Utils.C

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// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2020 by Laurent Itti, the University of Southern
// California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
//
// This file is part of the JeVois Smart Embedded Machine Vision Toolkit.  This program is free software; you can
// redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
// Foundation, version 2.  This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public
// License for more details.  You should have received a copy of the GNU General Public License along with this program;
// if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
// Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file */
 
#include <jevois/DNN/Utils.H>
#include <jevois/Util/Utils.H>
#include <jevois/Debug/Log.H>
#include <fstream>
#include <cstring> // for std::memcpy()
 
// ##############################################################################################################
std::map<int, std::string> jevois::dnn::readLabelsFile(std::string const & fname)
{
  std::ifstream ifs(fname);
  if (ifs.is_open() == false) LFATAL("Failed to open file " << fname);
 
  size_t linenum = 1; std::map<int, std::string> ret; int id = 0;
  for (std::string line; std::getline(ifs, line); ++linenum)
  {
    size_t idx1 = line.find_first_not_of(" \t"); if (idx1 == line.npos) continue;
    size_t idx2 = line.find_last_not_of(" \t\r\n"); if (idx2 == line.npos) continue;
    if (line[idx1] == '#') continue;
 
    try { id = std::stoi(line, &idx1); idx1 = line.find_first_not_of("0123456789 \t,:", idx1); } catch (...) { }
 
    std::string classname;
    if (idx1 >= idx2)
    {
      LERROR(fname << ':' << linenum << ": empty class name -- REPLACING BY 'unspecified'");
      classname = "unspecified";
    }
    else classname = line.substr(idx1, idx2 + 1 - idx1);
 
    // Possibly replace two double quotes by one:
    jevois::replaceStringAll(classname, "\"\"", "\"");
 
    // Possibly remove enclosing double quotes:
    size_t len = classname.length();
    if (len > 1 && classname[0] == '"' && classname[len-1] == '"') classname = classname.substr(1, len-2);
    
    ret[id] = classname;
    
    // Increment id in case no ID number is given in the file:
    ++id;
  }
 
  ifs.close();
 
  LINFO("Loaded " << ret.size() << " class names from " << fname);
  
  return ret;
}
 
// ##############################################################################################################
std::string jevois::dnn::getLabel(std::map<int, std::string> const & labels, int id, bool namedonly)
{
  auto itr = labels.find(id);
  if (itr == labels.end())
  {
    if (namedonly) return std::string();
    else return std::to_string(id);
  }
  return itr->second;
}
 
// ##############################################################################################################
int jevois::dnn::stringToRGBA(std::string const & label, unsigned char alpha)
{
  int col = 0x80808080;
  for (char const c : label) col = c + ((col << 5) - col);
  col = (col & 0xffffff) | (alpha << 24);
  return col;
}
 
// ##############################################################################################################
void jevois::dnn::topK(float const * pfProb, float * pfMaxProb, uint32_t * pMaxClass, uint32_t outputCount,
                       uint32_t topNum)
{
  memset(pfMaxProb, 0xfe, sizeof(float) * topNum);
  memset(pMaxClass, 0xff, sizeof(float) * topNum);
  
  for (uint32_t j = 0; j < topNum; ++j)
  {
    for (uint32_t i = 0; i < outputCount; ++i)
    {
      uint32_t k;
      for (k = 0; k < topNum; ++k) if (i == pMaxClass[k]) break;
      if (k != topNum) continue;
      
      if (pfProb[i] > pfMaxProb[j]) { pfMaxProb[j] = pfProb[i]; pMaxClass[j] = i; }
    }
  }
}
 
// ##############################################################################################################
std::string jevois::dnn::shapestr(cv::Mat const & m)
{
  cv::MatSize const & ms = m.size; int const nd = ms.dims();
  std::string ret = std::to_string(nd) + "D ";
  for (int i = 0; i < nd; ++i) ret += std::to_string(ms[i]) + (i < nd-1 ? "x" : "");
  ret += ' ' + jevois::cvtypestr(m.type());
  return ret;
}
 
// ##############################################################################################################
std::string jevois::dnn::shapestr(std::vector<size_t> dims, int typ)
{
  int const nd = int(dims.size());
  std::string ret = std::to_string(nd) + "D ";
  for (int i = 0; i < nd; ++i) ret += std::to_string(dims[i]) + (i < nd-1 ? "x" : "");
  ret += ' ' + jevois::cvtypestr(typ);
  return ret;
}
 
// ##############################################################################################################
std::string jevois::dnn::shapestr(std::vector<int> dims, int typ)
{
  int const nd = int(dims.size());
  std::string ret = std::to_string(nd) + "D ";
  for (int i = 0; i < nd; ++i) ret += std::to_string(dims[i]) + (i < nd-1 ? "x" : "");
  ret += ' ' + jevois::cvtypestr(typ);
  return ret;
}
 
// ##############################################################################################################
std::string jevois::dnn::shapestr(TfLiteTensor const * t)
{
 
  TfLiteIntArray const & dims = *t->dims;
  std::string ret = std::to_string(dims.size) + "D ";
  for (int i = 0; i < dims.size; ++i) ret += std::to_string(dims.data[i]) + (i < dims.size-1 ? "x" : "");
 
  // Do not use TfLiteTypeGetName() as it returns different names...
  switch (t->type)
  { 
  case kTfLiteNoType: ret += " NoType"; break;
  case kTfLiteFloat32: ret += " 32F"; break;
  case kTfLiteInt32: ret += " 32S"; break;
  case kTfLiteUInt8: ret += " 8U"; break;
  case kTfLiteInt64: ret += " 64S"; break;
  case kTfLiteString: ret += " String"; break;
  case kTfLiteBool: ret += " 8B"; break;
  case kTfLiteInt16: ret += " 16S"; break;
  case kTfLiteComplex64: ret += " 64C"; break;
  case kTfLiteInt8: ret += " 8I"; break;
  case kTfLiteFloat16: ret += " 16F"; break;
  case kTfLiteFloat64: ret += " 64F"; break;
  case kTfLiteComplex128: ret += " 128C"; break;
  default: ret += " UnknownType"; break;
  }
  return ret;
}
 
