def save_kitti_format(sample_id, calib, bbox3d, kitti_output_dir, scores, img_shape):
corners3d = kitti_utils.boxes3d_to_corners3d(bbox3d)
img_boxes, _ = calib.corners3d_to_img_boxes(角3d)
img_boxes[:, 0] = np.clip(img_boxes[:, 0], 0, img_shape[1] - 1)
img_boxes[:, 1] = np.clip(img_boxes[:, 1], 0, img_shape[0] - 1)
img_boxes[:, 2] = np.clip(img_boxes[:, 2], 0, img_shape[1] - 1)
img_boxes[:, 3] = np.clip(img_boxes[:, 3], 0, img_shape[0] - 1)
img_boxes_w = img_boxes[:, 2] - img_boxes[:, 0]
img_boxes_h = img_boxes[:, 3] - img_boxes[:, 1]
box_valid_mask = np.logical_and(img_boxes_w < img_shape[1] * 0.8, img_boxes_h < img_shape[0] * 0.8)
kitti_output_file = os.path.join(kitti_output_dir, '%06d.txt' % sample_id)
with open(kitti_output_file, 'w') as f:
for k in range(bbox3d.shape[0]):
if box_valid_mask[k] == 0:
continue
x, z, ry = bbox3d[k, 0], bbox3d[k, 2], bbox3d[k, 6]
beta = np.arctan2(z, x)
alpha = -np.sign(beta) * np.pi / 2 + beta + ry
print('%s -1 -1 %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f %.4f' %
(cfg.CLASSES, alpha, img_boxes[k, 0], img_boxes[k, 1], img_boxes[k, 2], img_boxes[k, 3],
bbox3d[k, 3], bbox3d[k, 4], bbox3d[k, 5], bbox3d[k, 0], bbox3d[k, 1], bbox3d[k, 2],
bbox3d[k, 6], scores[k]), file=f)解释这段代码,并且根据已知的条件,已知sample_id, 点云的检测结果(x, y, z, w, h, l, yaw), kitti_output_dir, scores, img_shape,calib文件的路径且格式与 KITTI 数据集的标定文件格式相同,要求得到2D检测框的坐标,和alpha,仿写出Python函数,并给出示例