nuscenesdataset.py

"""
code adapted from https://github.com/nv-tlabs/lift-splat-shoot
and also https://github.com/wayveai/fiery/blob/master/fiery/data.py
"""

import torch
import os
import numpy as np
from PIL import Image
import cv2
from pyquaternion import Quaternion
from nuscenes.nuscenes import NuScenes
from nuscenes.utils.splits import create_splits_scenes
from nuscenes.utils.data_classes import Box
from glob import glob

import torchvision
from functools import reduce
from nuscenes.utils.data_classes import RadarPointCloud
from nuscenes.utils.data_classes import PointCloud
from nuscenes.utils.geometry_utils import transform_matrix
from nuscenes.map_expansion.map_api import NuScenesMap
import time

import utils.py
import utils.geom
import itertools
import matplotlib.pyplot as plt

from lyft_dataset_sdk.lyftdataset import LyftDataset

discard_invisible = False

TRAIN_LYFT_INDICES = [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16,
                      17, 18, 19, 20, 21, 23, 24, 27, 28, 29, 30, 31, 32,
                      33, 35, 36, 37, 39, 41, 43, 44, 45, 46, 47, 48, 49,
                      50, 51, 52, 53, 55, 56, 59, 60, 62, 63, 65, 68, 69,
                      70, 71, 72, 73, 74, 75, 76, 78, 79, 81, 82, 83, 84,
                      86, 87, 88, 89, 93, 95, 97, 98, 99, 103, 104, 107, 108,
                      109, 110, 111, 113, 114, 115, 116, 117, 118, 119, 121, 122, 124,
                      127, 128, 130, 131, 132, 134, 135, 136, 137, 138, 139, 143, 144,
                      146, 147, 148, 149, 150, 151, 152, 153, 154, 156, 157, 158, 159,
                      161, 162, 165, 166, 167, 171, 172, 173, 174, 175, 176, 177, 178,
                      179]

VAL_LYFT_INDICES = [0, 2, 4, 13, 22, 25, 26, 34, 38, 40, 42, 54, 57,
                    58, 61, 64, 66, 67, 77, 80, 85, 90, 91, 92, 94, 96,
                    100, 101, 102, 105, 106, 112, 120, 123, 125, 126, 129, 133, 140,
                    141, 142, 145, 155, 160, 163, 164, 168, 169, 170]

def convert_egopose_to_matrix_numpy(egopose):
    transformation_matrix = np.zeros((4, 4), dtype=np.float32)
    rotation = Quaternion(egopose['rotation']).rotation_matrix
    translation = np.array(egopose['translation'])
    transformation_matrix[:3, :3] = rotation
    transformation_matrix[:3, 3] = translation
    transformation_matrix[3, 3] = 1.0
    return transformation_matrix

class LidarPointCloud(PointCloud):
    @staticmethod
    def nbr_dims() -> int:
        """
        Returns the number of dimensions.
        :return: Number of dimensions.
        """
        return 5

    @classmethod
    def from_file(cls, file_name: str) -> 'LidarPointCloud':
        """
        Loads LIDAR data from binary numpy format. Data is stored as (x, y, z, intensity, ring index).
        :param file_name: Path of the pointcloud file on disk.
        :return: LidarPointCloud instance (x, y, z, intensity).
        """
        
        assert file_name.endswith('.bin'), 'Unsupported filetype {}'.format(file_name)
        
        scan = np.fromfile(file_name, dtype=np.float32)
        points = scan.reshape((-1, 5))[:, :cls.nbr_dims()]
        return cls(points.T)

def get_lidar_data(nusc, sample_rec, nsweeps, min_distance, dataroot):
    """
    Returns at most nsweeps of lidar in the ego frame.
    Returned tensor is 5(x, y, z, reflectance, dt, ring_index) x N
    Adapted from https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/utils/data_classes.py#L56
    """
    # points = np.zeros((5, 0))
    points = np.zeros((6, 0))

    # Get reference pose and timestamp.
    ref_sd_token = sample_rec['data']['LIDAR_TOP']
    ref_sd_rec = nusc.get('sample_data', ref_sd_token)
    ref_pose_rec = nusc.get('ego_pose', ref_sd_rec['ego_pose_token'])
    ref_cs_rec = nusc.get('calibrated_sensor', ref_sd_rec['calibrated_sensor_token'])
    ref_time = 1e-6 * ref_sd_rec['timestamp']

    # Homogeneous transformation matrix from global to _current_ ego car frame.
    car_from_global = transform_matrix(ref_pose_rec['translation'], Quaternion(ref_pose_rec['rotation']),
                                        inverse=True)

    # Aggregate current and previous sweeps.
    sample_data_token = sample_rec['data']['LIDAR_TOP']
    current_sd_rec = nusc.get('sample_data', sample_data_token)
    for _ in range(nsweeps):
        # Load up the pointcloud and remove points close to the sensor.
        current_pc = LidarPointCloud.from_file(os.path.join(dataroot, current_sd_rec['filename']))
        current_pc.remove_close(min_distance)

        # Get past pose.
        current_pose_rec = nusc.get('ego_pose', current_sd_rec['ego_pose_token'])
        global_from_car = transform_matrix(current_pose_rec['translation'],
                                            Quaternion(current_pose_rec['rotation']), inverse=False)

        # Homogeneous transformation matrix from sensor coordinate frame to ego car frame.
        current_cs_rec = nusc.get('calibrated_sensor', current_sd_rec['calibrated_sensor_token'])
        car_from_current = transform_matrix(current_cs_rec['translation'], Quaternion(current_cs_rec['rotation']),
                                            inverse=False)

        # Fuse four transformation matrices into one and perform transform.
        trans_matrix = reduce(np.dot, [car_from_global, global_from_car, car_from_current])
        current_pc.transform(trans_matrix)

        # Add time vector which can be used as a temporal feature.
        time_lag = ref_time - 1e-6 * current_sd_rec['timestamp']
        times = time_lag * np.ones((1, current_pc.nbr_points()))

        new_points = np.concatenate((current_pc.points, times), 0)
        points = np.concatenate((points, new_points), 1)

        # print('time_lag', time_lag)
        # print('new_points', new_points.shape)
        
        # Abort if there are no previous sweeps.
        if current_sd_rec['prev'] == '':
            break
        else:
            current_sd_rec = nusc.get('sample_data', current_sd_rec['prev'])

    return points

def get_radar_data(nusc, sample_rec, nsweeps, min_distance, use_radar_filters, dataroot):
    """
    Returns at most nsweeps of lidar in the ego frame.
    Returned tensor is 5(x, y, z, reflectance, dt, ring_index) x N
    Adapted from https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/utils/data_classes.py#L56
    """
    # import ipdb; ipdb.set_trace()
    
