NVIDIA · janickm · May 21, 2026
diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
diff --git a/deps/pip/BUILD.bazel b/deps/pip/BUILD.bazel
@@ -37,6 +37,7 @@ pip_compile(
         ":requirements_colmap.in",
         ":requirements_docs.in",
         ":requirements_ncore.in",
+        ":requirements_nuscenes.in",
         ":requirements_pai.in",
         ":requirements_tests.in",
         ":requirements_tools.in",

diff --git a/deps/pip/requirements_3_11.in b/deps/pip/requirements_3_11.in
@@ -20,6 +20,7 @@
 -r requirements_tools.in
 -r requirements_waymo.in
 -r requirements_colmap.in
+-r requirements_nuscenes.in
 -r requirements_pai.in
 
 # Public API restrictions for 3.11

diff --git a/deps/pip/requirements_3_11.txt b/deps/pip/requirements_3_11.txt
diff --git a/deps/pip/requirements_nuscenes.in b/deps/pip/requirements_nuscenes.in
@@ -0,0 +1,20 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# nuScenes converter dependencies
+nuscenes-devkit
+# pyquaternion is a transitive dependency of nuscenes-devkit that we also use directly
+# for quaternion-to-rotation-matrix conversion and SLERP interpolation.
+pyquaternion
diff --git a/docs/conversions/index.rst b/docs/conversions/index.rst
@@ -5,13 +5,14 @@ Data Conversions
 ================
 
 NCore provides conversion tools for importing 3rd-party dataset formats into
-the NCore V4 component-based format. Supported formats include KITTI, Waymo,
-COLMAP (including ScanNet++), and PAI.
+the NCore V4 component-based format. Supported formats include KITTI, nuScenes,
+Waymo, COLMAP (including ScanNet++), and PAI.
 
