def ips_to_metric(d, min_depth, max_depth):
    """
    https://github.com/fyu/tiny/blob/4572a056fd92696a3a970c2cffd3ba1dae0b8ea0/src/sweep_planes.cc#L204

    Args:
        d: inverse perspective sampling [0, 1]
        min_depth: in meter
        max_depth: in meter

    Returns:

    """
    return (max_depth * min_depth) / (max_depth - (max_depth - min_depth) * d)