    # points = np.zeros((5, 0))
    points = np.zeros((19, 0)) # 18 plus one for time

    # Get reference pose and timestamp.
    ref_sd_token = sample_rec['data']['RADAR_FRONT']
    ref_sd_rec = nusc.get('sample_data', ref_sd_token)
    ref_pose_rec = nusc.get('ego_pose', ref_sd_rec['ego_pose_token'])
    ref_cs_rec = nusc.get('calibrated_sensor', ref_sd_rec['calibrated_sensor_token'])
    ref_time = 1e-6 * ref_sd_rec['timestamp']

    # Homogeneous transformation matrix from global to _current_ ego car frame.
    car_from_global = transform_matrix(ref_pose_rec['translation'], Quaternion(ref_pose_rec['rotation']),inverse=True)

    if use_radar_filters:
        RadarPointCloud.default_filters()
    else:
        RadarPointCloud.disable_filters()

    # Aggregate current and previous sweeps.
    # from all radars 
    radar_chan_list = ["RADAR_BACK_RIGHT", "RADAR_BACK_LEFT", "RADAR_FRONT", "RADAR_FRONT_LEFT", "RADAR_FRONT_RIGHT"]
    for radar_name in radar_chan_list:
        sample_data_token = sample_rec['data'][radar_name]
        current_sd_rec = nusc.get('sample_data', sample_data_token)
        for _ in range(nsweeps):
            # Load up the pointcloud and remove points close to the sensor.
            current_pc = RadarPointCloud.from_file(os.path.join(dataroot, current_sd_rec['filename']))
            current_pc.remove_close(min_distance)

            # Get past pose.
            current_pose_rec = nusc.get('ego_pose', current_sd_rec['ego_pose_token'])
            global_from_car = transform_matrix(current_pose_rec['translation'],
                                                Quaternion(current_pose_rec['rotation']), inverse=False)

            # Homogeneous transformation matrix from sensor coordinate frame to ego car frame.
            current_cs_rec = nusc.get('calibrated_sensor', current_sd_rec['calibrated_sensor_token'])
            car_from_current = transform_matrix(current_cs_rec['translation'], Quaternion(current_cs_rec['rotation']),
                                                inverse=False)

            # Fuse four transformation matrices into one and perform transform.
            trans_matrix = reduce(np.dot, [car_from_global, global_from_car, car_from_current])
            current_pc.transform(trans_matrix)

            # Add time vector which can be used as a temporal feature.
            time_lag = ref_time - 1e-6 * current_sd_rec['timestamp']
            times = time_lag * np.ones((1, current_pc.nbr_points()))

            new_points = np.concatenate((current_pc.points, times), 0)
            points = np.concatenate((points, new_points), 1)

            # print('time_lag', time_lag)
            # print('new_points', new_points.shape)

            # Abort if there are no previous sweeps.
            if current_sd_rec['prev'] == '':
                break
            else:
                current_sd_rec = nusc.get('sample_data', current_sd_rec['prev'])

    return points


def ego_to_cam(points, rot, trans, intrins=None):
    """Transform points (3 x N) from ego frame into a pinhole camera
    """
    points = points - trans.unsqueeze(1)
    points = rot.permute(1, 0).matmul(points)

    if intrins is not None:
        points = intrins.matmul(points)
        points[:2] /= points[2:3]

    return points


def cam_to_ego(points, rot, trans, intrins):
    """Transform points (3 x N) from pinhole camera with depth
    to the ego frame
    """
    points = torch.cat((points[:2] * points[2:3], points[2:3]))
    points = intrins.inverse().matmul(points)

    points = rot.matmul(points)
    points += trans.unsqueeze(1)

    return points


def get_only_in_img_mask(pts, H, W):
    """pts should be 3 x N
    """
    return (pts[2] > 0) &\
        (pts[0] > 1) & (pts[0] < W - 1) &\
        (pts[1] > 1) & (pts[1] < H - 1)


def get_rot(h):
    return torch.Tensor([
        [np.cos(h), np.sin(h)],
        [-np.sin(h), np.cos(h)],
    ])


def img_transform(img, resize_dims, crop):
    img = img.resize(resize_dims, Image.NEAREST)
    img = img.crop(crop)
    return img


class NormalizeInverse(torchvision.transforms.Normalize):
    #  https://discuss.pytorch.org/t/simple-way-to-inverse-transform-normalization/4821/8
    def __init__(self, mean, std):
        mean = torch.as_tensor(mean)
        std = torch.as_tensor(std)
        std_inv = 1 / (std + 1e-7)
        mean_inv = -mean * std_inv
        super().__init__(mean=mean_inv, std=std_inv)

    def __call__(self, tensor):
        return super().__call__(tensor.clone())


denormalize_img = torchvision.transforms.Compose((
            NormalizeInverse(mean=[0.485, 0.456, 0.406],
                             std=[0.229, 0.224, 0.225]),
            torchvision.transforms.ToPILImage(),
        ))

denormalize_img_torch = torchvision.transforms.Compose((
    NormalizeInverse(mean=[0.485, 0.456, 0.406],
                     std=[0.229, 0.224, 0.225]),
))


normalize_img = torchvision.transforms.Compose((
                torchvision.transforms.ToTensor(),
                torchvision.transforms.Normalize(mean=[0.485, 0.456, 0.406],
                                 std=[0.229, 0.224, 0.225]),
))
totorch_img = torchvision.transforms.Compose((
    torchvision.transforms.ToTensor(),
))
normalize_img_torch = torchvision.transforms.Compose((
    torchvision.transforms.Normalize(mean=[0.485, 0.456, 0.406],
                                     std=[0.229, 0.224, 0.225]),
))


def gen_dx_bx(xbound, ybound, zbound):
    dx = torch.Tensor([row[2] for row in [xbound, ybound, zbound]])
    bx = torch.Tensor([row[0] + row[2]/2.0 for row in [xbound, ybound, zbound]])
    nx = torch.LongTensor([int((row[1] - row[0]) / row[2]) for row in [xbound, ybound, zbound]])

    return dx, bx, nx


def cumsum_trick(x, geom_feats, ranks):
    x = x.cumsum(0)
    kept = torch.ones(x.shape[0], device=x.device, dtype=torch.bool)
    kept[:-1] = (ranks[1:] != ranks[:-1])

    x, geom_feats = x[kept], geom_feats[kept]
    x = torch.cat((x[:1], x[1:] - x[:-1]))

    return x, geom_feats


class QuickCumsum(torch.autograd.Function):
    @staticmethod
    def forward(ctx, x, geom_feats, ranks):
        x = x.cumsum(0)
        kept = torch.ones(x.shape[0], device=x.device, dtype=torch.bool)
        kept[:-1] = (ranks[1:] != ranks[:-1])

        x, geom_feats = x[kept], geom_feats[kept]
        x = torch.cat((x[:1], x[1:] - x[:-1]))

