# Mindkosh Lidar annotation format

### Versioning

1. v1.1 - This format contains annotations from all frames in a single JSON file.
2. v1.2 - This format has separate JSON files for each frame.
3. v2.0 - This format contains the following additional fields:
   1. version
   2. task name

The following description corresponds to format version 2.0. If you have export files of other formats, you can use conversion scripts - `mindkosh1_1tomindkosh2.py`  and  `mindkosh1_2tomindkosh2.py`  (Found in the Python SDK) to convert them into the newer format. All exports created after June 28 2025, will be in format v2.x

### Format conventions

We follow the same convention as KITTI, with 1 major change - all our values are specified from the point cloud frame, rather than the camera frame.<br>

**Dimensions**<br>

1. Length is measured front-to-back.
2. Width is measured side-to-side
3. Height is measured from top-to-bottom

{% hint style="warning" %}
This assumes that the forward facing faces have been properly marked. By default the face is assumed to be in the positive Y direction (when the cuboid is un-rotated).
{% endhint %}

**Rotation**

Rotation is measured counter-clockwise from the Y axis (of the point cloud). It is always positive.

<figure><img src="/files/9dSO3wpWGgmV7l01R4pk" alt=""><figcaption></figcaption></figure>


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