// ##############################################################################################################
std::string jevois::dnn::shapestr(vsi_nn_tensor_attr_t const & attr)
{
  std::string ret = std::to_string(attr.dim_num) + "D ";
  for (uint32_t i = 0; i < attr.dim_num; ++i)
    ret += std::to_string(attr.size[attr.dim_num-1-i]) + (i < attr.dim_num-1 ? "x" : "");
 
  // Value type:
  switch (attr.dtype.vx_type)
  {
  case VSI_NN_TYPE_UINT8: ret += " 8U"; break;
  case VSI_NN_TYPE_INT8: ret += " 8S"; break;
  case VSI_NN_TYPE_BOOL8: ret += " 8B"; break;
  case VSI_NN_TYPE_UINT16: ret += " 16U"; break;
  case VSI_NN_TYPE_INT16: ret += " 16S"; break;
  case VSI_NN_TYPE_FLOAT16: ret += " 16F"; break;
  case VSI_NN_TYPE_BFLOAT16: ret += " 16B"; break;
  case VSI_NN_TYPE_UINT32: ret += " 32U"; break;
  case VSI_NN_TYPE_INT32: ret += " 32S"; break;
  case VSI_NN_TYPE_FLOAT32: ret += " 32F"; break;
  case VSI_NN_TYPE_UINT64: ret += " 64U"; break;
  case VSI_NN_TYPE_INT64: ret += " 64S"; break;
  case VSI_NN_TYPE_FLOAT64: ret += " 64F"; break;
  default: throw std::range_error("shapestr: Unsupported tensor type " + std::to_string(attr.dtype.vx_type));
  }
 
  return ret;
}
 
#ifdef JEVOIS_PRO
// ##############################################################################################################
std::string jevois::dnn::shapestr(Ort::ConstTensorTypeAndShapeInfo const & ti)
{
  std::ostringstream os;
  std::vector<int64_t> input_node_dims = ti.GetShape();
  os << input_node_dims.size() << "D ";
  for (int64_t d : input_node_dims) os << d << 'x';
  os.seekp(-1, os.cur); // will overwrite last 'x'
  
  switch (ti.GetElementType())
  {
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UNDEFINED: os << " UNDEFINED"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_FLOAT: os << " 32F"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT8: os << " 8U"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT8: os << " 8S"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT16: os << " 16U"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT16: os << " 16S"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT32: os << " 32S"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT64: os << " 64S"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_STRING: os << " STR"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_BOOL: os << " BOOL"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_FLOAT16: os << " 16F"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_DOUBLE: os << " 64F"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT32: os << " 32U"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT64: os << " 64U"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_COMPLEX64: os << " 64CPLX"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_COMPLEX128: os << " 128CPLX"; break;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_BFLOAT16: os << " 16B"; break;
  default: throw std::range_error("shapestr: Unsupported tensor type " + std::to_string(ti.GetElementType()));
  }
 
  return os.str();
}
 
// ##############################################################################################################
vsi_nn_type_e jevois::dnn::onnx2vsi(ONNXTensorElementDataType t)
{
  switch (t)
  {
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UNDEFINED: return VSI_NN_TYPE_NONE;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_FLOAT: return VSI_NN_TYPE_FLOAT32;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT8: return VSI_NN_TYPE_UINT8;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT8: return VSI_NN_TYPE_INT8;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT16: return VSI_NN_TYPE_UINT16;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT16: return VSI_NN_TYPE_INT16;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT32: return VSI_NN_TYPE_INT32;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_INT64: return VSI_NN_TYPE_INT64;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_BOOL: return VSI_NN_TYPE_BOOL8;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_FLOAT16: return VSI_NN_TYPE_FLOAT16;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_DOUBLE: return VSI_NN_TYPE_FLOAT64;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT32: return VSI_NN_TYPE_UINT32;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_UINT64: return VSI_NN_TYPE_UINT64;
  case ONNX_TENSOR_ELEMENT_DATA_TYPE_BFLOAT16: return VSI_NN_TYPE_BFLOAT16;
    //case ONNX_TENSOR_ELEMENT_DATA_TYPE_STRING: // unsupported by VSI
    //case ONNX_TENSOR_ELEMENT_DATA_TYPE_COMPLEX64:
    //case ONNX_TENSOR_ELEMENT_DATA_TYPE_COMPLEX128:
  default: throw std::range_error("onnx2vsi: Unsupported tensor type " + std::to_string(t));
  }
}
 
// ##############################################################################################################
vsi_nn_tensor_attr_t jevois::dnn::tensorattr(Ort::ConstTensorTypeAndShapeInfo const & ti)
{
  vsi_nn_tensor_attr_t attr; memset(&attr, 0, sizeof(attr));
  attr.dtype.fmt = VSI_NN_DIM_FMT_AUTO;
  attr.dtype.vx_type = jevois::dnn::onnx2vsi(ti.GetElementType());
 
  std::vector<int64_t> const dims = ti.GetShape();
  size_t const ds = dims.size();
  attr.dim_num = ds;
  for (size_t i = 0; i < ds; ++i) attr.size[ds - 1 - i] = dims[i];
 
