Why the number of training datasets is less than the number of official nuScene dataset?

[rockywind]

Hi,
I found the number of training datasets is 20096, but the number of offical nuScene datasets is 28119.
I am confused why the training number is less than the official nuScene dataset.
And another question is how to generate the train.txt?
Thank you for your help.

[weiyithu]

We filter out static frames in nuScenes dataset. Specifically, if the scale of translation between current frame and previous frame or current frame and next frame is smaller than 0.1m, we will delete this frame.

[rockywind]

Thank you very much!