Fix KITTI-3D importer and exporter (#1596)

<!-- Contributing guide:
https://github.com/openvinotoolkit/datumaro/blob/develop/CONTRIBUTING.md
-->

### Summary

- Fix for #1578

### How to test
<!-- Describe the testing procedure for reviewers, if changes are
not fully covered by unit tests or manual testing can be complicated.
-->

### Checklist
<!-- Put an 'x' in all the boxes that apply -->
- [ ] I have added unit tests to cover my changes.​
- [ ] I have added integration tests to cover my changes.​
- [x] I have added the description of my changes into
[CHANGELOG](https://github.com/openvinotoolkit/datumaro/blob/develop/CHANGELOG.md).​
- [ ] I have updated the
[documentation](https://github.com/openvinotoolkit/datumaro/tree/develop/docs)
accordingly

### License

- [ ] I submit _my code changes_ under the same [MIT
License](https://github.com/openvinotoolkit/datumaro/blob/develop/LICENSE)
that covers the project.
  Feel free to contact the maintainers if that's a concern.
- [ ] I have updated the license header for each file (see an example
below).

```python
# Copyright (C) 2024 Intel Corporation
#
# SPDX-License-Identifier: MIT
```

CHANGELOG.md

@@ -15,6 +15,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Enhancements
 - Change _Shape to Shape and add comments for subclasses of Shape
   (<https://github.com/openvinotoolkit/datumaro/pull/1568>)
+- Fix `kitti_raw` importer and exporter for dimensions (height, width, length) in meters
+  (<https://github.com/openvinotoolkit/datumaro/pull/1596>)
 
 ### Bug fixes
 

src/datumaro/plugins/data_formats/kitti_raw/base.py

@@ -1,4 +1,4 @@
-# Copyright (C) 2021-2023 Intel Corporation
+# Copyright (C) 2021-2024 Intel Corporation
 #
 # SPDX-License-Identifier: MIT
 
@@ -182,7 +182,7 @@ def _parse_attr(cls, value):
     @classmethod
     def _parse_track(cls, track_id, track, categories):
         common_attrs = {k: cls._parse_attr(v) for k, v in track["attributes"].items()}
-        scale = [track["scale"][k] for k in ["w", "h", "l"]]
+        scale = [track["scale"][k] for k in ["h", "w", "l"]]
         label = categories[AnnotationType.label].find(track["label"])[0]
 
         kf_occluded = False

src/datumaro/plugins/data_formats/kitti_raw/exporter.py

@@ -1,4 +1,4 @@
-# Copyright (C) 2021 Intel Corporation
+# Copyright (C) 2021-2024 Intel Corporation
 #
 # SPDX-License-Identifier: MIT
 
@@ -339,16 +339,16 @@ def _create_tracklets(self, subset):
                 if not track:
                     track = {
                         "objectType": label,
-                        "h": ann.scale[1],
-                        "w": ann.scale[0],
+                        "h": ann.scale[0],
+                        "w": ann.scale[1],
                         "l": ann.scale[2],
                         "first_frame": frame_id,
                         "poses": [],
                         "finished": 1,  # keep last
                     }
                     tracks[track_id] = track
                 else:
-                    if [track["w"], track["h"], track["l"]] != ann.scale:
+                    if [track["h"], track["w"], track["l"]] != ann.scale:
                         # Tracks have fixed scale in the format
                         raise DatasetExportError(
                             "Item %s: mismatching track shapes, "