  // FIXME: quantization not yet supported
  attr.dtype.qnt_type = VSI_NN_QNT_TYPE_NONE;
  
  return attr;
}
 
// ##############################################################################################################
std::string jevois::dnn::shapestr(hailo_vstream_info_t const & vi)
{
  // FIXME: should optimize but beware that vi.shape may have different interpretations depending on NCHW vs NWCH etc
  return shapestr(tensorattr(vi));
 
  /*
  std::string ret = "3D ";
  switch (+ std::to_string(vi.shape[0]) + 'x' +
    std::to_string(vi.shape[1]) + 'x' + std::to_string(vi.shape[2]);
 
  switch (vi.format.type)
  {
  case HAILO_FORMAT_TYPE_AUTO: ret += " AUTO"; break;
  case HAILO_FORMAT_TYPE_UINT8: ret += " 8U"; break;
  case HAILO_FORMAT_TYPE_UINT16: ret += " 16U"; break;
  case HAILO_FORMAT_TYPE_FLOAT32: ret += " 32F"; break;
  default: throw std::range_error("shapestr: Unsupported tensor type " + std::to_string(vi.format));
  }
 
  return ret;
  */
}
#endif
 
// ##############################################################################################################
std::vector<size_t> jevois::dnn::strshape(std::string const & str)
{
  std::vector<size_t> ret;
  auto tok = jevois::split(str, "x");
  for (std::string const & t : tok) ret.emplace_back(std::stoi(t));
  return ret;
}
 
// ##############################################################################################################
int jevois::dnn::tf2cv(TfLiteType t)
{
  switch (t)
  {
  case kTfLiteFloat32: return CV_32F;
  case kTfLiteInt32: return CV_32S;
  case kTfLiteUInt8: return CV_8U;
  case kTfLiteInt16: return CV_16S;
  case kTfLiteInt8: return CV_8S;
  case kTfLiteFloat16: return CV_16F;
  case kTfLiteFloat64: return CV_64F;
    //case kTfLiteComplex128:
    //case kTfLiteComplex64:
    //case kTfLiteBool:
    //case kTfLiteString:
    //case kTfLiteInt64:
    //case kTfLiteNoType:
  default: throw std::range_error(std::string("tf2cv: Unsupported type ") + TfLiteTypeGetName(t));
  }
}
 
// ##############################################################################################################
int jevois::dnn::vsi2cv(vsi_nn_type_e t)
{
  switch (t)
  {
  case VSI_NN_TYPE_UINT8: return CV_8U;
  case VSI_NN_TYPE_INT8: return CV_8S;
  case VSI_NN_TYPE_BOOL8: return CV_8U;
  case VSI_NN_TYPE_UINT16: return CV_16U;
  case VSI_NN_TYPE_INT16: return CV_16S;
  case VSI_NN_TYPE_FLOAT16: return CV_16F;
    //case VSI_NN_TYPE_BFLOAT16: return CV_16F; // check
    //case VSI_NN_TYPE_UINT32: return CV_32U; // unsupported by opencv
  case VSI_NN_TYPE_INT32: return CV_32S;
  case VSI_NN_TYPE_FLOAT32: return CV_32F;
    //case VSI_NN_TYPE_UINT64: return CV_64U; // unsupported by opencv
    //case VSI_NN_TYPE_INT64: return CV_64S; // unsupported by opencv
  case VSI_NN_TYPE_FLOAT64: return CV_64F;
  default: throw std::range_error("vsi2cv: Unsupported tensor type " + std::to_string(t));
  }
}
 
// ##############################################################################################################
vsi_nn_type_e jevois::dnn::tf2vsi(TfLiteType t)
{
  switch (t)
  {
  case kTfLiteFloat32: return VSI_NN_TYPE_FLOAT32;
  case kTfLiteInt32: return VSI_NN_TYPE_INT32;
  case kTfLiteUInt8: return VSI_NN_TYPE_UINT8;
  case kTfLiteInt16: return VSI_NN_TYPE_INT16;
  case kTfLiteInt8: return VSI_NN_TYPE_INT8;
  case kTfLiteFloat16: return VSI_NN_TYPE_FLOAT16;
  case kTfLiteFloat64: return VSI_NN_TYPE_FLOAT64;
  case kTfLiteInt64: return VSI_NN_TYPE_INT64;
  case kTfLiteBool: return VSI_NN_TYPE_BOOL8; // fixme: need to check
  case kTfLiteNoType: return VSI_NN_TYPE_NONE;
    //case kTfLiteComplex128:
    //case kTfLiteComplex64:
    //case kTfLiteString:
  default: throw std::range_error(std::string("tf2vsi: Unsupported type ") + TfLiteTypeGetName(t));
  }
}
 
// ##############################################################################################################
#ifdef JEVOIS_PRO
vsi_nn_type_e jevois::dnn::hailo2vsi(hailo_format_type_t t)
{
  switch (t)
  {
  case HAILO_FORMAT_TYPE_AUTO: return VSI_NN_TYPE_NONE; break; // or throw?
  case HAILO_FORMAT_TYPE_UINT8: return VSI_NN_TYPE_UINT8; break;
  case HAILO_FORMAT_TYPE_UINT16: return VSI_NN_TYPE_UINT16; break;
  case HAILO_FORMAT_TYPE_FLOAT32: return VSI_NN_TYPE_FLOAT32; break;
  default: throw std::range_error("hailo2vsi: Unsupported tensor type " + std::to_string(t));
  }
}
#endif
 
// ##############################################################################################################
void jevois::dnn::clamp(cv::Rect & r, int width, int height)
{
  int tx = std::min(width - 1, std::max(0, r.x));
  int ty = std::min(height - 1, std::max(0, r.y));
  int bx = std::min(width - 1, std::max(0, r.x + r.width));
  int by = std::min(height - 1, std::max(0, r.y + r.height));
  r.x = tx; r.y = ty; r.width = bx - tx; r.height = by - ty;
}
 
