text: /******************************************************************************
   * Copyright 2017 The Apollo Authors. All Rights Reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *****************************************************************************/
  
  #ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_
  #define MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_
  
  #include <string>
  
  namespace apollo {
  namespace perception {
  namespace cnnseg {
  
  inline int F2I(float val, float ori, float scale) {
    return static_cast<int>(std::floor((ori - val) * scale));
  }
  
  inline int Pc2Pixel(float in_pc, float in_range, float out_size) {
    float inv_res = 0.5 * out_size / in_range;
    return static_cast<int>(std::floor((in_range - in_pc) * inv_res));
  }
  
  inline float Pixel2Pc(int in_pixel, float in_size, float out_range) {
    float res = 2.0 * out_range / in_size;
    return out_range - (static_cast<float>(in_pixel) + 0.5f) * res;
  }
  
  }  // namespace cnnseg
  }  // namespace perception
  }  // namespace apollo
  
  #endif  // MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_
  