        # save kept for backward
        ctx.save_for_backward(kept)

        # no gradient for geom_feats
        ctx.mark_non_differentiable(geom_feats)

        return x, geom_feats

    @staticmethod
    def backward(ctx, gradx, gradgeom):
        kept, = ctx.saved_tensors
        back = torch.cumsum(kept, 0)
        back[kept] -= 1

        val = gradx[back]

        return val, None, None


class SimpleLoss(torch.nn.Module):
    def __init__(self, pos_weight):
        super(SimpleLoss, self).__init__()
        self.loss_fn = torch.nn.BCEWithLogitsLoss(pos_weight=torch.Tensor([pos_weight]))

    def forward(self, ypred, ytgt):
        loss = self.loss_fn(ypred, ytgt)
        return loss


def get_batch_iou(preds, binimgs):
    """Assumes preds has NOT been sigmoided yet
    """
    with torch.no_grad():
        pred = (preds > 0)
        tgt = binimgs.bool()
        intersect = (pred & tgt).sum().float().item()
        union = (pred | tgt).sum().float().item()
    return intersect, union, intersect / union if (union > 0) else 1.0


def get_val_info(model, valloader, loss_fn, device, use_tqdm=False, max_iters=None, use_lidar=False):
    model.eval()
    total_loss = 0.0
    total_intersect = 0.0
    total_union = 0
    print('running eval...')

    t0 = time()
    
    loader = tqdm(valloader) if use_tqdm else valloader

    if max_iters is not None:
        counter = 0
    with torch.no_grad():
        for batch in loader:

            if max_iters is not None:
                counter += 1
                if counter > max_iters:
                    break

            if use_lidar:
                allimgs, rots, trans, intrins, pts, binimgs = batch
            else:
                allimgs, rots, trans, intrins, binimgs = batch
                
            preds = model(allimgs.to(device), rots.to(device),
                          trans.to(device), intrins.to(device))
            binimgs = binimgs.to(device)

            # loss
            total_loss += loss_fn(preds[:,0:1], binimgs).item() * preds.shape[0]

            # iou
            intersect, union, _ = get_batch_iou(preds[:,0:1], binimgs)
            total_intersect += intersect
            total_union += union
    t1 = time()
    print('eval took %.2f seconds' % (t1-t0))

    model.train()

    if max_iters is not None:
        normalizer = counter
    else:
        normalizer = len(valloader.dataset)
        
    return {
        'total_loss': total_loss / normalizer,
        'iou': total_intersect / total_union,
    }


def add_ego(bx, dx):
    # approximate rear axel
    W = 1.85
    pts = np.array([
        [-4.084/2.+0.5, W/2.],
        [4.084/2.+0.5, W/2.],
        [4.084/2.+0.5, -W/2.],
        [-4.084/2.+0.5, -W/2.],
    ])
    pts = (pts - bx) / dx
    pts[:, [0,1]] = pts[:, [1,0]]
    plt.fill(pts[:, 0], pts[:, 1], '#76b900')

def add_ego2(bx, dx):
    # approximate rear axel
    W = 1.85
    pts = np.array([
        [-4.084/2.+1, W/2.],
        [4.084/2.+1, W/2.],
        [4.084/2.+1, -W/2.],
        [-4.084/2.+1, -W/2.],
    ])
    pts = (pts - bx) / dx
    # pts[:, [0,1]] = pts[:, [1,0]]
    plt.fill(pts[:, 0], pts[:, 1], '#76b900')


def get_nusc_maps(map_folder):
    nusc_maps = {map_name: NuScenesMap(dataroot=map_folder,
                map_name=map_name) for map_name in [
                    "singapore-hollandvillage", 
                    "singapore-queenstown",
                    "boston-seaport",
                    "singapore-onenorth",
                ]}
    return nusc_maps


def plot_nusc_map(rec, nusc_maps, nusc, scene2map, dx, bx):
    egopose = nusc.get('ego_pose', nusc.get('sample_data', rec['data']['LIDAR_TOP'])['ego_pose_token'])
    map_name = scene2map[nusc.get('scene', rec['scene_token'])['name']]

    rot = Quaternion(egopose['rotation']).rotation_matrix
    rot = np.arctan2(rot[1, 0], rot[0, 0])
    center = np.array([egopose['translation'][0], egopose['translation'][1], np.cos(rot), np.sin(rot)])

    poly_names = ['road_segment', 'lane']
    line_names = ['road_divider', 'lane_divider']
    lmap = get_local_map(nusc_maps[map_name], center,
                         50.0, poly_names, line_names)
    for name in poly_names:
        for la in lmap[name]:
            pts = (la - bx) / dx
            plt.fill(pts[:, 1], pts[:, 0], c=(1.00, 0.50, 0.31), alpha=0.2)
    for la in lmap['road_divider']:
        pts = (la - bx) / dx
        plt.plot(pts[:, 1], pts[:, 0], c=(0.0, 0.0, 1.0), alpha=0.5)
    for la in lmap['lane_divider']:
        pts = (la - bx) / dx
        plt.plot(pts[:, 1], pts[:, 0], c=(159./255., 0.0, 1.0), alpha=0.5)

def fetch_nusc_map(rec, nusc_maps, nusc, scene2map, dx, bx):
    egopose = nusc.get('ego_pose', nusc.get('sample_data', rec['data']['LIDAR_TOP'])['ego_pose_token'])
    map_name = scene2map[nusc.get('scene', rec['scene_token'])['name']]

    rot = Quaternion(egopose['rotation']).rotation_matrix
    rot = np.arctan2(rot[1, 0], rot[0, 0])
    center = np.array([egopose['translation'][0], egopose['translation'][1], np.cos(rot), np.sin(rot)])

    poly_names = ['road_segment', 'lane']
    line_names = ['road_divider', 'lane_divider']
    lmap = get_local_map(nusc_maps[map_name], center,
        50.0, poly_names, line_names)

    return poly_names, line_names, lmap

def fetch_nusc_map2(rec, nusc_maps, nusc, scene2map, car_from_current):
    egopose = nusc.get('ego_pose', nusc.get('sample_data', rec['data']['LIDAR_TOP'])['ego_pose_token'])
    global_from_car = transform_matrix(egopose['translation'],
                                       Quaternion(egopose['rotation']), inverse=False)

