About the dataset fetching for Nuscenes

[sunnyHelen]

Hi, thanks for sharing your great work. I am reading the code of this work. I notice you get the adjacent frame by this line: index_temporal_i = cam_sample['prev'] and index_temporal_i = cam_sample['next']
I'm very curious about whether the image obtained in the way is a keyframe or a sweep frame.
And how do you remove the static scenes?

Thanks a lot and looking forward to your reply.