Add nuScenes-based lidar examples

[roym899]

What

Adds two new examples based on the nuScenes dataset. One example visualizing most of the data (lidar, radar, camera, and 3D bounding boxes) in the nuScenes dataset, and a more minimal example that only visualizes the lidar data in the lidar reference frame.

Lidar example

nuScenes example

The download module is included in both examples for now; if we have a place so this could be shared across examples, that would be nice.

Closes #2510.

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[nikolausWest]

Link to distance based color mapping

[roym899]

Done.

[nikolausWest]

Add comment on why you do the shift

[roym899]

Done.

[nikolausWest]

Would it make sense for this dataset dir to default to <script dir>/dataset ?

[roym899]

Fixed it.

[nikolausWest]

Realized I accidentally left all my comments as "single comment", sorry! Either way, lgtm!

[nikolausWest]

Actually, one more question after playing with it: is the nuScenes dataset missing an annotation context?

[nikolausWest]

It would also be cool to log a car mesh that moves around where the car is supposed to be but definitely ok to skip

[roym899]

I just tried adding an annotation context, but the labels are taking a lot of space. Is there any benefit in having the annotation context with just the ids?

Some classes get the same color right now, but it's quite rare; I'm not sure if that warrants adding manual colors for all classes.

[nikolausWest]

I just tried adding an annotation context, but the labels are taking a lot of space. Is there any benefit in having the annotation context with just the ids?

Do you mean they take a lot of visual space in the 3D scene? In that case we should probably make showing the labels in 3D optional. It's still useful to be able to hover over the bbox and see what class it is. Could you open an issue?

[emilk]

Do I need to do something special to run this?

> pip install -r ./examples/python/requirements.txt
…
ERROR: Could not find a version that satisfies the requirement pycollad (from versions: none)
ERROR: No matching distribution found for pycollad

❯ examples/python/nuscenes/main.py                 
DEV ENVIRONMENT DETECTED! Re-importing rerun from: /Users/emilk/code/rerun/rerun/rerun_py/rerun_sdk
Traceback (most recent call last):
  File "/Users/emilk/code/rerun/rerun/examples/python/nuscenes/main.py", line 12, in <module>
    from nuscenes import nuscenes
ModuleNotFoundError: No module named 'nuscenes'

(Python 3.10.12)

[roym899]

Hm, that's strange. I didn't need anything else. I guess pip install nuscenes-devkit fails for you?

I think the error you're getting might be from another requirements file (ros_node) and then it doesn't even attempt to install the other requirements?

[emilk]

Oh yeah, I was pip installing the wrong requirements.txt file 🤦 Now it seems to be working (downloading dataset…)