    trans_matrix = reduce(np.dot, [global_from_car, car_from_current])

    rot = np.arctan2(trans_matrix[1,0], trans_matrix[0,0])
    center = np.array([trans_matrix[0,3], trans_matrix[1,3], np.cos(rot), np.sin(rot)])

    map_name = scene2map[nusc.get('scene', rec['scene_token'])['name']]

    poly_names = ['drivable_area', 'road_segment', 'lane']
    poly_names = ['road_segment', 'lane']
    line_names = ['road_divider', 'lane_divider']
    lmap = get_local_map(nusc_maps[map_name], center,
        50.0, poly_names, line_names)

    return poly_names, line_names, lmap

def get_local_map(nmap, center, stretch, layer_names, line_names):
    # need to get the map here...
    box_coords = (
        center[0] - stretch,
        center[1] - stretch,
        center[0] + stretch,
        center[1] + stretch,
    )

    polys = {}

    # polygons
    records_in_patch = nmap.get_records_in_patch(box_coords,
                                                 layer_names=layer_names,
                                                 mode='intersect')
    for layer_name in layer_names:
        polys[layer_name] = []
        for token in records_in_patch[layer_name]:
            poly_record = nmap.get(layer_name, token)
            if layer_name == 'drivable_area':
                polygon_tokens = poly_record['polygon_tokens']
            else:
                polygon_tokens = [poly_record['polygon_token']]

            for polygon_token in polygon_tokens:
                polygon = nmap.extract_polygon(polygon_token)
                polys[layer_name].append(np.array(polygon.exterior.xy).T)

    # lines
    for layer_name in line_names:
        polys[layer_name] = []
        for record in getattr(nmap, layer_name):
            token = record['token']

            line = nmap.extract_line(record['line_token'])
            if line.is_empty:  # Skip lines without nodes
                continue
            xs, ys = line.xy

            polys[layer_name].append(
                np.array([xs, ys]).T
                )

    # convert to local coordinates in place
    rot = get_rot(np.arctan2(center[3], center[2])).T
    for layer_name in polys:
        for rowi in range(len(polys[layer_name])):
            polys[layer_name][rowi] -= center[:2]
            polys[layer_name][rowi] = np.dot(polys[layer_name][rowi], rot)

    return polys


class NuscData(torch.utils.data.Dataset):
    def __init__(self, nusc, is_train, data_aug_conf, centroid=None, bounds=None, res_3d=None, nsweeps=1, seqlen=1, refcam_id=1, get_tids=False, temporal_aug=False, use_radar_filters=False, do_shuffle_cams=True):
        self.nusc = nusc
        self.is_train = is_train
        self.data_aug_conf = data_aug_conf
        # self.grid_conf = grid_conf
        self.nsweeps = nsweeps
        self.use_radar_filters = use_radar_filters
        self.do_shuffle_cams = do_shuffle_cams
        self.res_3d = res_3d
        self.bounds = bounds
        self.centroid = centroid

        self.seqlen = seqlen
        self.refcam_id = refcam_id


        self.is_lyft = isinstance(nusc, LyftDataset)

        if self.is_lyft:
            self.dataroot = self.nusc.data_path
        else:
            self.dataroot = self.nusc.dataroot
                    

        
        
        self.scenes = self.get_scenes()
        
        # print('applying hack to use just first scene')
        # self.scenes = self.scenes[0:1]
        
        self.ixes = self.prepro()
        if temporal_aug:
            self.indices = self.get_indices_tempaug()
        else:
            self.indices = self.get_indices()

        self.get_tids = get_tids

        # print('ixes', self.ixes.shape)
        print('indices', self.indices.shape)

        XMIN, XMAX, YMIN, YMAX, ZMIN, ZMAX = self.bounds
        Z, Y, X = self.res_3d

        grid_conf = { # note the downstream util uses a different XYZ ordering
            'xbound': [XMIN, XMAX, (XMAX-XMIN)/float(X)],
            'ybound': [ZMIN, ZMAX, (ZMAX-ZMIN)/float(Z)],
            'zbound': [YMIN, YMAX, (YMAX-YMIN)/float(Y)],
        }
        dx, bx, nx = gen_dx_bx(grid_conf['xbound'], grid_conf['ybound'], grid_conf['zbound'])
        self.dx, self.bx, self.nx = dx.numpy(), bx.numpy(), nx.numpy()

        print(self)
    
    def get_scenes(self):

        if self.is_lyft:
            scenes = [row['name'] for row in self.nusc.scene]
            
            # Split in train/val
            indices = TRAIN_LYFT_INDICES if self.is_train else VAL_LYFT_INDICES
            scenes = [scenes[i] for i in indices]
        else:
            # filter by scene split
            split = {
                'v1.0-trainval': {True: 'train', False: 'val'},
                'v1.0-mini': {True: 'mini_train', False: 'mini_val'},
            }[self.nusc.version][self.is_train]
            scenes = create_splits_scenes()[split]
        return scenes

    def prepro(self):
        samples = [samp for samp in self.nusc.sample]
        # remove samples that aren't in this split
        samples = [samp for samp in samples if self.nusc.get('scene', samp['scene_token'])['name'] in self.scenes]
        # sort by scene, timestamp (only to make chronological viz easier)
        samples.sort(key=lambda x: (x['scene_token'], x['timestamp']))
        return samples
    
    def get_indices(self):
        indices = []
        for index in range(len(self.ixes)):
            is_valid_data = True
            previous_rec = None
            current_indices = []
            for t in range(self.seqlen):
                index_t = index + t
                # Going over the dataset size limit.
                if index_t >= len(self.ixes):
                    is_valid_data = False
                    break
                rec = self.ixes[index_t]
                # Check if scene is the same
                if (previous_rec is not None) and (rec['scene_token'] != previous_rec['scene_token']):
                    is_valid_data = False
                    break

                current_indices.append(index_t)
                previous_rec = rec

            if is_valid_data:
                index += 38
                indices.append(current_indices)

        return np.asarray(indices)

    def get_indices_tempaug(self):
        indices = []
        t_patterns = None
        if self.seqlen == 1:
            return self.get_indices()
        elif self.seqlen == 2:
            # seq options: (t, t+1), (t, t+2)
            t_patterns = [[0,1], [0,2]]
        elif self.seqlen == 3:
            # seq options: (t, t+1, t+2), (t, t+1, t+3), (t, t+2, t+3)
            t_patterns = [[0,1,2], [0,1,3], [0,2,3]]
        elif self.seqlen == 5:
            t_patterns = [
                    [0,1,2,3,4], # normal
                    [0,1,2,3,5], [0,1,2,4,5], [0,1,3,4,5], [0,2,3,4,5], # 1 skip
                    # [1,0,2,3,4], [0,2,1,3,4], [0,1,3,2,4], [0,1,2,4,3], # 1 reverse
                    ]
        else:
            raise NotImplementedError("timestep not implemented")

