De-dupe softmax

Author: tahiyasalam

ml/ml.go

@@ -47,7 +47,7 @@ func FormatClassificationOutputs(
 	if !ok {
 		return nil, errors.Errorf("no tensor named 'probability' among output tensors [%s]", strings.Join(tensorNames(outMap), ", "))
 	}
-	probs, err := convertToFloat64Slice(data.Data())
+	probs, err := ConvertToFloat64Slice(data.Data())
 	if err != nil {
 		return nil, err
 	}
@@ -196,7 +196,7 @@ func convertNumberSlice[T1, T2 number](t1 []T1) []T2 {
 	return t2
 }
 
-func convertToFloat64Slice(slice interface{}) ([]float64, error) {
+func ConvertToFloat64Slice(slice interface{}) ([]float64, error) {
 	switch v := slice.(type) {
 	case []float64:
 		return v, nil

services/vision/mlvision/detector.go

@@ -121,19 +121,19 @@ func attemptToBuildDetector(mlm mlmodel.Service,
 		if err != nil {
 			return nil, err
 		}
-		locations, err := convertToFloat64Slice(outMap[locationName].Data())
+		locations, err := ml.ConvertToFloat64Slice(outMap[locationName].Data())
 		if err != nil {
 			return nil, err
 		}
-		scores, err := convertToFloat64Slice(outMap[scoreName].Data())
+		scores, err := ml.ConvertToFloat64Slice(outMap[scoreName].Data())
 		if err != nil {
 			return nil, err
 		}
 		hasCategoryTensor := false
 		categories := make([]float64, len(scores)) // default 0 category if no category output
 		if categoryName != "" {
 			hasCategoryTensor = true
-			categories, err = convertToFloat64Slice(outMap[categoryName].Data())
+			categories, err = ml.ConvertToFloat64Slice(outMap[categoryName].Data())
 			if err != nil {
 				return nil, err
 			}
@@ -332,7 +332,7 @@ func guessDetectionTensorNames(outMap ml.Tensors) (string, string, string, error
 			if err != nil {
 				return "", "", "", err
 			}
-			val64, err := convertToFloat64Slice(val)
+			val64, err := ml.ConvertToFloat64Slice(val)
 			if err != nil {
 				return "", "", "", err
 			}
@@ -390,7 +390,7 @@ func guessDetectionTensorNames(outMap ml.Tensors) (string, string, string, error
 						return "", "", "", err
 					}
 				}
-				val, err := convertToFloat64Slice(whole.Data())
+				val, err := ml.ConvertToFloat64Slice(whole.Data())
 				if err != nil {
 					return "", "", "", err
 				}

services/vision/mlvision/ml_model.go

@@ -6,15 +6,13 @@ import (
 	"bufio"
 	"context"
 	"fmt"
-	"math"
 	"os"
 	"path/filepath"
 	"strings"
 	"sync"
 
 	"github.com/pkg/errors"
 	"go.opencensus.io/trace"
-	"golang.org/x/exp/constraints"
 
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/ml"
@@ -299,88 +297,6 @@ func getIndex(s []int, num int) int {
 	return -1
 }
 
-// softmax takes the input slice and applies the softmax function.
-func softmax(in []float64) []float64 {
-	out := make([]float64, 0, len(in))
-	bigSum := 0.0
-	for _, x := range in {
-		bigSum += math.Exp(x)
-	}
-	for _, x := range in {
-		out = append(out, math.Exp(x)/bigSum)
-	}
-	return out
-}
-
-// Number interface for converting between numbers.
-type number interface {
-	constraints.Integer | constraints.Float
-}
-
-// convertNumberSlice converts any number slice into another number slice.
-func convertNumberSlice[T1, T2 number](t1 []T1) []T2 {
-	t2 := make([]T2, len(t1))
-	for i := range t1 {
-		t2[i] = T2(t1[i])
-	}
-	return t2
-}
-
-func convertToFloat64Slice(slice interface{}) ([]float64, error) {
-	switch v := slice.(type) {
-	case []float64:
-		return v, nil
-	case float64:
-		return []float64{v}, nil
-	case []float32:
-		return convertNumberSlice[float32, float64](v), nil
-	case float32:
-		return convertNumberSlice[float32, float64]([]float32{v}), nil
-	case []int:
-		return convertNumberSlice[int, float64](v), nil
-	case int:
-		return convertNumberSlice[int, float64]([]int{v}), nil
-	case []uint:
-		return convertNumberSlice[uint, float64](v), nil
-	case uint:
-		return convertNumberSlice[uint, float64]([]uint{v}), nil
-	case []int8:
-		return convertNumberSlice[int8, float64](v), nil
-	case int8:
-		return convertNumberSlice[int8, float64]([]int8{v}), nil
-	case []int16:
-		return convertNumberSlice[int16, float64](v), nil
-	case int16:
-		return convertNumberSlice[int16, float64]([]int16{v}), nil
-	case []int32:
-		return convertNumberSlice[int32, float64](v), nil
-	case int32:
-		return convertNumberSlice[int32, float64]([]int32{v}), nil
-	case []int64:
-		return convertNumberSlice[int64, float64](v), nil
-	case int64:
-		return convertNumberSlice[int64, float64]([]int64{v}), nil
-	case []uint8:
-		return convertNumberSlice[uint8, float64](v), nil
-	case uint8:
-		return convertNumberSlice[uint8, float64]([]uint8{v}), nil
-	case []uint16:
-		return convertNumberSlice[uint16, float64](v), nil
-	case uint16:
-		return convertNumberSlice[uint16, float64]([]uint16{v}), nil
-	case []uint32:
-		return convertNumberSlice[uint32, float64](v), nil
-	case uint32:
-		return convertNumberSlice[uint32, float64]([]uint32{v}), nil
-	case []uint64:
-		return convertNumberSlice[uint64, float64](v), nil
-	case uint64:
-		return convertNumberSlice[uint64, float64]([]uint64{v}), nil
-	default:
-		return nil, errors.Errorf("dont know how to convert slice of %T into a []float64", slice)
-	}
-}
-
 // tensorNames returns all the names of the tensors.
 func tensorNames(t ml.Tensors) []string {
 	names := []string{}