[Feature] Support `NuScenesSegDataset` #1083

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Run time

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Job	Run time
build_cu117 (3.9)	7m 7s
build_cu102 (3.7)	7m 6s
build_cpu (3.7)	7m 12s
build_windows (3.7, cpu, 1.8.1, 0.9.1)	11m 38s
build_windows (3.7, cu111, 1.8.1, 0.9.1)	13m 23s
build_windows (3.8, cu117, 2.0.0, 0.15.1)	14m 22s
	1h 0m 48s