// ##############################################################################################################
void jevois::dnn::clamp(cv::Rect2f & r, float width, float height)
{
  float tx = std::min(width - 1.0F, std::max(0.0F, r.x));
  float ty = std::min(height - 1.0F, std::max(0.0F, r.y));
  float bx = std::min(width - 1.0F, std::max(0.0F, r.x + r.width));
  float by = std::min(height - 1.0F, std::max(0.0F, r.y + r.height));
  r.x = tx; r.y = ty; r.width = bx - tx; r.height = by - ty;
}
 
// ##############################################################################################################
std::vector<vsi_nn_tensor_attr_t> jevois::dnn::parseTensorSpecs(std::string const & specs)
{
  char const * const specdef = "[NCHW:|NHWC:|NA:|AUTO:]Type:[NxCxHxW|NxHxWxC|...][:QNT[:fl|:scale:zero]]";
  std::vector<std::string> spectok = jevois::split(specs, ",\\s*");
  std::vector<vsi_nn_tensor_attr_t> ret;
  
  for (std::string const & spec : spectok)
  {
    vsi_nn_tensor_attr_t attr; memset(&attr, 0, sizeof(attr));
 
    // NCHW:Type:NxCxHxW:QNT:scale:mean
    std::vector<std::string> tok = jevois::split(spec, ":");
    if (tok.size() < 2) throw std::runtime_error("parseTensorSpecs: Malformed tensor spec ["+spec+"] not "+specdef);
    
    // Decode optional shape:
    size_t n = 0; // next tok to parse
    if (tok[0] == "NCHW") { ++n; attr.dtype.fmt = VSI_NN_DIM_FMT_NCHW; } // planar RGB
    else if (tok[0] == "NHWC") { ++n; attr.dtype.fmt = VSI_NN_DIM_FMT_NHWC; } // packed RGB
    else if (tok[0] == "NA") { ++n; attr.dtype.fmt = VSI_NN_DIM_FMT_NA; }
    else if (tok[0] == "AUTO") { ++n; attr.dtype.fmt = VSI_NN_DIM_FMT_AUTO; }
    else attr.dtype.fmt = VSI_NN_DIM_FMT_AUTO; // use AUTO if it was not given
 
    // We need at least type and dims:
    if (tok.size() < n+2) throw std::runtime_error("parseTensorSpecs: Malformed tensor spec ["+spec+"] not "+specdef);
 
    // Decode type and convert to vsi:
    if (tok[n] == "8U") attr.dtype.vx_type = VSI_NN_TYPE_UINT8;
    else if (tok[n] == "8S") attr.dtype.vx_type = VSI_NN_TYPE_INT8;
    else if (tok[n] == "8B") attr.dtype.vx_type = VSI_NN_TYPE_BOOL8;
    else if (tok[n] == "16U") attr.dtype.vx_type = VSI_NN_TYPE_UINT16;
    else if (tok[n] == "16S") attr.dtype.vx_type = VSI_NN_TYPE_INT16;
    else if (tok[n] == "16F") attr.dtype.vx_type = VSI_NN_TYPE_FLOAT16;
    else if (tok[n] == "16B") attr.dtype.vx_type = VSI_NN_TYPE_BFLOAT16;
    else if (tok[n] == "32U") attr.dtype.vx_type = VSI_NN_TYPE_UINT32;
    else if (tok[n] == "32S") attr.dtype.vx_type = VSI_NN_TYPE_INT32;
    else if (tok[n] == "32F") attr.dtype.vx_type = VSI_NN_TYPE_FLOAT32; 
    else if (tok[n] == "64U") attr.dtype.vx_type = VSI_NN_TYPE_UINT64;
    else if (tok[n] == "64S") attr.dtype.vx_type = VSI_NN_TYPE_INT64;
    else if (tok[n] == "64F") attr.dtype.vx_type = VSI_NN_TYPE_FLOAT64; 
    else throw std::range_error("parseTensorSpecs: Invalid tensor type [" + tok[n] + "] in " + spec);
    ++n; // next token
    
    // Decode the dims:
    std::vector<size_t> dims = jevois::dnn::strshape(tok[n]);
    attr.dim_num = dims.size();
    for (size_t i = 0; i < attr.dim_num; ++i) attr.size[attr.dim_num - 1 - i] = dims[i];
    ++n; // next token
    
    // Decode optional quantization type and its possible extra parameters:
    if (n == tok.size() || tok[n] == "NONE")
    {
      attr.dtype.qnt_type = VSI_NN_QNT_TYPE_NONE;
    }
    else if (tok[n] == "DFP")
    {
      attr.dtype.qnt_type = VSI_NN_QNT_TYPE_DFP;
      if (tok.size() != n+2)
        throw std::range_error("parseTensorSpecs: In "+spec+", DFP quantization needs :fl (" + specdef + ')');
      attr.dtype.fl = std::stoi(tok[n+1]);
    }
    
    else if (tok[n] == "AA" || tok[n] == "AS") // affine asymmetric and symmetric same, see ovxlib/vsi_nn_tensor.h
    {
      attr.dtype.qnt_type = VSI_NN_QNT_TYPE_AFFINE_ASYMMETRIC;
      if (tok.size() != n+3)
        throw std::range_error("parseTensorSpecs: In "+spec+", AA/AS quantization needs :scale:zero ("+specdef+')');
      attr.dtype.scale = std::stof(tok[n+1]);
      attr.dtype.zero_point = std::stoi(tok[n+2]);
    }
    else if (tok[n] == "APS")
    {
      attr.dtype.qnt_type = VSI_NN_QNT_TYPE_AFFINE_PERCHANNEL_SYMMETRIC;
      throw std::range_error("parseTensorSpecs: In " + spec + ", AFFINE_PERCHANNEL_SYMMETRIC quant not yet supported");
    }
    else throw std::range_error("parseTensorSpecs: Invalid quantization type in " + spec);
 
