#include "ANSONNXOBB.h"
#include "EPLoader.h"	
namespace ANSCENTER {
	std::atomic<int> ANSONNXOBB::instanceCounter_(0);  // Initialize static member

	size_t ANSONNXOBB::vectorProduct(const std::vector<int64_t>& vector) {
		return std::accumulate(vector.begin(), vector.end(), 1ull, std::multiplies<size_t>());
	}
	void ANSONNXOBB::letterBox(const cv::Mat& image, cv::Mat& outImage,
		const cv::Size& newShape,
		const cv::Scalar& color,
		bool auto_,
		bool scaleFill,
		bool scaleUp,
		int stride)
	{
		// Calculate the scaling ratio to fit the image within the new shape
		float ratio = std::min(static_cast<float>(newShape.height) / image.rows,
			static_cast<float>(newShape.width) / image.cols);

		// Prevent scaling up if not allowed
		if (!scaleUp) {
			ratio = std::min(ratio, 1.0f);
		}

		// Calculate new dimensions after scaling
		int newUnpadW = static_cast<int>(std::round(image.cols * ratio));
		int newUnpadH = static_cast<int>(std::round(image.rows * ratio));

		// Calculate padding needed to reach the desired shape
		int dw = newShape.width - newUnpadW;
		int dh = newShape.height - newUnpadH;

		if (auto_) {
			// Ensure padding is a multiple of stride for model compatibility
			dw = (dw % stride) / 2;
			dh = (dh % stride) / 2;
		}
		else if (scaleFill) {
			// Scale to fill without maintaining aspect ratio
			newUnpadW = newShape.width;
			newUnpadH = newShape.height;
			ratio = std::min(static_cast<float>(newShape.width) / image.cols,
				static_cast<float>(newShape.height) / image.rows);
			dw = 0;
			dh = 0;
		}
		else {
			// Evenly distribute padding on both sides
			// Calculate separate padding for left/right and top/bottom to handle odd padding
			int padLeft = dw / 2;
			int padRight = dw - padLeft;
			int padTop = dh / 2;
			int padBottom = dh - padTop;

			// Resize the image if the new dimensions differ
			if (image.cols != newUnpadW || image.rows != newUnpadH) {
				cv::resize(image, outImage, cv::Size(newUnpadW, newUnpadH), 0, 0, cv::INTER_LINEAR);
			}
			else {
				// Avoid unnecessary copying if dimensions are the same
				outImage = image;
			}

			// Apply padding to reach the desired shape
			cv::copyMakeBorder(outImage, outImage, padTop, padBottom, padLeft, padRight, cv::BORDER_CONSTANT, color);
			return; // Exit early since padding is already applied
		}

		// Resize the image if the new dimensions differ
		if (image.cols != newUnpadW || image.rows != newUnpadH) {
			cv::resize(image, outImage, cv::Size(newUnpadW, newUnpadH), 0, 0, cv::INTER_LINEAR);
		}
		else {
			// Avoid unnecessary copying if dimensions are the same
			outImage = image;
		}

		// Calculate separate padding for left/right and top/bottom to handle odd padding
		int padLeft = dw / 2;
		int padRight = dw - padLeft;
		int padTop = dh / 2;
		int padBottom = dh - padTop;

		// Apply padding to reach the desired shape
		cv::copyMakeBorder(outImage, outImage, padTop, padBottom, padLeft, padRight, cv::BORDER_CONSTANT, color);
	}
	void ANSONNXOBB::NMSBoxes(const std::vector<BoundingBox>& boundingBoxes,
		const std::vector<float>& scores,
		float scoreThreshold,
		float nmsThreshold,
		std::vector<int>& indices)
	{
		indices.clear();

		const size_t numBoxes = boundingBoxes.size();
		if (numBoxes == 0) {
			DEBUG_PRINT("No bounding boxes to process in NMS");
			return;
		}

