KITTI tracklet h, w fields swapped

[playertr]

In the KITTI exporter at line 342, the h and w attributes are swapped so that they correspond the the second and first elements, respectively, of the Cuboid3D scale attribute:

track = {
                        "objectType": label,
                        "h": ann.scale[1],
                        "w": ann.scale[0],
                        "l": ann.scale[2],
                        "first_frame": frame_id,
                        "poses": [],
                        "finished": 1,  # keep last
                    }

This corresponds to the re-ordering [sy, sx, sz] with respect to the definitions from the Cuboid3D class definition.

However, this appears to be inconsistent with the definition from Geiger, 2013, p. 3, which says that length corresponds to the "x" axis of the tracklet.

Is this inconsistency expected? I needed to re-swap these dimensions when using the labels.

[wonjuleee]

Hi @playertr, you are correct. From the KITTI officials, they described as below.

So we fixed this at https://github.com/openvinotoolkit/datumaro/pull/1596 and this will be published as 1.9.0 soon!