#ifndef __TRT_UTILS_H__
#define __TRT_UTILS_H__

/* OpenCV headers */
//#include <opencv/cv.h>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/dnn/dnn.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include "mish.h"
#include "chunk.h"
#include "hardswish.h"
#include <set>
#include <math.h>
#include <algorithm>
#include "NvInfer.h"

#include "ds_image.h"
#include "plugin_factory.h"
//#include "logging.h"
class DsImage;
struct BBox
{
    float x1, y1, x2, y2;
};

struct BBoxInfo
{
    BBox box;
    int label;
    int classId; // For coco benchmarking
    float prob;
};

class Logger : public nvinfer1::ILogger
{
public:
    Logger(Severity severity = Severity::kWARNING)
    {

    }

    ~Logger()
    {

    }
    nvinfer1::ILogger& getTRTLogger()
    {
        return *this;
    }

    void log(nvinfer1::ILogger::Severity severity, const char* msg) override
    {
        // suppress info-level messages
        if (severity == Severity::kINFO) return;

        switch (severity)
        {
        case Severity::kINTERNAL_ERROR: std::cerr << "INTERNAL_ERROR: " << msg << std::endl; break;
        case Severity::kERROR: std::cerr << "ERROR: " << msg << std::endl; break;
        case Severity::kWARNING: std::cerr << "WARNING: " << msg << std::endl; break;
        case Severity::kINFO: std::cerr << "INFO: " << msg << std::endl; break;
        case Severity::kVERBOSE: break;
      //  default: std::cerr <<"UNKNOW:"<< msg << std::endl;break;
        }
    }
};
float clamp(const float val, const float minVal, const float maxVal);
// Common helper functions
cv::Mat blobFromDsImages(const std::vector<DsImage>& inputImages, const int& inputH,
                         const int& inputW);

bool fileExists(const std::string fileName, bool verbose = true);

nvinfer1::ICudaEngine* loadTRTEngine(const std::string planFilePath, PluginFactory* pluginFactory,
                                     Logger& logger);
uint64_t get3DTensorVolume(nvinfer1::Dims inputDims);

std::vector<BBoxInfo> nmsAllClasses(const float nmsThresh, std::vector<BBoxInfo>& binfo,
                                    const uint32_t numClasses, const std::string &model_type);

std::vector<BBoxInfo> nonMaximumSuppression(const float nmsThresh, std::vector<BBoxInfo> binfo);
#endif