def __getitem__(self, idx):
        """Get item from infos according to the given index.
        Returns:
            dict: Data dictionary of the corresponding index.
        """
        if self.test_mode:
            return self.prepare_test_data(idx)
        while True:

            data = self.prepare_train_data(idx)
            if data is None:
                idx = self._rand_another(idx)
                continue
            return data
Get item from infos according to the given index.
        Returns:
            dict: Data dictionary of the corresponding index.
        
projects/mmdet3d_plugin/datasets/nuscenes_vad_dataset.py