Questions regarding motion and tracking bounding boxes

[XZLeo]

Congratulations on this great work! （深受启发）

For my current work, I am trying to understand motion prediction and tracking prediction.

1. In the multimodality motion/trajactory prediction, the prediction is in shape [N_decoders, B, N_agents, mode=6, T=12, 5]. I wonder if it contains the trajectory of the ego-vehicle. If so, which one is it? I only need trajectory prediction for other agents.
2. I also need to bounding boxes from the trackformer. A 3D bounding box is defined by 7 numbers. However, when I check 'sdc_track_bbox_results' and track_bbox_results in trackformer I found there are 9 elements. How to interpret it?

Thank you very much for the answer! 中文回答也是ok的！