        for index in range(len(self.ixes)):
            for t_pattern in t_patterns:
                is_valid_data = True
                previous_rec = None
                current_indices = []
                for t in t_pattern:
                    index_t = index + t
                    # going over the dataset size limit
                    if index_t >= len(self.ixes):
                        is_valid_data = False
                        break
                    rec = self.ixes[index_t]
                    # check if scene is the same
                    if (previous_rec is not None) and (rec['scene_token'] != previous_rec['scene_token']):
                        is_valid_data = False
                        break
                    
                    current_indices.append(index_t)
                    previous_rec = rec

                if is_valid_data:
                    indices.append(current_indices)
                    # indices.append(list(reversed(current_indices)))
                    # indices += list(itertools.permutations(current_indices))

        return np.asarray(indices)
    
    def sample_augmentation(self):
        fH, fW = self.data_aug_conf['final_dim']
        if self.is_train:
            if 'resize_lim' in self.data_aug_conf and self.data_aug_conf['resize_lim'] is not None:
                resize = np.random.uniform(*self.data_aug_conf['resize_lim'])
            else:
                resize = self.data_aug_conf['resize_scale']

            resize_dims = (int(fW*resize), int(fH*resize))

            newW, newH = resize_dims

            # center it
            crop_h = int((newH - fH)/2)
            crop_w = int((newW - fW)/2)

            crop_offset = self.data_aug_conf['crop_offset']
            crop_w = crop_w + int(np.random.uniform(-crop_offset, crop_offset))
            crop_h = crop_h + int(np.random.uniform(-crop_offset, crop_offset))

            crop = (crop_w, crop_h, crop_w + fW, crop_h + fH)
        else: # validation/test
            # do a perfect resize
            resize_dims = (fW, fH)
            crop_h = 0
            crop_w = 0
            crop = (crop_w, crop_h, crop_w + fW, crop_h + fH)
        return resize_dims, crop

    def get_image_data(self, rec, cams):
        imgs = []
        rots = []
        trans = []
        intrins = []
        for cam in cams:
            samp = self.nusc.get('sample_data', rec['data'][cam])

            imgname = os.path.join(self.dataroot, samp['filename'])
            img = Image.open(imgname)
            W, H = img.size

            sens = self.nusc.get('calibrated_sensor', samp['calibrated_sensor_token'])
            intrin = torch.Tensor(sens['camera_intrinsic'])
            rot = torch.Tensor(Quaternion(sens['rotation']).rotation_matrix)
            tran = torch.Tensor(sens['translation'])

            resize_dims, crop = self.sample_augmentation()

            sx = resize_dims[0]/float(W)
            sy = resize_dims[1]/float(H)

            intrin = utils.geom.scale_intrinsics(intrin.unsqueeze(0), sx, sy).squeeze(0)

            fx, fy, x0, y0 = utils.geom.split_intrinsics(intrin.unsqueeze(0))

            new_x0 = x0 - crop[0]
            new_y0 = y0 - crop[1]

            pix_T_cam = utils.geom.merge_intrinsics(fx, fy, new_x0, new_y0)
            intrin = pix_T_cam.squeeze(0)

            img = img_transform(img, resize_dims, crop)
            imgs.append(totorch_img(img))

            intrins.append(intrin)
            rots.append(rot)
            trans.append(tran)

            
        return (torch.stack(imgs), torch.stack(rots), torch.stack(trans),torch.stack(intrins))


    def get_lidar_data(self, rec, nsweeps):
        if self.is_lyft:
            pts = np.zeros((6,100))
        else:
            pts = get_lidar_data(self.nusc, rec, nsweeps=nsweeps, min_distance=2.2, dataroot=self.dataroot)
        return pts

    def get_radar_data(self, rec, nsweeps):
        if self.is_lyft:
            pts = np.zeros((3,100))
        else:
            pts = get_radar_data(self.nusc, rec, nsweeps=nsweeps, min_distance=2.2, use_radar_filters=self.use_radar_filters, dataroot=self.dataroot)
        return torch.Tensor(pts)

    def get_binimg(self, rec):
        egopose = self.nusc.get('ego_pose', self.nusc.get('sample_data', rec['data']['LIDAR_TOP'])['ego_pose_token'])
        trans = -np.array(egopose['translation'])
        rot = Quaternion(egopose['rotation']).inverse
        img = np.zeros((self.nx[0], self.nx[1]))
        for ii, tok in enumerate(rec['anns']):
            inst = self.nusc.get('sample_annotation', tok)
            
            if not self.is_lyft:
                # NuScenes filter
                if 'vehicle' not in inst['category_name']:
                    continue
                if discard_invisible and int(inst['visibility_token']) == 1:
                    # filter invisible vehicles
                    continue
            else:
                # Lyft filter
                if inst['category_name'] not in ['bus', 'car', 'construction_vehicle', 'trailer', 'truck']:
                    continue
                
            box = Box(inst['translation'], inst['size'], Quaternion(inst['rotation']))
            box.translate(trans)
            box.rotate(rot)

            pts = box.bottom_corners()[:2].T
            pts = np.round(
                (pts - self.bx[:2] + self.dx[:2]/2.) / self.dx[:2]
                ).astype(np.int32)
            pts[:, [1, 0]] = pts[:, [0, 1]]
            cv2.fillPoly(img, [pts], ii+1.0)

        return torch.Tensor(img).unsqueeze(0), torch.Tensor(convert_egopose_to_matrix_numpy(egopose))

    def get_seg_bev(self, lrtlist_cam, vislist):
        B, N, D = lrtlist_cam.shape
        assert(B==1)

        seg = np.zeros((self.Z, self.X))
        val = np.ones((self.Z, self.X))

        corners_cam = utils.geom.get_xyzlist_from_lrtlist(lrtlist_cam) # B, N, 8, 3
        y_cam = corners_cam[:,:,:,1] # y part; B, N, 8
        corners_mem = self.vox_util.Ref2Mem(corners_cam.reshape(B, N*8, 3), self.Z, self.Y, self.X).reshape(B, N, 8, 3)

        # take the xz part
        corners_mem = torch.stack([corners_mem[:,:,:,0], corners_mem[:,:,:,2]], dim=3) # B, N, 8, 2
        # corners_mem = corners_mem[:,:,:4] # take the bottom four

        for n in range(N):
            _, inds = torch.topk(y_cam[0,n], 4, largest=False)
            pts = corners_mem[0,n,inds].numpy().astype(np.int32) # 4, 2