    // Done with this tensor:
    ret.emplace_back(attr);
  }
 
  return ret;
}
 
// ##############################################################################################################
cv::Mat jevois::dnn::attrmat(vsi_nn_tensor_attr_t const & attr, void * dataptr)
{
  if (dataptr) return cv::Mat(jevois::dnn::attrdims(attr), jevois::dnn::vsi2cv(attr.dtype.vx_type), dataptr);
  else return cv::Mat(jevois::dnn::attrdims(attr), jevois::dnn::vsi2cv(attr.dtype.vx_type));
}
 
// ##############################################################################################################
std::vector<int> jevois::dnn::attrdims(vsi_nn_tensor_attr_t const & attr)
{
  size_t const ndim = attr.dim_num;
  std::vector<int> cvdims(ndim);
  for (size_t i = 0; i < ndim; ++i) cvdims[ndim - 1 - i] = attr.size[i];
  return cvdims;
}
 
// ##############################################################################################################
cv::Size jevois::dnn::attrsize(vsi_nn_tensor_attr_t const & attr)
{
  switch (attr.dtype.fmt)
  {
  case VSI_NN_DIM_FMT_NHWC:
    if (attr.dim_num < 3) throw std::range_error("attrsize: need at least 3D, got " + jevois::dnn::attrstr(attr));
    return cv::Size(attr.size[1], attr.size[2]);
    
  case VSI_NN_DIM_FMT_NCHW:
    if (attr.dim_num < 2) throw std::range_error("attrsize: need at least 2D, got " + jevois::dnn::attrstr(attr));
    return cv::Size(attr.size[0], attr.size[1]);
 
  case VSI_NN_DIM_FMT_AUTO:
    if (attr.dim_num < 2) return cv::Size(attr.size[0], 1);
    if (attr.dim_num < 3) return cv::Size(attr.size[0], attr.size[1]);
    // ok, size[] starts with either CWH (when dim index goes 0..2) or WHC, assume C<H
    if (attr.size[0] > attr.size[2]) return cv::Size(attr.size[0], attr.size[1]); // WHCN
    else return cv::Size(attr.size[1], attr.size[2]); // CWHN
    
  default:
    throw std::range_error("attrsize: cannot extract width and height, got " + jevois::dnn::attrstr(attr));
  }
}
 
// ##############################################################################################################
std::string jevois::dnn::attrstr(vsi_nn_tensor_attr_t const & attr)
{
  std::string ret;
 
  // Dimension ordering, only relevant for 3D and higher:
  if (attr.dim_num > 2)
    switch (attr.dtype.fmt)
    {
    case VSI_NN_DIM_FMT_NCHW: ret = "NCHW:"; break;
    case VSI_NN_DIM_FMT_NHWC: ret = "NHWC:"; break;
    default: break;
    }  
  
  // Value type:
  switch (attr.dtype.vx_type)
  {
  case VSI_NN_TYPE_UINT8: ret += "8U:"; break;
  case VSI_NN_TYPE_INT8: ret += "8S:"; break;
  case VSI_NN_TYPE_BOOL8: ret += "8B:"; break;
  case VSI_NN_TYPE_UINT16: ret += "16U:"; break;
  case VSI_NN_TYPE_INT16: ret += "16S:"; break;
  case VSI_NN_TYPE_FLOAT16: ret += "16F:"; break;
  case VSI_NN_TYPE_BFLOAT16: ret += "16B:"; break;
  case VSI_NN_TYPE_UINT32: ret += "32U:"; break;
  case VSI_NN_TYPE_INT32: ret += "32S:"; break;
  case VSI_NN_TYPE_FLOAT32: ret += "32F:"; break;
  case VSI_NN_TYPE_UINT64: ret += "64U:"; break;
  case VSI_NN_TYPE_INT64: ret += "64S:"; break;
  case VSI_NN_TYPE_FLOAT64: ret += "64F:"; break;
  default: ret += "TYPE_UNKNOWN:";
  }
 
  // Dims:
  for (uint32_t i = 0; i < attr.dim_num; ++i)
    ret += std::to_string(attr.size[attr.dim_num - 1 - i]) + ((i<attr.dim_num-1) ? 'x' : ':');
 
  // Quantization:
  switch (attr.dtype.qnt_type)
  {
  case VSI_NN_QNT_TYPE_NONE: ret += "NONE"; break;
  case VSI_NN_QNT_TYPE_DFP: ret += "DFP:" + std::to_string(attr.dtype.fl); break;
  case VSI_NN_QNT_TYPE_AFFINE_ASYMMETRIC: // same value as VSI_NN_QNT_TYPE_AFFINE_SYMMETRIC:
    ret += "AA:" + std::to_string(attr.dtype.scale) + ':' + std::to_string(attr.dtype.zero_point);
    break;
  case  VSI_NN_QNT_TYPE_AFFINE_PERCHANNEL_SYMMETRIC: ret += "APS:unsupported"; break;
  default: ret += "QUANT_UNKNOWN";
  }
 
  return ret;
}
 
// ##############################################################################################################
vsi_nn_tensor_attr_t jevois::dnn::tensorattr(TfLiteTensor const * t)
{
  vsi_nn_tensor_attr_t attr; memset(&attr, 0, sizeof(attr));
  attr.dtype.fmt = VSI_NN_DIM_FMT_AUTO;
  attr.dtype.vx_type = jevois::dnn::tf2vsi(t->type);
 
  switch (t->quantization.type)
  {
  case kTfLiteNoQuantization:
    attr.dtype.qnt_type = VSI_NN_QNT_TYPE_NONE;
    break;
 
  case kTfLiteAffineQuantization:
  {
    attr.dtype.qnt_type = VSI_NN_QNT_TYPE_AFFINE_ASYMMETRIC;
    attr.dtype.scale = t->params.scale;
    attr.dtype.zero_point = t->params.zero_point;
  }
  break;
  
  default: LFATAL("unsupported quantization " << t->quantization.type);
  }
  
  TfLiteIntArray const & dims = *t->dims;
  attr.dim_num = dims.size;
  for (int i = 0; i < dims.size; ++i) attr.size[dims.size - 1 - i] = dims.data[i];
 
