Add nuScenes Dataset Support for 2D Object Detection

[tejasstanley]

PR: Add nuScenes Dataset Support for 2D Object Detection

Summary

This PR adds support for the nuScenes dataset for 2D object detection by introducing the NuScenesDetectionDataset class. It parses 3D bounding boxes from nuScenes into 2D camera views, keeps canonical class labels, and works with the existing tutorials (tutorial_image_detection.ipynb).

Changes Included

• New dataset class: NuScenesDetectionDataset inheriting from ImageDetectionDataset.
• Added dependency on nuscenes-devkit in pyproject.toml.
• Notebooks/examples updated for nuScenes integration.
• Code formatted with Black, type annotations, and Sphinx-style docstrings included.

Notes / Pending Tasks

• Dataset viewer tab integration for nuScenes is in progress and will be added in a follow-up PR.
• Occluded projected boxes are kept as-is for now.
• Working on adding nuScenes LiDAR support and a LiDAR segmentation tutorial; will update once ready.

Testing

• Verified dataset creation, reading annotations, and tutorial execution on nuScenes v1.0-mini.
• Visual inspection of bounding boxes works correctly with current pipeline.

References

• Related discussion: [Add support for nuScenes dataset #393 ]

[dpascualhe]

Hi @tejasstanley . Thanks for your contribution! It will take me a couple of days to review it, but at first sight, the docstrings don't follow the Sphinx style (reference: https://sphinx-rtd-tutorial.readthedocs.io/en/latest/docstrings.html). Can you update that? Also, can you share links so that I can download the dataset myself?

[tejasstanley]

Hi @dpascualhe, thanks for the feedback, I will update the docstrings.
nuScenes can be downloaded by logging in this website https://www.nuscenes.org/nuscenes#download, and selecting the US version of the mini dataset. Direct link can't be copied it seems.