/******************************************************************************
 * Copyright 2018 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_INFERENCE_UTILS_UTIL_H_
#define MODULES_PERCEPTION_INFERENCE_UTILS_UTIL_H_

#include <cuda_runtime_api.h>
#include <fstream>
#include <iostream>
#include <map>
#include <memory>
#include <string>
#include <vector>

#include "boost/shared_ptr.hpp"

#include "modules/perception/base/blob.h"

namespace apollo {
namespace perception {
namespace inference {

template <typename T>
void load_data(const std::string &filename, std::vector<T> *outputs) {
  std::ifstream ifs(filename, std::ifstream::in);

  if (ifs.good()) {
    outputs->clear();
    T output;
    while (ifs >> output) {
      outputs->push_back(output);
    }
    ifs.close();
  }
}

std::shared_ptr<float> load_binary_data(const std::string &filename);

bool write_result(const std::string &out_path,
                  const std::vector<float> &results);

bool write_result(const std::string &out_path,
                  const std::map<std::string, std::vector<float>> &results);

bool resize(int origin_channel, int origin_height, int origin_width,
            int stepwidth,
            std::shared_ptr<apollo::perception::base::Blob<float>> dst,
            std::shared_ptr<apollo::perception::base::SyncedMemory> src_gpu,
            int start_axis);

}  // namespace inference
}  // namespace perception
}  // namespace apollo

#endif  // INFERENCE_UTIMODULES_PERCEPTION_INFERENCE_UTILS_UTIL_H_LS_UTIL_H_