            # if this messes in some later conditions,
            # the solution is to draw all combos
            pts = np.stack([pts[0],pts[1],pts[3],pts[2]])
            
            # pts[:, [1, 0]] = pts[:, [0, 1]]
            cv2.fillPoly(seg, [pts], n+1.0)
            
            if vislist[n]==0:
                # draw a black rectangle if it's invisible
                cv2.fillPoly(val, [pts], 0.0)

        return torch.Tensor(seg).unsqueeze(0), torch.Tensor(val).unsqueeze(0) # 1, Z, X

    def get_center_and_offset_bev(self, lrtlist_cam, seg_bev):
        B, N, D = lrtlist_cam.shape
        assert(B==1)

        lrtlist_mem = self.vox_util.apply_mem_T_ref_to_lrtlist(
            lrtlist_cam, self.Z, self.Y, self.X)
        clist_cam = utils.geom.get_clist_from_lrtlist(lrtlist_cam)
        lenlist, rtlist = utils.geom.split_lrtlist(lrtlist_cam) # B,N,3
        rlist_, tlist_ = utils.geom.split_rt(rtlist.reshape(B*N, 4, 4))

        x_vec = torch.zeros((B*N, 3), dtype=torch.float32, device=rlist_.device)
        x_vec[:, 0] = 1 # 0,0,1 
        x_rot = torch.matmul(rlist_, x_vec.unsqueeze(2)).squeeze(2)

        rylist = torch.atan2(x_rot[:, 0], x_rot[:, 2]).reshape(N)
        rylist = utils.geom.wrap2pi(rylist + np.pi/2.0)

        radius = 3
        center, offset = self.vox_util.xyz2circles_bev(clist_cam, radius, self.Z, self.Y, self.X, already_mem=False, also_offset=True)

        masklist = torch.zeros((1, N, 1, self.Z, 1, self.X), dtype=torch.float32)
        for n in range(N):
            inst = (seg_bev==(n+1)).float() # 1, Z, X
            masklist[0,n,0,:,0] = (inst.squeeze() > 0.01).float()

        size_bev = torch.zeros((1, 3, self.Z, self.X), dtype=torch.float32)
        for n in range(N):
            inst = (seg_bev==(n+1)).float() # 1, Z, X
            inst = inst.reshape(self.Z, self.X) > 0.01
            size_bev[0,:,inst] = lenlist[0,n].unsqueeze(1)

        ry_bev = torch.zeros((1, 1, self.Z, self.X), dtype=torch.float32)
        for n in range(N):
            inst = (seg_bev==(n+1)).float() # 1, Z, X
            inst = inst.reshape(self.Z, self.X) > 0.01
            ry_bev[0,:,inst] = rylist[n]
            
        ycoord_bev = torch.zeros((1, 1, self.Z, self.X), dtype=torch.float32)
        for n in range(N):
            inst = (seg_bev==(n+1)).float() # 1, Z, X
            inst = inst.reshape(self.Z, self.X) > 0.01
            ycoord_bev[0,:,inst] = tlist_[n,1] # y part

        offset = offset * masklist
        offset = torch.sum(offset, dim=1) # B,3,Z,Y,X

        min_offset = torch.min(offset, dim=3)[0] # B,2,Z,X
        max_offset = torch.max(offset, dim=3)[0] # B,2,Z,X
        offset = min_offset + max_offset
        
        center = torch.max(center, dim=1, keepdim=True)[0] # B,1,Z,Y,X
        center = torch.max(center, dim=3)[0] # max along Y; 1,Z,X
        
        return center.squeeze(0), offset.squeeze(0), size_bev.squeeze(0), ry_bev.squeeze(0), ycoord_bev.squeeze(0) # 1,Z,X; 2,Z,X; 3,Z,X; 1,Z,X

    def get_lrtlist(self, rec):
        egopose = self.nusc.get('ego_pose', self.nusc.get('sample_data', rec['data']['LIDAR_TOP'])['ego_pose_token'])
        trans = -np.array(egopose['translation'])
        rot = Quaternion(egopose['rotation']).inverse
        lrtlist = []
        boxlist = []
        vislist = []
        tidlist = []
        for tok in rec['anns']:
            inst = self.nusc.get('sample_annotation', tok)
            if not self.is_lyft:
                # NuScenes filter
                if 'vehicle' not in inst['category_name']:
                    continue
                if int(inst['visibility_token']) == 1:
                    vislist.append(torch.tensor(0.0)) # invisible
                else:
                    vislist.append(torch.tensor(1.0)) # visible
            else:
                # Lyft filter
                if inst['category_name'] not in ['bus', 'car', 'construction_vehicle', 'trailer', 'truck']:
                    continue
                vislist.append(torch.tensor(1.0)) # visible
                
            box = Box(inst['translation'], inst['size'], Quaternion(inst['rotation']))
            box.translate(trans)
            box.rotate(rot)

            tidlist.append(inst['instance_token'])

            # print('rotation', inst['rotation'])
            r = box.rotation_matrix
            t = box.center
            l = box.wlh
            l = np.stack([l[1],l[0],l[2]])
            lrt = utils.py.merge_lrt(l, utils.py.merge_rt(r,t))
            lrt = torch.Tensor(lrt)
            lrtlist.append(lrt)
            ry, _, _ = Quaternion(inst['rotation']).yaw_pitch_roll
            # print('rx, ry, rz', rx, ry, rz)
            rs = np.stack([ry*0, ry, ry*0])
            box_ = torch.from_numpy(np.stack([t,l,rs])).reshape(9)
            # print('box_', box_)
            boxlist.append(box_)
        if len(lrtlist):
            lrtlist = torch.stack(lrtlist, dim=0)
            boxlist = torch.stack(boxlist, dim=0)
            vislist = torch.stack(vislist, dim=0)
            # tidlist = torch.stack(tidlist, dim=0)
        else:
            lrtlist = torch.zeros((0, 19))
            boxlist = torch.zeros((0, 9))
            vislist = torch.zeros((0))
            # tidlist = torch.zeros((0))
            tidlist = []

        return lrtlist, boxlist, vislist, tidlist

    def choose_cams(self):
        if self.is_train and self.data_aug_conf['ncams'] < len(self.data_aug_conf['cams']):
            cams = np.random.choice(self.data_aug_conf['cams'], self.data_aug_conf['ncams'],
                                    replace=False)
        else:
            cams = self.data_aug_conf['cams']
        return cams

    def __str__(self):
        return f"""NuscData: {len(self)} samples. Split: {"train" if self.is_train else "val"}.
                   Augmentation Conf: {self.data_aug_conf}"""

    def __len__(self):
        return len(self.indices)
        # return len(self.ixes)


class VizData(NuscData):
    def __init__(self, *args, **kwargs):
        super(VizData, self).__init__(*args, **kwargs)

