def update_with_tokens(dict_gt, nusc, token_sd):
    """
    Update with tokens corresponding to the token_sd
    """
    table_sample_data = nusc.get('sample_data', token_sd)
    token_sample = table_sample_data['sample_token']
    table_sample = nusc.get('sample', token_sample)
    token_scene = table_sample['scene_token']
    dict_gt['token_sample_data'] = token_sd
    dict_gt['token_sample'] = token_sample
    dict_gt['token_scene'] = token_scene
    return dict_gt