 .. toctree::
    :maxdepth: 1
 
    kitti/kitti
+   nuscenes/nuscenes
    waymo/waymo
    colmap/colmap
    pai/pai
diff --git a/docs/conversions/nuscenes/nuscenes.rst b/docs/conversions/nuscenes/nuscenes.rst
@@ -0,0 +1,137 @@
+.. SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+.. SPDX-License-Identifier: Apache-2.0
+
+nuScenes Dataset
+================
+
+The NCore nuScenes tool converts data from the
+`nuScenes <https://www.nuscenes.org/>`_ autonomous driving dataset into
+NCore V4 format. All dataset versions are supported (v1.0-mini,
+v1.0-trainval, v1.0-test).
+
+.. _nuscenes_data_conventions:
+
+Conventions
+-----------
+
+The nuScenes dataset provides data from 6 cameras, 1 lidar, and 5
+radars. The converter handles all sensor modalities and 3D annotations.
+
+Camera Sensors
+^^^^^^^^^^^^^^
+    1. **Front (camera_front)** -- 1600x900, 70 deg FOV
+    2. **Front Left (camera_front_left)** -- 1600x900, 70 deg FOV
+    3. **Front Right (camera_front_right)** -- 1600x900, 70 deg FOV
+    4. **Back (camera_back)** -- 1600x900, 110 deg FOV
+    5. **Back Left (camera_back_left)** -- 1600x900, 70 deg FOV
+    6. **Back Right (camera_back_right)** -- 1600x900, 70 deg FOV
+
+All cameras use Basler acA1600-60gc sensors (global shutter). Images are
+provided undistorted with zero distortion coefficients. Camera intrinsics
+are stored using :class:`~ncore.data.OpenCVPinholeCameraModelParameters`
+with ``ShutterType.GLOBAL``.
+
+LiDAR Sensor
+^^^^^^^^^^^^^
+    1. **Top LiDAR (lidar_top)** -- Velodyne HDL-32E, 32 layers, ~34k points/frame
+
+Point clouds in nuScenes are motion-compensated to the sensor frame at the
+sweep reference timestamp. The converter decompensates them back to
+per-point-time sensor frames (raw measurements) before storing, since
+NCore V4 expects non-motion-compensated ray-bundle data.
+
+Per-point timestamps are derived from the column structure of the .bin
+file: each file contains 32-point columns (one per beam) in sequential
+firing order. All points within a column receive the same timestamp.
+Frame time bounds are derived from consecutive sweep timestamps (not a
+hardcoded scan frequency).
+
+A structured lidar model (``RowOffsetStructuredSpinningLidarModelParameters``)
+is derived from the first frame's geometry and stored as intrinsics:
+
+- ``row_elevations_rad``: per-beam elevation angles (median across columns)
+- ``column_azimuths_rad``: per-column azimuth angles (median across beams)
+- ``spinning_direction``: clockwise ("cw")
+- ``spinning_frequency_hz``: derived from inter-sweep timestamps (~20 Hz)
+
+The ``model_element`` field is populated with ``[ring_index, column_index]``
+per point, enabling structured lidar operations at read time.
+
+The minimum distance filter (1.0 m) matches the ``remove_close``
+default used by the nuScenes devkit to discard sensor housing
+reflections.
+
+Radar Sensors
+^^^^^^^^^^^^^
+    1. **Front (radar_front)** -- Continental ARS 408
+    2. **Front Left (radar_front_left)** -- Continental ARS 408
+    3. **Front Right (radar_front_right)** -- Continental ARS 408
+    4. **Back Left (radar_back_left)** -- Continental ARS 408
+    5. **Back Right (radar_back_right)** -- Continental ARS 408
+
+Radar detections are sparse (typically 10-100 per sweep). Each detection
+provides position (x, y, z), ego-motion-compensated velocity, and radar
+cross section (RCS). Per-frame generic data fields:
+
+- ``radial_velocity_m_s`` (float32, [N]) -- radial velocity in m/s
+  (positive = moving away from sensor), computed by projecting the
+  ego-motion-compensated velocity vector onto the detection direction.
+- ``rcs_dBsm`` (float32, [N]) -- radar cross section in dBsm.
+
+Radar is not a spinning sensor; all detections in a frame share a single
+timestamp.
+
+Ego Poses
+^^^^^^^^^
+Ego poses are derived from the per-sweep ``ego_pose`` records in the
+nuScenes database (GPS/INS-based). Poses are stored as dynamic
+``("rig", "world")`` poses relative to the first frame. The absolute
+first-frame pose is preserved as a static ``("world", "world_global")``
+transform.
+
+3D Annotations
+^^^^^^^^^^^^^^
+Cuboid annotations are stored in the ``world_global`` coordinate frame
+(the nuScenes global map frame) as
+:class:`~ncore.data.v4.CuboidsComponent` observations. Only keyframe
+annotations are included. The :meth:`~ncore.data.CuboidTrackObservation.transform`
+method can re-project them to any sensor frame at runtime via the pose
+graph.
+
+Category mapping from nuScenes to NCore class IDs:
+
+- vehicle.car -> car
+- vehicle.truck -> truck
+- vehicle.bus.* -> bus
+- vehicle.construction -> construction_vehicle
+- vehicle.motorcycle -> motorcycle
+- vehicle.bicycle -> bicycle
+- vehicle.trailer -> trailer
+- vehicle.emergency.* -> emergency_vehicle
+- human.pedestrian.* -> pedestrian
+- movable_object.barrier -> barrier
+- movable_object.trafficcone -> traffic_cone
+
+Usage
+-----
+
+.. code-block:: bash
+
+   bazel run //tools/data_converter/nuscenes -- \
+       --root-dir /path/to/nuscenes \
+       --output-dir /path/to/output \
+       nuscenes \
+       --version v1.0-trainval
+
+Convert a single scene by name:
+
+.. code-block:: bash
+
+   bazel run //tools/data_converter/nuscenes -- \
+       --root-dir /path/to/nuscenes \
