fix(tvm_utility): copy test result to CPU (autowarefoundation#2414)

Also remove dependency to autoware_auto_common.

Issue-Id: SCM-5401
Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com>
Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d

Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com>
Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com>

common/tvm_utility/include/tvm_utility/pipeline.hpp

@@ -16,7 +16,6 @@
 #define TVM_UTILITY__PIPELINE_HPP_
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <common/types.hpp>
 
 #include <tvm_vendor/dlpack/dlpack.h>
 #include <tvm_vendor/tvm/runtime/c_runtime_api.h>
@@ -30,8 +29,6 @@
 #include <utility>
 #include <vector>
 
-using autoware::common::types::char8_t;
-
 namespace tvm_utility
 {
 
@@ -190,7 +187,7 @@ using NetworkNode = std::pair<std::string, std::vector<int64_t>>;
 typedef struct
 {
   // Network info
-  std::array<char8_t, 3> modelzoo_version;
+  std::array<char, 3> modelzoo_version;
   std::string network_name;
   std::string network_backend;
 
@@ -315,7 +312,7 @@ class InferenceEngineTVM : public InferenceEngine
    * @param[in] version_from Earliest supported model version.
    * @return The version status.
    */
-  Version version_check(const std::array<char8_t, 3> & version_from) const
+  Version version_check(const std::array<char, 3> & version_from) const
   {
     auto x{config_.modelzoo_version[0]};
     auto y{config_.modelzoo_version[1]};
@@ -339,7 +336,7 @@ class InferenceEngineTVM : public InferenceEngine
   tvm::runtime::PackedFunc execute;
   tvm::runtime::PackedFunc get_output;
   // Latest supported model version.
-  const std::array<char8_t, 3> version_up_to{2, 1, 0};
+  const std::array<char, 3> version_up_to{2, 1, 0};
 };
 
 }  // namespace pipeline

common/tvm_utility/package.xml

@@ -29,7 +29,6 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>ament_index_cpp</depend>
-  <depend>autoware_auto_common</depend>
   <depend>libopenblas-dev</depend>
   <depend>libopencv-dev</depend>
   <depend>tvm_vendor</depend>

common/tvm_utility/test/yolo_v2_tiny/main.cpp

@@ -120,7 +120,8 @@ class PostProcessorYoloV2Tiny : public tvm_utility::pipeline::PostProcessor<std:
   explicit PostProcessorYoloV2Tiny(tvm_utility::pipeline::InferenceEngineTVMConfig config)
   : network_output_width(config.network_outputs[0].second[1]),
     network_output_height(config.network_outputs[0].second[2]),
-    network_output_depth(config.network_outputs[0].second[3])
+    network_output_depth(config.network_outputs[0].second[3]),
+    network_datatype_bytes(config.tvm_dtype_bits / 8)
   {
     // Parse human readable names for the classes
     std::ifstream label_file{LABEL_FILENAME};
@@ -164,16 +165,19 @@ class PostProcessorYoloV2Tiny : public tvm_utility::pipeline::PostProcessor<std:
     assert(input[0].getArray()->strides == nullptr);
     assert(input[0].getArray()->dtype.bits == sizeof(float) * 8);
 
-    // Get a pointer to the output data
-    float * data_ptr = reinterpret_cast<float *>(
-      reinterpret_cast<uint8_t *>(input[0].getArray()->data) + input[0].getArray()->byte_offset);
+    // Copy the inference data to CPU memory
+    std::vector<float> infer(
+      network_output_width * network_output_height * network_output_depth, 0);
+    TVMArrayCopyToBytes(
+      input[0].getArray(), infer.data(),
+      network_output_width * network_output_height * network_output_depth * network_datatype_bytes);
 
     // Utility function to return data from y given index
-    auto get_output_data = [this, data_ptr, n_classes, n_anchors, n_coords](
+    auto get_output_data = [this, infer, n_classes, n_anchors, n_coords](
                              auto row_i, auto col_j, auto anchor_k, auto offset) {
       auto box_index = (row_i * network_output_height + col_j) * network_output_depth;
       auto index = box_index + anchor_k * (n_classes + n_coords + 1);
-      return data_ptr[index + offset];
+      return infer[index + offset];
     };
 
     // Vector used to check if the result is accurate,
@@ -228,6 +232,7 @@ class PostProcessorYoloV2Tiny : public tvm_utility::pipeline::PostProcessor<std:
   int64_t network_output_width;
   int64_t network_output_height;
   int64_t network_output_depth;
+  int64_t network_datatype_bytes;
   std::vector<std::string> labels{};
   std::vector<std::pair<float, float>> anchors{};
 };