tests/integration/cli/test_kitti_raw_format.py

@@ -33,13 +33,13 @@ def test_can_convert_to_kitti_raw(self):
                         annotations=[
                             Cuboid3d(
                                 position=[1, 2, 3],
-                                scale=[7.95, -3.62, -1.03],
+                                scale=[-3.62, 7.95, -1.03],
                                 label=1,
                                 attributes={"occluded": False, "track_id": 1},
                             ),
                             Cuboid3d(
                                 position=[1, 1, 0],
-                                scale=[8.34, 23.01, -0.76],
+                                scale=[23.01, 8.34, -0.76],
                                 label=0,
                                 attributes={"occluded": False, "track_id": 2},
                             ),
@@ -65,7 +65,7 @@ def test_can_convert_to_kitti_raw(self):
                         annotations=[
                             Cuboid3d(
                                 position=[0, 1, 0],
-                                scale=[8.34, 23.01, -0.76],
+                                scale=[23.01, 8.34, -0.76],
                                 rotation=[1, 1, 3],
                                 label=0,
                                 attributes={"occluded": True, "track_id": 2},
@@ -92,7 +92,7 @@ def test_can_convert_to_kitti_raw(self):
                         annotations=[
                             Cuboid3d(
                                 position=[1, 2, 3],
-                                scale=[-9.41, 13.54, 0.24],
+                                scale=[13.54, -9.41, 0.24],
                                 label=1,
                                 attributes={"occluded": False, "track_id": 3},
                             )

tests/unit/test_kitti_raw_format.py

@@ -52,13 +52,13 @@ def test_can_load(self):
                     annotations=[
                         Cuboid3d(
                             position=[1, 2, 3],
-                            scale=[7.95, -3.62, -1.03],
+                            scale=[-3.62, 7.95, -1.03],
                             label=1,
                             attributes={"occluded": False, "track_id": 1},
                         ),
                         Cuboid3d(
                             position=[1, 1, 0],
-                            scale=[8.34, 23.01, -0.76],
+                            scale=[23.01, 8.34, -0.76],
                             label=0,
                             attributes={"occluded": False, "track_id": 2},
                         ),
@@ -71,7 +71,7 @@ def test_can_load(self):
                     annotations=[
                         Cuboid3d(
                             position=[0, 1, 0],
-                            scale=[8.34, 23.01, -0.76],
+                            scale=[23.01, 8.34, -0.76],
                             rotation=[1, 1, 3],
                             label=0,
                             attributes={"occluded": True, "track_id": 2},
@@ -85,7 +85,7 @@ def test_can_load(self):
                     annotations=[
                         Cuboid3d(
                             position=[1, 2, 3],
-                            scale=[-9.41, 13.54, 0.24],
+                            scale=[13.54, -9.41, 0.24],
                             label=1,
                             attributes={"occluded": False, "track_id": 3},
                         )
@@ -161,7 +161,7 @@ def test_can_save_and_load(self):
                         Cuboid3d(position=[1.4, 2.1, 1.4], label=1, attributes={"track_id": 2}),
                         Cuboid3d(
                             position=[11.4, -0.1, 4.2],
-                            scale=[2, 1, 2],
+                            scale=[1, 2, 2],
                             label=0,
                             attributes={"track_id": 3},
                         ),
@@ -172,7 +172,7 @@ def test_can_save_and_load(self):
                     annotations=[
                         Cuboid3d(
                             position=[0.4, -1, 2.24],
-                            scale=[2, 1, 2],
+                            scale=[1, 2, 2],
                             label=0,
                             attributes={"track_id": 3},
                         ),
@@ -185,7 +185,7 @@ def test_can_save_and_load(self):
                     annotations=[
                         Cuboid3d(
                             position=[0.4, -1, 3.24],
-                            scale=[2, 1, 2],
+                            scale=[1, 2, 2],
                             label=0,
                             attributes={"track_id": 3},
                         ),
@@ -244,7 +244,7 @@ def test_can_save_and_load(self):
                             ),
                             Cuboid3d(
                                 position=[11.4, -0.1, 4.2],
-                                scale=[2, 1, 2],
+                                scale=[1, 2, 2],
                                 label=0,
                                 attributes={"occluded": False, "track_id": 3},
                             ),
@@ -256,7 +256,7 @@ def test_can_save_and_load(self):
                         annotations=[
                             Cuboid3d(
                                 position=[0.4, -1, 2.24],
-                                scale=[2, 1, 2],
+                                scale=[1, 2, 2],
                                 label=0,
                                 attributes={"occluded": False, "track_id": 3},
                             ),
@@ -271,7 +271,7 @@ def test_can_save_and_load(self):
                         annotations=[
                             Cuboid3d(
                                 position=[0.4, -1, 3.24],
-                                scale=[2, 1, 2],
+                                scale=[1, 2, 2],
                                 label=0,
                                 attributes={"occluded": False, "track_id": 3},
                             ),