  // Set the fmt to NCHW or NHWC if possible:
  if (attr.dim_num == 4)
  {
    if (attr.size[0] > attr.size[2]) attr.dtype.fmt = VSI_NN_DIM_FMT_NCHW; // assume H>C
    else attr.dtype.fmt = VSI_NN_DIM_FMT_NHWC;
  }
  
  return attr;
}
 
// ##############################################################################################################
#ifdef JEVOIS_PRO
vsi_nn_tensor_attr_t jevois::dnn::tensorattr(hailo_vstream_info_t const & vi)
{
  vsi_nn_tensor_attr_t attr; memset(&attr, 0, sizeof(attr));
 
  attr.dtype.vx_type = hailo2vsi(vi.format.type);
  
  switch (vi.format.order)
  {
  case HAILO_FORMAT_ORDER_HAILO_NMS:
    attr.dtype.fmt = VSI_NN_DIM_FMT_AUTO;
    attr.dim_num = 2;
    attr.size[0] = vi.nms_shape.number_of_classes;
    attr.size[1] = vi.nms_shape.max_bboxes_per_class * 5; // Each box has: xmin, ymin, xmax, ymax, score
    break;
    
  case HAILO_FORMAT_ORDER_NHWC:
  case HAILO_FORMAT_ORDER_FCR:
  case HAILO_FORMAT_ORDER_F8CR:
    attr.dtype.fmt = VSI_NN_DIM_FMT_NHWC;
    attr.dim_num = 4;
    attr.size[0] = vi.shape.features;
    attr.size[1] = vi.shape.width;
    attr.size[2] = vi.shape.height;
    attr.size[3] = 1;
    break;
    
  case HAILO_FORMAT_ORDER_NHW:
    attr.dtype.fmt = VSI_NN_DIM_FMT_NHWC;
    attr.dim_num = 4;
    attr.size[0] = 1;
    attr.size[1] = vi.shape.width;
    attr.size[2] = vi.shape.height;
    attr.size[3] = 1;
    break;
    
  case HAILO_FORMAT_ORDER_NC:
    attr.dtype.fmt = VSI_NN_DIM_FMT_NHWC;
    attr.dim_num = 4;
    attr.size[0] = 1;
    attr.size[1] = 1;
    attr.size[2] = vi.shape.features;
    attr.size[3] = 1;
    break;
    
  case HAILO_FORMAT_ORDER_NCHW:
    attr.dtype.fmt = VSI_NN_DIM_FMT_NCHW;
    attr.dim_num = 4;
    attr.size[0] = vi.shape.features;
    attr.size[1] = vi.shape.width;
    attr.size[2] = vi.shape.height;
    attr.size[3] = 1;
    break;
 
  default: throw std::range_error("tensorattr: Unsupported Hailo order " +std::to_string(vi.format.order));
  }
 
  // Hailo only supports one quantization type:
  attr.dtype.qnt_type = VSI_NN_QNT_TYPE_AFFINE_ASYMMETRIC;
  attr.dtype.scale = vi.quant_info.qp_scale;
  attr.dtype.zero_point = int32_t(vi.quant_info.qp_zp);
 
  return attr;
}
#endif
 
// ##############################################################################################################
namespace
{
  struct ParallelSigmoid : public cv::ParallelLoopBody
  {
      ParallelSigmoid(float * ptr) : p(ptr)
      { }
      
      virtual void operator()(cv::Range const & r) const
      { for (int i = r.start; i != r.end; ++i) p[i] = jevois::dnn::sigmoid(p[i]); }
      
    private:
      float *p;
  };
}
 
void jevois::dnn::sigmoid(cv::Mat & m)
{
  if (m.type() != CV_32F) LFATAL("Can only apply to CV_32F tensors");
  
  cv::parallel_for_(cv::Range(0, m.total()), ParallelSigmoid((float *)m.data));
}
 
// ##############################################################################################################
size_t jevois::dnn::softmax(float const * input, size_t const n, size_t const stride, float const fac, float * output,
                            bool maxonly)
{
  if (stride == 0) LFATAL("Cannot work with stride = 0");
  
  float sum = 0.0F;
  float largest = -FLT_MAX; size_t largest_idx = 0;
  size_t const ns = n * stride;
 
  for (size_t i = 0; i < ns; i += stride) if (input[i] > largest) { largest = input[i]; largest_idx = i; }
 
  if (fac == 1.0F)
    for (size_t i = 0; i < ns; i += stride)
    {
      float const e = jevois::dnn::fastexp(input[i] - largest);
      sum += e;
      output[i] = e;
    }
  else    
    for (size_t i = 0; i < ns; i += stride)
    {
      float const e = jevois::dnn::fastexp(input[i]/fac - largest/fac);
      sum += e;
      output[i] = e;
    }
  
  if (sum)
  {
    if (maxonly) output[largest_idx] /= sum;
    else for (size_t i = 0; i < ns; i += stride) output[i] /= sum;
  }
  
