Why sweep_lidar_info use calibrated_sensor_token of cam_data in gen_info ?

[chao-SFD]

Dear authors,
In the gen_info, the calibrated_sensor of sweep_lidar_info use the calibrated_sensor_token of 'CAM_FRONT_LEFT' at the farthest moment.
The code at line 116 is:
sweep_lidar_info['calibrated_sensor'] = nusc.get( 'calibrated_sensor', cam_data['calibrated_sensor_token'])
Is the cam_data should be changed to sweep_lidar_data and use the calibrated_sensor_token of sweep_lidar_data?

I'm looking for your replay.Thanks.

[chao-SFD]

As the same, the ego_pose of sweep_cam_info use the ego_pose_token of cam_data(key frame), but not the sweep_cam_data.
the code at line 80 is:
sweep_cam_info['ego_pose'] = nusc.get( 'ego_pose', cam_data['ego_pose_token'])
Is the cam_data should be changed to sweep_cam_data? I found the version of bevStereo at https://github.com/Megvii-BaseDetection/BEVStereo/blob/master/scripts/gen_info.py seems to be right.