about preparing the dataset

[yingtaoxwz]

Hello,
Thank you for your great work!

I have some questions about part of the dataset structure and feel like the prepare_dataset.md document is a bit sketchy. Here are my questions：
What is the structure in the samples, sweeps, and maps folders in nuscenes(bold underneath)?
In particular, are samples and sweeps all the samples and sweeps parts of test and trainval included?

VAD
├── projects/
├── tools/
├── configs/
├── ckpts/
│ ├── resnet50-19c8e357.pth
├── data/
│ ├── can_bus/
│ ├── nuscenes/
│ │ ├── maps/
│ │ ├── samples/
│ │ ├── sweeps/
│ │ ├── v1.0-test/
| | ├── v1.0-trainval/
| | ├── vad_nuscenes_infos_temporal_train.pkl
| | ├── vad_nuscenes_infos_temporal_val.pkl