		// Step 1: Filter out boxes with scores below the threshold
		// and create a list of indices sorted by descending scores
		std::vector<int> sortedIndices;
		sortedIndices.reserve(numBoxes);
		for (size_t i = 0; i < numBoxes; ++i) {
			if (scores[i] >= scoreThreshold) {
				sortedIndices.push_back(static_cast<int>(i));
			}
		}

		// If no boxes remain after thresholding
		if (sortedIndices.empty()) {
			DEBUG_PRINT("No bounding boxes above score threshold");
			return;
		}

		// Sort the indices based on scores in descending order
		std::sort(sortedIndices.begin(), sortedIndices.end(),
			[&scores](int idx1, int idx2) {
				return scores[idx1] > scores[idx2];
			});

		// Step 2: Precompute the areas of all boxes
		std::vector<float> areas(numBoxes, 0.0f);
		for (size_t i = 0; i < numBoxes; ++i) {
			areas[i] = boundingBoxes[i].width * boundingBoxes[i].height;
		}

		// Step 3: Suppression mask to mark boxes that are suppressed
		std::vector<bool> suppressed(numBoxes, false);

		// Step 4: Iterate through the sorted list and suppress boxes with high IoU
		for (size_t i = 0; i < sortedIndices.size(); ++i) {
			int currentIdx = sortedIndices[i];
			if (suppressed[currentIdx]) {
				continue;
			}

			// Select the current box as a valid detection
			indices.push_back(currentIdx);

			const BoundingBox& currentBox = boundingBoxes[currentIdx];
			const float x1_max = currentBox.x;
			const float y1_max = currentBox.y;
			const float x2_max = currentBox.x + currentBox.width;
			const float y2_max = currentBox.y + currentBox.height;
			const float area_current = areas[currentIdx];

			// Compare IoU of the current box with the rest
			for (size_t j = i + 1; j < sortedIndices.size(); ++j) {
				int compareIdx = sortedIndices[j];
				if (suppressed[compareIdx]) {
					continue;
				}

				const BoundingBox& compareBox = boundingBoxes[compareIdx];
				const float x1 = std::max(x1_max, static_cast<float>(compareBox.x));
				const float y1 = std::max(y1_max, static_cast<float>(compareBox.y));
				const float x2 = std::min(x2_max, static_cast<float>(compareBox.x + compareBox.width));
				const float y2 = std::min(y2_max, static_cast<float>(compareBox.y + compareBox.height));

				const float interWidth = x2 - x1;
				const float interHeight = y2 - y1;

				if (interWidth <= 0 || interHeight <= 0) {
					continue;
				}

				const float intersection = interWidth * interHeight;
				const float unionArea = area_current + areas[compareIdx] - intersection;
				const float iou = (unionArea > 0.0f) ? (intersection / unionArea) : 0.0f;

				if (iou > nmsThreshold) {
					suppressed[compareIdx] = true;
				}
			}
		}

		DEBUG_PRINT("NMS completed with " + std::to_string(indices.size()) + " indices remaining");
	}
	std::vector<cv::Point2f> ANSONNXOBB::OBBToPoints(const OrientedBoundingBox& obb) {
		// Convert angle from radians to degrees for OpenCV
		const float angleDeg = obb.angle * 180.0f / CV_PI;

		// Create rotated rectangle from OBB parameters
		const cv::RotatedRect rotatedRect(
			cv::Point2f(obb.x, obb.y),
			cv::Size2f(obb.width, obb.height),
			angleDeg
		);

		// Extract corner points directly
		std::vector<cv::Point2f> corners(4);
		rotatedRect.points(corners.data());

		return corners;
	}
	
	void ANSONNXOBB::drawBoundingBox(cv::Mat& image, const std::vector<Detection>& detections,
		const std::vector<std::string>& classNames, const std::vector<cv::Scalar>& colors) {
		for (const auto& detection : detections) {
			if (detection.conf < _modelConfig.detectionScoreThreshold) continue;
			if (detection.classId < 0 || static_cast<size_t>(detection.classId) >= classNames.size()) continue;

