Carla Occupancy Map for training Occupancy Networks

[ynjiun]

Hi,

I am developing an occupancy networks for road scene. I wonder how to generate an occupancy ground truth for an image captured from Carla.

The idea is to generate a random 3D point (x,y,z) to output whether the point is in an object (car, pedestrian, building, etc.) or not. For each image, we can generate say 100K 3D points with 0 or 1 (0: outside, 1: inside). Or even better to generate "semantic occupancy map": for each (x,y,z) point the value v: 0: empty space, 1: in the car, 2: in the pedastrian, 3: in the ground, etc.

Please point me to the reference if there is example code available to show how.

Thanks a lot for your help.