只转标签，其他随便挪挪就行

import os
import cv2
def convert_kitti_to_yolo(kitti_labels_path, images_path, yolo_labels_path, names,suffix:str=".png"):
    if not os.path.exists(yolo_labels_path):
        os.makedirs(yolo_labels_path)

    for label_file in os.listdir(kitti_labels_path):
        if label_file.endswith('.txt'):
            with open(os.path.join(kitti_labels_path, label_file), 'r') as f:
                lines = f.readlines()

            yolo_label_content = []
            image_file = label_file.replace('.txt', suffix)
            image_path = os.path.join(images_path, image_file)

            # 获取图片宽高
            image = cv2.imread(image_path)
            height, width = image.shape[:2]

            for line in lines:
                elements = line.strip().split()
                name = elements[0]
                x_min = int(elements[4])
                y_min = int(elements[5])
                x_max = int(elements[6])
                y_max = int(elements[7])

                # 查找名称对应的类别编号
                class_id = names.index(name)
                
                # 将边界框转换为YOLO格式
                x_center = (x_min + x_max) / 2.0 / width
                y_center = (y_min + y_max) / 2.0 / height
                bbox_width = (x_max - x_min) / float(width)
                bbox_height = (y_max - y_min) / float(height)
                
                # YOLO格式：class_id x_center y_center bbox_width bbox_height
                yolo_label_content.append(f"{class_id} {x_center} {y_center} {bbox_width} {bbox_height}")

            # 将转换后的标签写入YOLO标签文件
            yolo_label_file = os.path.join(yolo_labels_path, label_file)
            print("saving:",yolo_label_file)
            with open(yolo_label_file, 'w') as f:
                f.write('\n'.join(yolo_label_content))



if __name__=="__main__":
    labels = ['a', 'b', 'c']
    img_path=r".....rgb"
    label_path=r"....label"
    yolo_label_path=r"output_label_path"
    convert_kitti_to_yolo(label_path, img_path, yolo_label_path, labels)