        Z, Y, X = self.res_3d
        self.vox_util = utils.vox.Vox_util(
            Z, Y, X,
            scene_centroid=torch.from_numpy(self.centroid).float().cuda(),
            bounds=self.bounds,
            assert_cube=False)
        self.Z, self.Y, self.X = Z, Y, X

    def get_single_item(self, index, cams, refcam_id=None):
        # print('index %d; cam_id' % index, cam_id)
        rec = self.ixes[index]

        imgs, rots, trans, intrins = self.get_image_data(rec, cams)
        lidar_data = self.get_lidar_data(rec, nsweeps=self.nsweeps)
        binimg, egopose = self.get_binimg(rec)
        
        if refcam_id is None:
            if self.is_train:
                # randomly sample the ref cam
                refcam_id = np.random.randint(1, len(cams))
            else:
                refcam_id = self.refcam_id

        # move the target refcam_id to the zeroth slot
        img_ref = imgs[refcam_id].clone()
        img_0 = imgs[0].clone()
        imgs[0] = img_ref
        imgs[refcam_id] = img_0

        rot_ref = rots[refcam_id].clone()
        rot_0 = rots[0].clone()
        rots[0] = rot_ref
        rots[refcam_id] = rot_0
        
        tran_ref = trans[refcam_id].clone()
        tran_0 = trans[0].clone()
        trans[0] = tran_ref
        trans[refcam_id] = tran_0

        intrin_ref = intrins[refcam_id].clone()
        intrin_0 = intrins[0].clone()
        intrins[0] = intrin_ref
        intrins[refcam_id] = intrin_0
        
        radar_data = self.get_radar_data(rec, nsweeps=self.nsweeps)

        lidar_extra = lidar_data[3:]
        lidar_data = lidar_data[:3]

        lrtlist_, boxlist_, vislist_, tidlist_ = self.get_lrtlist(rec)
        N_ = lrtlist_.shape[0]

        # import ipdb; ipdb.set_trace()
        if N_ > 0:
            
            velo_T_cam = utils.geom.merge_rt(rots, trans)
            cam_T_velo = utils.geom.safe_inverse(velo_T_cam)

            # note we index 0:1, since we already put refcam into zeroth position
            lrtlist_cam = utils.geom.apply_4x4_to_lrt(cam_T_velo[0:1].repeat(N_, 1, 1), lrtlist_).unsqueeze(0)

            seg_bev, valid_bev = self.get_seg_bev(lrtlist_cam, vislist_)
            
            center_bev, offset_bev, size_bev, ry_bev, ycoord_bev = self.get_center_and_offset_bev(lrtlist_cam, seg_bev)
        else:
            seg_bev = torch.zeros((1, self.Z, self.X), dtype=torch.float32)
            valid_bev = torch.ones((1, self.Z, self.X), dtype=torch.float32)
            center_bev = torch.zeros((1, self.Z, self.X), dtype=torch.float32)
            offset_bev = torch.zeros((2, self.Z, self.X), dtype=torch.float32)
            size_bev = torch.zeros((3, self.Z, self.X), dtype=torch.float32)
            ry_bev = torch.zeros((1, self.Z, self.X), dtype=torch.float32)
            ycoord_bev = torch.zeros((1, self.Z, self.X), dtype=torch.float32)

        N = 150 # i've seen n as high as 103 before, so 150 is probably safe (max number of objects)
        lrtlist = torch.zeros((N, 19), dtype=torch.float32)
        vislist = torch.zeros((N), dtype=torch.float32)
        scorelist = torch.zeros((N), dtype=torch.float32)
        lrtlist[:N_] = lrtlist_
        vislist[:N_] = vislist_
        scorelist[:N_] = 1

        # lidar is shaped 3,V, where V~=26k 
        times = lidar_extra[2] # V
        inds = times==times[0]
        lidar0_data = lidar_data[:,inds]
        lidar0_extra = lidar_extra[:,inds]

        lidar0_data = np.transpose(lidar0_data)
        lidar0_extra = np.transpose(lidar0_extra)
        lidar_data = np.transpose(lidar_data)
        lidar_extra = np.transpose(lidar_extra)
        if self.is_lyft:
            V = 70000*self.nsweeps
        else:
            V = 30000*self.nsweeps
            
        if lidar_data.shape[0] > V:
            # assert(False) # if this happens, it's probably better to increase V than to subsample as below
            lidar0_data = lidar0_data[:V//self.nsweeps]
            lidar0_extra = lidar0_extra[:V//self.nsweeps]
            lidar_data = lidar_data[:V]
            lidar_extra = lidar_extra[:V]
        elif lidar_data.shape[0] < V:
            lidar0_data = np.pad(lidar0_data,[(0,V//self.nsweeps-lidar0_data.shape[0]),(0,0)],mode='constant')
            lidar0_extra = np.pad(lidar0_extra,[(0,V//self.nsweeps-lidar0_extra.shape[0]),(0,0)],mode='constant')
            lidar_data = np.pad(lidar_data,[(0,V-lidar_data.shape[0]),(0,0)],mode='constant')
            lidar_extra = np.pad(lidar_extra,[(0,V-lidar_extra.shape[0]),(0,0)],mode='constant',constant_values=-1)
        lidar0_data = np.transpose(lidar0_data)
        lidar0_extra = np.transpose(lidar0_extra)
        lidar_data = np.transpose(lidar_data)
        lidar_extra = np.transpose(lidar_extra)