  return largest_idx;
}
 
// ##############################################################################################################
float jevois::dnn::softmax_dfl(float const * src, float * dst, size_t const n, size_t const stride)
{
  // inspired from https://github.com/trinhtuanvubk/yolo-ncnn-cpp/blob/main/yolov8/yolov8.cpp
  size_t const ns = n * stride;
 
  float alpha = -FLT_MAX;
  for (size_t c = 0; c < ns; c += stride)
  {
    float score = src[c];
    if (score > alpha) alpha = score;
  }
 
  float denominator = 0;
  float dis_sum = 0;
  float * dp = dst;
 
  for (size_t i = 0; i < ns; i += stride)
  {
    *dp = jevois::dnn::fastexp(src[i] - alpha);
    denominator += *dp++;
  }
 
  if (denominator == 0.0F) return 0.0F;
  
  for (size_t i = 0; i < n; ++i)
  {
    dst[i] /= denominator;
    dis_sum += i * dst[i];
  }
  return dis_sum;
}
 
// ##############################################################################################################
bool jevois::dnn::attrmatch(vsi_nn_tensor_attr_t const & attr, cv::Mat const & blob)
{
  // Check that blob and tensor are a complete match:
  if (blob.channels() != 1) return false;
  if (blob.depth() != jevois::dnn::vsi2cv(attr.dtype.vx_type)) return false;
  if (uint32_t(blob.size.dims()) != attr.dim_num) return false;
 
  for (size_t i = 0; i < attr.dim_num; ++i)
    if (int(attr.size[attr.dim_num - 1 - i]) != blob.size[i]) return false;
 
  return true;
}
 
// ##############################################################################################################
cv::Mat jevois::dnn::quantize(cv::Mat const & m, vsi_nn_tensor_attr_t const & attr)
{
  if (m.depth() != CV_32F) LFATAL("Tensor to quantize must be 32F");
  
  // Do a sloppy match for total size only since m may still be 2D RGB packed vs 4D attr...
  std::vector<int> adims = jevois::dnn::attrdims(attr);
  size_t tot = 1; for (int d : adims) tot *= d;
  
  if (tot != m.total() * m.channels())
    LFATAL("Mismatched tensor: " << jevois::dnn::shapestr(m) << " vs attr: " << jevois::dnn::shapestr(attr));
 
  unsigned int const tt = jevois::dnn::vsi2cv(attr.dtype.vx_type);
 
  switch (attr.dtype.qnt_type)
  {
  case VSI_NN_QNT_TYPE_NONE:
  {
    cv::Mat ret;
    m.convertTo(ret, tt);
    return ret;
  }
 
  case VSI_NN_QNT_TYPE_DFP:
  {
    switch (tt)
    {
    case CV_8S:
    {
      if (attr.dtype.fl > 7) LFATAL("Invalid DFP fl value " << attr.dtype.fl << ": must be in [0..7]");
      cv::Mat ret;
      m.convertTo(ret, tt, 1 << attr.dtype.fl, 0.0);
      return ret;
    }
    case CV_16S:
    {
      if (attr.dtype.fl > 15) LFATAL("Invalid DFP fl value " << attr.dtype.fl << ": must be in [0..15]");
      cv::Mat ret;
      m.convertTo(ret, tt, 1 << attr.dtype.fl, 0.0);
      return ret;
    }
    default: break; // will LFATAL() below
    }
    break;
  }
 
  case VSI_NN_QNT_TYPE_AFFINE_ASYMMETRIC: // same value as VSI_NN_QNT_TYPE_AFFINE_SYMMETRIC:
  {
    switch (tt)
    {
    case CV_8U:
    {
      cv::Mat ret;
      if (attr.dtype.scale == 0.0) LFATAL("Quantization scale must not be zero in " << jevois::dnn::shapestr(attr));
      m.convertTo(ret, tt, 1.0 / attr.dtype.scale, attr.dtype.zero_point);
      return ret;
    }
    
    default: break; // will LFATAL() below
    }
    break;
  }
  
  case  VSI_NN_QNT_TYPE_AFFINE_PERCHANNEL_SYMMETRIC:
    LFATAL("Affine per-channel symmetric not supported yet");
    
  default: break; // will LFATAL() below
  }
  
  LFATAL("Quantization to " << jevois::dnn::shapestr(attr) << " not yet supported");
}
 
// ##############################################################################################################
cv::Mat jevois::dnn::dequantize(cv::Mat const & m, vsi_nn_tensor_attr_t const & attr)
{
  if (! jevois::dnn::attrmatch(attr, m))
    LFATAL("Mismatched tensor: " << jevois::dnn::shapestr(m) << " vs attr: " << jevois::dnn::shapestr(attr));
 
  switch (attr.dtype.qnt_type)
  {
  case VSI_NN_QNT_TYPE_NONE:
  {
    cv::Mat ret;
    m.convertTo(ret, CV_32F);
    return ret;
  }
 
  case VSI_NN_QNT_TYPE_DFP:
  {
    cv::Mat ret;
    m.convertTo(ret, CV_32F, 1.0 / (1 << attr.dtype.fl), 0.0);
    return ret;
  }
  
  case VSI_NN_QNT_TYPE_AFFINE_ASYMMETRIC: // same value as VSI_NN_QNT_TYPE_AFFINE_SYMMETRIC:
  {
    cv::Mat ret;
    double const alpha = attr.dtype.scale;
    double const beta = - alpha * attr.dtype.zero_point;
    m.convertTo(ret, CV_32F, alpha, beta);
    return ret;
  }
 
  case  VSI_NN_QNT_TYPE_AFFINE_PERCHANNEL_SYMMETRIC:
    LFATAL("Affine per-channel symmetric not supported yet");
 
  default:
    LFATAL("Unknown quantization type " << int(attr.dtype.qnt_type));
  }
}
 
