feat(nuscenes): add nuScenes to NCore V4 converter#128
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Implements a converter from nuScenes dataset format to NCore V4 component-based format, following the KITTI converter pattern. Features: - Supports all nuScenes versions (v1.0-mini, v1.0-trainval, v1.0-test) - 6 cameras with intrinsics, extrinsics, and frame data - LIDAR_TOP with unstructured point clouds (direction + distance) - Per-point timestamps estimated from azimuth (HDL-32E, ~50ms scan) - 3D cuboid annotations in world frame from keyframe sample_annotations - Scene selection via --scene-token or --scene-name - Outputs itar or directory store formats Sensor assumptions documented: - Cameras: global shutter, undistorted (zero distortion coeffs) - Lidar: Velodyne HDL-32E at 20Hz, unstructured (model_element=None) - Cuboids: world frame, keyframes only Tested with v1.0-mini (22 tests pass, both itar and directory formats). Closes: NVIDIA#123
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Summary
Adds a nuScenes dataset converter to NCore V4 format, following the existing KITTI converter pattern.
Closes #123
Features
--scene-tokenor--scene-nameUsage
bazel run //tools/data_converter/nuscenes -- \ --root-dir /path/to/nuscenes \ --output-dir /path/to/output \ nuscenes \ --version v1.0-mini \ --scene-name scene-0061Design Decisions
model_element=None). Structured HDL-32E model deferred to follow-up.reference_frame_id="world"). The V4 reader'stransform()handles re-projection to sensor frames at runtime.ShutterType.GLOBAL-- nuScenes provides single capture timestamp with no RS metadata.Test Instructions
NUSCENES_DIR=/path/to/nuscenes NUSCENES_VERSION=v1.0-mini \ bazel test //tools/data_converter/nuscenes:pytest_converter_3_11 --test_output=all \ --test_env=NUSCENES_DIR=/path/to/nuscenes --test_env=NUSCENES_VERSION=v1.0-miniFiles
deps/pip/requirements_nuscenes.in-- new pip deps (nuscenes-devkit, pyquaternion)deps/pip/BUILD.bazel-- include new requirements in pip_compiledeps/pip/requirements_3_11.in/.txt-- updated lockfiletools/data_converter/nuscenes/-- converter, utils, CLI, BUILD, test, README, NOTICE