        # radar has <700 points 
        radar_data = np.transpose(radar_data)
        V = 700*self.nsweeps
        if radar_data.shape[0] > V:
            print('radar_data', radar_data.shape)
            print('max pts', V)
            assert(False) # i expect this to never happen
            radar_data = radar_data[:V]
        elif radar_data.shape[0] < V:
            radar_data = np.pad(radar_data,[(0,V-radar_data.shape[0]),(0,0)],mode='constant')
        radar_data = np.transpose(radar_data)

        lidar0_data = torch.from_numpy(lidar0_data).float()
        lidar0_extra = torch.from_numpy(lidar0_extra).float()
        lidar_data = torch.from_numpy(lidar_data).float()
        lidar_extra = torch.from_numpy(lidar_extra).float()
        radar_data = torch.from_numpy(radar_data).float()

        binimg = (binimg > 0).float()
        seg_bev = (seg_bev > 0).float()

        if self.get_tids:
            return imgs, rots, trans, intrins, lidar0_data, lidar0_extra, lidar_data, lidar_extra, lrtlist, vislist, tidlist_, scorelist, seg_bev, valid_bev, center_bev, offset_bev, size_bev, ry_bev, ycoord_bev, radar_data, egopose
        else:
            return imgs, rots, trans, intrins, lidar0_data, lidar0_extra, lidar_data, lidar_extra, lrtlist, vislist, scorelist, seg_bev, valid_bev, center_bev, offset_bev, size_bev, ry_bev, ycoord_bev, radar_data, egopose
    
    def __getitem__(self, index):

        cams = self.choose_cams()
        
        if self.is_train and self.do_shuffle_cams:
            # randomly sample the ref cam
            refcam_id = np.random.randint(1, len(cams))
        else:
            refcam_id = self.refcam_id
        
        all_imgs = []
        all_rots = []
        all_trans = []
        all_intrins = []
        all_lidar0_data = []
        all_lidar0_extra = []
        all_lidar_data = []
        all_lidar_extra = []
        all_lrtlist = []
        all_vislist = []
        all_tidlist = []
        all_scorelist = []
        all_seg_bev = []
        all_valid_bev = []
        all_center_bev = []
        all_offset_bev = []
        all_radar_data = []
        all_egopose = []
        for index_t in self.indices[index]:
            # print('grabbing index %d' % index_t)
            imgs, rots, trans, intrins, lidar0_data, lidar0_extra, lidar_data, lidar_extra, lrtlist, vislist, tidlist, scorelist, seg_bev, valid_bev, center_bev, offset_bev, size_bev, ry_bev, ycoord_bev, radar_data, egopose = self.get_single_item(index_t, cams, refcam_id=refcam_id)

            all_imgs.append(imgs)
            all_rots.append(rots)
            all_trans.append(trans)
            all_intrins.append(intrins)
            all_lidar0_data.append(lidar0_data)
            all_lidar0_extra.append(lidar0_extra)
            all_lidar_data.append(lidar_data)
            all_lidar_extra.append(lidar_extra)
            all_lrtlist.append(lrtlist)
            all_vislist.append(vislist)
            all_tidlist.append(tidlist)
            all_scorelist.append(scorelist)
            all_seg_bev.append(seg_bev)
            all_valid_bev.append(valid_bev)
            all_center_bev.append(center_bev)
            all_offset_bev.append(offset_bev)
            all_radar_data.append(radar_data)
            all_egopose.append(egopose)

        all_imgs = torch.stack(all_imgs)
        all_rots = torch.stack(all_rots)
        all_trans = torch.stack(all_trans)
        all_intrins = torch.stack(all_intrins)
        all_lidar0_data = torch.stack(all_lidar0_data)
        all_lidar0_extra = torch.stack(all_lidar0_extra)
        all_lidar_data = torch.stack(all_lidar_data)
        all_lidar_extra = torch.stack(all_lidar_extra)
        all_lrtlist = torch.stack(all_lrtlist)
        all_vislist = torch.stack(all_vislist)
        # all_tidlist = torch.stack(all_tidlist)
        all_scorelist = torch.stack(all_scorelist)
        all_seg_bev = torch.stack(all_seg_bev)
        all_valid_bev = torch.stack(all_valid_bev)
        all_center_bev = torch.stack(all_center_bev)
        all_offset_bev = torch.stack(all_offset_bev)
        all_radar_data = torch.stack(all_radar_data)
        all_egopose = torch.stack(all_egopose)
        
        usable_tidlist = -1*torch.ones_like(all_scorelist).long()
        counter = 0
        for t in range(len(all_tidlist)):
            for i in range(len(all_tidlist[t])):
                if t==0:
                    usable_tidlist[t,i] = counter
                    counter += 1
                else:
                    st = all_tidlist[t][i]
                    if st in all_tidlist[0]:
                        usable_tidlist[t,i] = all_tidlist[0].index(st)
                    else:
                        usable_tidlist[t,i] = counter
                        counter += 1
        all_tidlist = usable_tidlist

        return all_imgs, all_rots, all_trans, all_intrins, all_lidar0_data, all_lidar0_extra, all_lidar_data, all_lidar_extra, all_lrtlist, all_vislist, all_tidlist, all_scorelist, all_seg_bev, all_valid_bev, all_center_bev, all_offset_bev, all_radar_data, all_egopose


def worker_rnd_init(x):
    np.random.seed(13 + x)


def compile_data(version, dataroot, data_aug_conf, centroid, bounds, res_3d, bsz,
                 nworkers, shuffle=True, nsweeps=1, nworkers_val=1, seqlen=1, refcam_id=1, get_tids=False,
                 temporal_aug=False, use_radar_filters=False, do_shuffle_cams=True):

    if 'lyft' in version:
        print('loading lyft...')
        dataroot = os.path.join(dataroot, 'trainval')
        nusc = LyftDataset(data_path=dataroot,
                           json_path=os.path.join(dataroot, 'train_data'),
                           verbose=True)
    else:
        print('loading nuscenes...')
        nusc = NuScenes(version='v1.0-{}'.format(version),
                        dataroot=os.path.join(dataroot, version),
                        verbose=False)
    print('making parser...')
    traindata = VizData(
        nusc,
        is_train=True,
        data_aug_conf=data_aug_conf,
        nsweeps=nsweeps,
        centroid=centroid,
        bounds=bounds,
        res_3d=res_3d,
        seqlen=seqlen,
        refcam_id=refcam_id,
        get_tids=get_tids,
        temporal_aug=temporal_aug,
        use_radar_filters=use_radar_filters,
        do_shuffle_cams=do_shuffle_cams)
    valdata = VizData(
        nusc,
        is_train=False,
        data_aug_conf=data_aug_conf,
        nsweeps=nsweeps,
        centroid=centroid,
        bounds=bounds,
        res_3d=res_3d,
        seqlen=seqlen,
        refcam_id=refcam_id,
        get_tids=get_tids,
        temporal_aug=False,
        use_radar_filters=use_radar_filters,
        do_shuffle_cams=False)

    trainloader = torch.utils.data.DataLoader(
        traindata,
        batch_size=bsz,
        shuffle=shuffle,
        num_workers=nworkers,
        drop_last=True,
        worker_init_fn=worker_rnd_init,
        pin_memory=False)
    valloader = torch.utils.data.DataLoader(
        valdata,
        batch_size=bsz,
        shuffle=shuffle,
        num_workers=nworkers_val,
        drop_last=True,
        pin_memory=False)
    print('data ready')
    return trainloader, valloader