			// Convert angle from radians to degrees for OpenCV
			float angle_deg = detection.box.angle * 180.0f / CV_PI;

			cv::RotatedRect rect(cv::Point2f(detection.box.x, detection.box.y),
								cv::Size2f(detection.box.width, detection.box.height),
								angle_deg);

			// Convert rotated rectangle to polygon points
			cv::Mat points_mat;
			cv::boxPoints(rect, points_mat);
			points_mat.convertTo(points_mat, CV_32SC1);

			// Draw bounding box
			cv::Scalar color = colors[detection.classId % colors.size()];
			cv::polylines(image, points_mat, true, color, 3, cv::LINE_AA);

			// Prepare label
			std::string label = classNames[detection.classId] + ": " + cv::format("%.1f%%", detection.conf * 100);
			int baseline = 0;
			float fontScale = 0.6;
			int thickness = 1;
			cv::Size labelSize = cv::getTextSize(label, cv::FONT_HERSHEY_DUPLEX, fontScale, thickness, &baseline);

			// Calculate label position using bounding rect of rotated rectangle
			cv::Rect brect = rect.boundingRect();
			int x = brect.x;
			int y = brect.y - labelSize.height - baseline;

			// Adjust label position if it goes off-screen
			if (y < 0) {
				y = brect.y + brect.height;
				if (y + labelSize.height > image.rows) {
					y = image.rows - labelSize.height;
				}
			}

			x = std::max(0, std::min(x, image.cols - labelSize.width));

			// Draw label background (darker version of box color)
			cv::Scalar labelBgColor = color * 0.6;
			cv::rectangle(image, cv::Rect(x, y, labelSize.width, labelSize.height + baseline),
				labelBgColor, cv::FILLED);

			// Draw label text
			cv::putText(image, label, cv::Point(x, y + labelSize.height),
				cv::FONT_HERSHEY_DUPLEX, fontScale, cv::Scalar::all(255),
				thickness, cv::LINE_AA);
		}
	}
	std::vector<cv::Scalar> ANSONNXOBB::generateColors(const std::vector<std::string>& classNames, int seed) {
		// Static cache to store colors based on class names to avoid regenerating
		static std::unordered_map<size_t, std::vector<cv::Scalar>> colorCache;

		// Compute a hash key based on class names to identify unique class configurations
		size_t hashKey = 0;
		for (const auto& name : classNames) {
			hashKey ^= std::hash<std::string>{}(name)+0x9e3779b9 + (hashKey << 6) + (hashKey >> 2);
		}

		// Check if colors for this class configuration are already cached
		auto it = colorCache.find(hashKey);
		if (it != colorCache.end()) {
			return it->second;
		}

		// Generate unique random colors for each class
		std::vector<cv::Scalar> colors;
		colors.reserve(classNames.size());

		std::mt19937 rng(seed); // Initialize random number generator with fixed seed
		std::uniform_int_distribution<int> uni(0, 255); // Define distribution for color values

		for (size_t i = 0; i < classNames.size(); ++i) {
			colors.emplace_back(cv::Scalar(uni(rng), uni(rng), uni(rng))); // Generate random BGR color
		}

		// Cache the generated colors for future use
		colorCache.emplace(hashKey, colors);

		return colorCache[hashKey];
	}

	void ANSONNXOBB::getCovarianceComponents(
		const OrientedBoundingBox& box,
		float& out1,
		float& out2,
		float& out3)
	{
		try {
			// Validate input dimensions
			if (box.width <= 0.0f || box.height <= 0.0f) {
				this->_logger.LogError("ANSONNXOBB::getCovarianceComponents",
					"[Instance " + std::to_string(instanceId_) + "] Invalid box dimensions: " +
					std::to_string(box.width) + "x" + std::to_string(box.height),
					__FILE__, __LINE__);
				out1 = out2 = out3 = 0.0f;
				return;
			}

