How to make use of the NuScenes dataset to create distance prediction CNN?

Question

I am trying to make a CNN that can predict distance of objects in a scene by training it on datasets like KITTI/NuScenes. I understand the basic process of what it would involve but I am unable to find references on what all annotations or labels I would need to make use of to create the model. Is the "distance" parameter directly mentioned so should I just train the model based off of that?