+       --output-dir /path/to/output \
+       nuscenes \
+       --version v1.0-mini \
+       --scene-name scene-0061
+
+See ``tools/data_converter/nuscenes/README.md`` for full option documentation.
diff --git a/tools/data_converter/nuscenes/BUILD.bazel b/tools/data_converter/nuscenes/BUILD.bazel
@@ -0,0 +1,81 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+load("@ncore_pip_deps//:requirements.bzl", "requirement")
+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+load("//bazel/pytest:defs.bzl", "pytest_test")
+
+# nuScenes-specific utilities: scene enumeration, timestamp estimation, box retrieval
+py_library(
+    name = "pylib_utils",
+    srcs = ["utils.py"],
+    deps = [
+        requirement("numpy"),
+        requirement("nuscenes-devkit"),
+        requirement("pyquaternion"),
+        "//ncore:pylib",
+    ],
+)
+
+# Converter library (config, converter class, CLI registration)
+py_library(
+    name = "pylib",
+    srcs = [
+        "converter.py",
+    ],
+    deps = [
+        ":pylib_utils",
+        requirement("click"),
+        requirement("numpy"),
+        requirement("nuscenes-devkit"),
+        requirement("pyquaternion"),
+        requirement("tqdm"),
+        requirement("universal_pathlib"),
+        "//ncore:pylib",
+        "//tools/data_converter:pylib_cli",
+    ],
+)
+
+# Standalone CLI binary
+py_binary(
+    name = "convert",
+    srcs = ["main.py"],
+    main = "main.py",
+    deps = [":pylib"],
+)
+
+alias(
+    name = "nuscenes",
+    actual = ":convert",
+)
+
+# Integration test for the nuScenes converter (requires NUSCENES_DIR env var)
+pytest_test(
+    name = "pytest_converter",
+    srcs = ["converter_test.py"],
+    args = ["--import-mode=importlib"],
+    python_versions = ["3.11"],
+    tags = ["manual"],  # Only run when explicitly requested (needs external data)
+    deps = [
+        ":pylib",
+        requirement("nuscenes-devkit"),
+        requirement("numpy"),
+        requirement("parameterized"),
+        requirement("pyquaternion"),
+        requirement("torch"),
+        requirement("universal_pathlib"),
+        "//ncore:pylib",
+    ],
+)
diff --git a/tools/data_converter/nuscenes/NOTICE b/tools/data_converter/nuscenes/NOTICE
@@ -0,0 +1,11 @@
+nuScenes Dataset
+Copyright (c) 2019 nuScenes (https://www.nuscenes.org)
+
+This converter processes data from the nuScenes dataset.
+The nuScenes dataset is released under the Creative Commons
+Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).
+
+Users must agree to the nuScenes Terms of Use before downloading or using the dataset:
+https://www.nuscenes.org/terms-of-use
+
+The nuscenes-devkit library is released under the Apache License 2.0.
diff --git a/tools/data_converter/nuscenes/README.md b/tools/data_converter/nuscenes/README.md
@@ -0,0 +1,72 @@
+# nuScenes to NCore V4 Converter
+
+Converts [nuScenes](https://www.nuscenes.org/) dataset scenes to NCore V4 format.
+
+## Requirements
+
+- nuScenes dataset downloaded locally (any version: v1.0-mini, v1.0-trainval, v1.0-test)
+- Python packages: `nuscenes-devkit`, `pyquaternion`
+
+## Usage
+
+```bash
+bazel run //tools/data_converter/nuscenes -- \
+    --root-dir /path/to/nuscenes \
+    --output-dir /path/to/output \
+    nuscenes \
+    --version v1.0-trainval
+```
+
+### Convert a single scene by token
+
+```bash
+bazel run //tools/data_converter/nuscenes -- \
+    --root-dir /path/to/nuscenes \
+    --output-dir /path/to/output \
+    nuscenes \
+    --version v1.0-mini \
+    --scene-token cc8c0bf57f984915a77078b10eb33198
+```
+
+### Convert a single scene by name
+
+```bash
+bazel run //tools/data_converter/nuscenes -- \
+    --root-dir /path/to/nuscenes \
+    --output-dir /path/to/output \
+    nuscenes \
+    --version v1.0-mini \
+    --scene-name scene-0061
+```
+
+## Options
+
+| Option | Default | Description |
+|--------|---------|-------------|
+| `--version` | v1.0-trainval | nuScenes version string |
+| `--scene-token` | None | Filter to a single scene by token |
+| `--scene-name` | None | Filter to a single scene by name |
+| `--store-type` | itar | Output store format (itar or directory) |
+| `--profile` | separate-sensors | Component group assignment profile |
+| `--sequence-meta/--no-sequence-meta` | enabled | Generate sequence meta JSON |
+
+## Sensor Assumptions
+
+- **Cameras**: Treated as global shutter (ShutterType.GLOBAL). nuScenes provides a single
+  capture timestamp per image with no rolling-shutter metadata. Images are already undistorted,
+  so all distortion coefficients are zero.
+- **Lidar**: Velodyne HDL-32E spinning lidar at 20 Hz. Source point clouds are
+  motion-compensated; the converter decompensates them to raw per-point-time
+  measurements. Per-point timestamps are derived from the 32-beam column structure
+  in the .bin file (robust to MC-induced spatial distortion). A structured lidar
+  model (elevation/azimuth per beam/column) is derived from the first frame and
+  stored as intrinsics.
+- **Cuboid annotations**: Stored in the world coordinate frame. Only keyframe annotations
+  are included.
+
+## Testing
+
+```bash
+NUSCENES_DIR=/path/to/nuscenes NUSCENES_VERSION=v1.0-mini \
+    bazel test //tools/data_converter/nuscenes:pytest_converter
+```