awesome work!
In file uniocc_utils.py, it can be seen that the voxels obtained from the LiDAR point cloud in Carla are converted into binary Occ. How can we further obtain the different category labels of Occ?

[richard-robotics]

Hi @BuaaS, there might be some confusion: the Occ in our dataset, i.e. with keys "occ_labels" are annotated with category labels. The conversion to binary Occ from labelled Occ is to enable segmentation and tracking.

[BuaaS]

Thank you for your patient explanation. May I ask how the Occ data (i.e., the one with the “occ_labels” key) in the Carla dataset is annotated with class labels? Is it manually labeled?