// ##############################################################################################################
size_t jevois::dnn::effectiveDims(cv::Mat const & m)
{
  cv::MatSize const & rs = m.size;
  size_t const ndims = rs.dims();
  size_t ret = ndims;
  for (size_t i = 0; i < ndims; ++i) if (rs[i] == 1) --ret; else break;
  return ret;
}
 
// ##############################################################################################################
cv::Mat jevois::dnn::concatenate(std::vector<cv::Mat> const & tensors, int axis)
{
  if (tensors.empty()) return cv::Mat();
  if (tensors.size() == 1) return tensors[0];
 
  cv::MatSize const & ms = tensors[0].size;
  int const ndims = ms.dims();
  auto const typ = tensors[0].type();
  
  // Convert negative axis to positive and check within bounds:
  if (axis < - ndims || axis >= ndims)
    LFATAL("Incorrect axis " << axis << ": must be in [" << -ndims << " ... " << ndims - 1 << ']');
  if (axis < 0) axis = ndims - axis;
 
  // Check number of dimensions and data type; compute new size along concatenated axis:
  size_t newsize = tensors[0].size[axis];
 
  for (size_t i = 1; i < tensors.size(); ++i)
  {
    if (tensors[i].type() != typ)
      LFATAL("Mismatched tensor types: tensors[0] is " << jevois::cvtypestr(typ) << " while tensors[" << i <<
             "] is " << jevois::cvtypestr(tensors[i].type()));
    
    if (tensors[i].size.dims() != ndims)
      LFATAL("Mismatched number of dimensions: " << ndims << " for tensors[0] vs. " <<
             tensors[i].size.dims() << " for tensors[" << i << ']');
 
    newsize += tensors[i].size[axis];
  }
  
  // Check that all other dims match:
  for (int a = 0; a < ndims; ++a)
    if (a != axis)
      for (size_t i = 1; i < tensors.size(); ++i)
        if (tensors[i].size[a] != ms[a])
          LFATAL("Mismatched size for axis " << a << ": tensors[0] has " << ms[a] << " while tensors[" <<
                 i << "] has " << tensors[i].size[a]);
 
  // Ready to go. Caution: copying a cv::MatSize does not copy its array of dims:
  int newdims[ndims]; for (int i = 0; i < ndims; ++i) newdims[i] = ms.p[i];
  newdims[axis] = newsize;
  cv::Mat ret(ndims, newdims, typ);
  unsigned char * optr = ret.data;
  
  size_t numcopy = 1; for (int a = 0; a < axis; ++a) numcopy *= ms[a];
  size_t elemsize = jevois::cvBytesPerPix(typ); for (int a = axis + 1; a < ndims; ++a) elemsize *= ms[a];
 
  for (size_t n = 0; n < numcopy; ++n)
    for (size_t i = 0; i < tensors.size(); ++i)
    {
      size_t const axsize = tensors[i].size[axis];
      unsigned char const * sptr = tensors[i].data + n * elemsize * axsize;
      std::memcpy(optr, sptr, elemsize * axsize);
      optr += elemsize * axsize;
    }
 
  return ret;
}
 
// ##############################################################################################################
std::vector<cv::Mat> jevois::dnn::split(cv::Mat const & tensor, int axis, std::vector<int> const & sizes)
{
  cv::MatSize const & ms = tensor.size;
  int const ndims = ms.dims();
  auto const typ = tensor.type();
  int const nsplit = sizes.size();
  
  // Convert negative axis to positive and check within bounds:
  if (axis < - ndims || axis >= ndims)
    LFATAL("Incorrect axis " << axis << ": must be in [" << -ndims << " ... " << ndims - 1 <<
           " for given tensor " << jevois::dnn::shapestr(tensor));
  if (axis < 0) axis = ndims - axis;
 
  // Handle trivial cases:
  std::vector<cv::Mat> ret;
  if (nsplit == 0) return ret;
  if (nsplit == 1)
  {
    if (sizes[0] == ms[axis]) { ret.emplace_back(tensor); return ret; }
    else LFATAL("Desired new size " << sizes[0] << " for axis " << axis << " with only one output tensor must match "
                "source size for that axis, but source is " << jevois::dnn::shapestr(tensor));
  }
 
  // Check that all given sizes add up, allocate mats, sizes, out pointers:
  unsigned char * optr[nsplit]; size_t copysize[nsplit];
  int sum = 0;
  size_t numcopy = 1; for (int a = 0; a < axis; ++a) numcopy *= ms[a];
  size_t elemsize = jevois::cvBytesPerPix(typ); for (int a = axis + 1; a < ndims; ++a) elemsize *= ms[a];
 
  // Caution: copying a cv::MatSize does not copy its array of dims
  int newdims[ndims]; for (int i = 0; i < ndims; ++i) newdims[i] = ms.p[i];
 
  // Do the split:
  for (int i = 0; i < nsplit; ++i)
  {
    int const s = sizes[i];
    newdims[axis] = s; ret.emplace_back(cv::Mat(ndims, newdims, typ));
    optr[i] = ret.back().data;
    copysize[i] = s * elemsize;
    sum += s;
  }
  
  if (sum != ms[axis])
    LFATAL("Given sizes [" << jevois::join(sizes, ", ") << "] do not add up to original size of axis " <<
           axis << " for tensor " << jevois::dnn::shapestr(tensor));
 
  // Good to go, split it, we have at least 2 output tensors at this point:
  unsigned char const * sptr = tensor.data;
  for (size_t n = 0; n < numcopy; ++n)
    for (int j = 0; j < nsplit; ++j)
    {
      size_t const cs = copysize[j];
      std::memcpy(optr[j], sptr, cs);
      sptr += cs; optr[j] += cs;
    }
 
  return ret;
}