add nuscenes dataset

[sephyli]

Thanks Changhui @szpk for his work!
There are some changes in below files are not fully sure. Please check if the changes affect other datasets.

src/py123d/datatypes/scene/arrow/arrow_scene.py
src/py123d/datatypes/maps/gpkg/gpkg_map_objects.py
src/py123d/datatypes/maps/gpkg/gpkg_utils.py

[sephyli]

To properly integrate the nuScenes and Lanelet2 datasets, could @szpk please provide the following details?

• For nuScenes, which environment variable must be set?
• Python: What are the additional Python requirements (packages)?
• Lanelet2: How to download the dataset, and what is its required destination path?

[DanielDauner]

Thanks! It looks nice. I will test everything, maybe make some final touch ups, and merge it today!

[szpk]

Path Requirement: NUSCENES_DATA_ROOT
Nuscenes Packages: nuscenes-devkit==1.2.0,pycocotools==2.0.10,laspy==2.6.1,embreex==2.17.7.post6,lanelet2==1.2.2,protobuf==4.25.3,pycollada==0.9.2,vhacdx==0.0.8.post2,yourdfpy==0.0.58

Download of Lanelet2 OSM Map:https://zenodo.org/records/8045922

[szpk]

The recent submission I made includes nuscenes_sensor_io.py and a function to load_lidar_pcs_from_file. @DanielDauner

[DanielDauner]

Thank you @szpk! It's working nicely. I am currently integrating the rest.

[DanielDauner]

I needed to change some things about the map conversion. We still need to add back the lanelet version. Sorry, I had to disable it for now. I will make sure, it will be added in again.

[DanielDauner]

Will merge for now. Thanks all!