def centerxywh_to_xyxy(boxes):
    """
    args:
        boxes:list of center_x,center_y,width,height,
    return:
        boxes:list of x,y,x,y,cooresponding to top left and bottom right
    """
    x_top_left = boxes[0] - boxes[2] / 2
    y_top_left = boxes[1] - boxes[3] / 2
    x_bottom_right = boxes[0] + boxes[2] / 2
    y_bottom_right = boxes[1] + boxes[3] / 2
    return [x_top_left, y_top_left, x_bottom_right, y_bottom_right]