目标检测标签格式转换（kitti数据集格式转四坐标）

ef rotatePoint(xc, yc, xp, yp, theta):
    xoff = xp - xc

    yoff = yp - yc

    cosTheta = math.cos(theta)

    sinTheta = math.sin(theta)

    pResx = cosTheta * xoff + sinTheta * yoff

    pResy = - sinTheta * xoff + cosTheta * yoff

    return xc + pResx, yc + pResy


def addRotatedShape(cx, cy, w, h, angle):
    p0x, p0y = rotatePoint(cx, cy, cx - w / 2, cy - h / 2, -angle)

    p1x, p1y = rotatePoint(cx, cy, cx + w / 2, cy - h / 2, -angle)

    p2x, p2y = rotatePoint(cx, cy, cx + w / 2, cy + h / 2, -angle)

    p3x, p3y = rotatePoint(cx, cy, cx - w / 2, cy + h / 2, -angle)

    return p0x, p0y, p1x, p1y, p2x, p2y, p3x, p3y

样例数据：
转换前：

2 284.755840 55.945635 17.589079 125.675577 -5.620411

转换后：

316.4876871422387, 1.0000121940895426, 330.3529509009749, 11.82268104095521, 253.02399285776124, 110.89125780591047, 239.15872909902504, 100.06858895904477

可视化：

旋转框标注工具：
https://github.com/zexihan/labelImg-kitti