			// Compute variance components (assuming uniform distribution in rectangle)
			// For a rectangle with width w and height h:
			// Variance along width axis: w²/12
			// Variance along height axis: h²/12
			const float varianceWidth = (box.width * box.width) / 12.0f;
			const float varianceHeight = (box.height * box.height) / 12.0f;

			// Precompute trigonometric values
			const float cosTheta = std::cos(box.angle);
			const float sinTheta = std::sin(box.angle);
			const float cosSq = cosTheta * cosTheta;
			const float sinSq = sinTheta * sinTheta;
			const float sinCos = sinTheta * cosTheta;

			// Compute rotated covariance matrix components
			// After rotation by angle θ:
			// σ_xx = a·cos²(θ) + b·sin²(θ)
			// σ_yy = a·sin²(θ) + b·cos²(θ)
			// σ_xy = (a - b)·sin(θ)·cos(θ)
			out1 = varianceWidth * cosSq + varianceHeight * sinSq;     // σ_xx
			out2 = varianceWidth * sinSq + varianceHeight * cosSq;     // σ_yy
			out3 = (varianceWidth - varianceHeight) * sinCos;          // σ_xy

			// Validate outputs (check for NaN/Inf)
			if (std::isnan(out1) || std::isnan(out2) || std::isnan(out3) ||
				std::isinf(out1) || std::isinf(out2) || std::isinf(out3)) {
				this->_logger.LogError("ANSONNXOBB::getCovarianceComponents",
					"[Instance " + std::to_string(instanceId_) + "] Invalid output values (NaN/Inf)",
					__FILE__, __LINE__);
				out1 = out2 = out3 = 0.0f;
				return;
			}
		}
		catch (const std::exception& e) {
			this->_logger.LogError("ANSONNXOBB::getCovarianceComponents",
				"[Instance " + std::to_string(instanceId_) + "] Exception: " + e.what(),
				__FILE__, __LINE__);
			out1 = out2 = out3 = 0.0f;
		}
	}
	std::vector<std::vector<float>> ANSONNXOBB::batchProbiou(
		const std::vector<OrientedBoundingBox>& obb1,
		const std::vector<OrientedBoundingBox>& obb2,
		float eps)
	{
		try {
			// Validate inputs
			if (obb1.empty() || obb2.empty()) {
				return {};
			}

			const size_t numBoxes1 = obb1.size();
			const size_t numBoxes2 = obb2.size();

			// Pre-allocate result matrix
			std::vector<std::vector<float>> iouMatrix(numBoxes1, std::vector<float>(numBoxes2, 0.0f));

			// Pre-compute covariance components for all boxes in obb1
			std::vector<std::array<float, 5>> covData1(numBoxes1);
			for (size_t i = 0; i < numBoxes1; ++i) {
				const OrientedBoundingBox& box = obb1[i];
				float a, b, c;
				getCovarianceComponents(box, a, b, c);
				covData1[i] = { box.x, box.y, a, b, c };
			}

			// Compute pairwise Prob-IoU
			for (size_t i = 0; i < numBoxes1; ++i) {
				const float x1 = covData1[i][0];
				const float y1 = covData1[i][1];
				const float a1 = covData1[i][2];
				const float b1 = covData1[i][3];
				const float c1 = covData1[i][4];

				for (size_t j = 0; j < numBoxes2; ++j) {
					const OrientedBoundingBox& box2 = obb2[j];
					float a2, b2, c2;
					getCovarianceComponents(box2, a2, b2, c2);

					// Compute Bhattacharyya distance components
					const float dx = x1 - box2.x;
					const float dy = y1 - box2.y;

					// Sum of covariance components
					const float sumA = a1 + a2;
					const float sumB = b1 + b2;
					const float sumC = c1 + c2;

