Use height to calculate kitti centroid

Closes: #163

Author: ch-sa

labelCloud/io/labels/kitti.py

@@ -144,23 +144,23 @@ def export_labels(self, bboxes: List[BBox], pcd_path: Path) -> None:
         for bbox in bboxes:
             obj_type = bbox.get_classname()
             centroid = bbox.get_center()
-            dimensions = bbox.get_dimensions()
+            length, width, height = bbox.get_dimensions()
 
             # invert sequence to height, width, length
-            dimensions = dimensions[2], dimensions[1], dimensions[0]
+            dimensions = height, width, length
 
             if self.transformed:
                 try:
                     self._get_transforms(pcd_path)
-                except CalibrationFileNotFound as exc:
+                except CalibrationFileNotFound:
                     logging.exception("Calibration file not found")
                     logging.warning("Skipping writing of labels for this point cloud")
                     return
 
                 centroid = (
                     centroid[0],
                     centroid[1],
-                    centroid[2] - dimensions[2] / 2,
+                    centroid[2] - height / 2,
                 )  # centroid in KITTI located on bottom face of bbox
                 xyz1 = np.insert(np.asarray(centroid), 3, values=[1])
                 xyz1 = self.T_v2c @ xyz1