How to get Depth info from the datataset

[BaophanN]

Dear author, I am interested in using LSS (Lift-splat-shoot) to train my models on OpenLaneV2 dataset, however, this dataset requires Depth information. As far as I know, OpenLane v2 is built upon AgoverseV2 and Nuscenes which contains lidar depth. Is there anyway I can get this information? Thank you