					// Denominator for distance terms
					const float denom = sumA * sumB - sumC * sumC + eps;

					if (denom <= eps) {
						// Degenerate covariance matrix, set IoU to 0
						iouMatrix[i][j] = 0.0f;
						continue;
					}

					// Mahalanobis distance term (T1)
					const float t1 = ((sumA * dy * dy + sumB * dx * dx) * 0.25f) / denom;

					// Cross term (T2)
					const float t2 = ((sumC * dx * dy) * -0.5f) / denom;

					// Determinant ratio term (T3)
					const float det1 = a1 * b1 - c1 * c1;
					const float det2 = a2 * b2 - c2 * c2;

					// Ensure determinants are non-negative (numerical stability)
					const float det1_safe = std::max(det1, 0.0f);
					const float det2_safe = std::max(det2, 0.0f);

					const float sqrtDetProduct = std::sqrt(det1_safe * det2_safe + eps);
					const float numerator = sumA * sumB - sumC * sumC;
					const float t3 = 0.5f * std::log((numerator / (4.0f * sqrtDetProduct)) + eps);

					// Bhattacharyya distance
					float bd = t1 + t2 + t3;
					bd = std::clamp(bd, eps, 100.0f);

					// Hellinger distance from Bhattacharyya distance
					const float hd = std::sqrt(1.0f - std::exp(-bd) + eps);

					// Convert Hellinger distance to IoU-like metric
					iouMatrix[i][j] = 1.0f - hd;
				}
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] Computed "
				<< numBoxes1 << "x" << numBoxes2 << " Prob-IoU matrix");

			return iouMatrix;
		}
		catch (const std::bad_alloc& e) {
			this->_logger.LogError("ANSONNXOBB::batchProbiou",
				"[Instance " + std::to_string(instanceId_) + "] Memory allocation failed: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
		catch (const std::exception& e) {
			this->_logger.LogError("ANSONNXOBB::batchProbiou",
				"[Instance " + std::to_string(instanceId_) + "] Exception: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
	}
	std::vector<int> ANSONNXOBB::nmsRotatedImpl(
		const std::vector<OrientedBoundingBox>& sortedBoxes,
		float iouThreshold)
	{
		try {
			if (sortedBoxes.empty()) {
				return {};
			}

			const int numBoxes = static_cast<int>(sortedBoxes.size());

			// Early return for single box
			if (numBoxes == 1) {
				return { 0 };
			}

			// Compute all pairwise IoU values
			std::vector<std::vector<float>> iouMatrix = batchProbiou(sortedBoxes, sortedBoxes);

			// Validate IoU matrix dimensions
			if (iouMatrix.size() != static_cast<size_t>(numBoxes)) {
				this->_logger.LogError("ANSONNXOBB::nmsRotatedImpl",
					"[Instance " + std::to_string(instanceId_) + "] IoU matrix size mismatch: " +
					std::to_string(iouMatrix.size()) + " vs " + std::to_string(numBoxes),
					__FILE__, __LINE__);
				return {};
			}

			// Track which boxes to keep
			std::vector<int> keepIndices;
			keepIndices.reserve(numBoxes / 2); // Estimate ~50% will be kept

			// NMS algorithm: keep boxes that don't overlap significantly with higher-scoring boxes
			for (int j = 0; j < numBoxes; ++j) {
				bool shouldKeep = true;

				// Check against all previously kept boxes (higher scores due to sorting)
				for (int i = 0; i < j; ++i) {
					// Validate inner vector size
					if (iouMatrix[i].size() != static_cast<size_t>(numBoxes)) {
						this->_logger.LogError("ANSONNXOBB::nmsRotatedImpl",
							"[Instance " + std::to_string(instanceId_) + "] IoU matrix row " +
							std::to_string(i) + " size mismatch",
							__FILE__, __LINE__);
						return {};
					}

					// If current box overlaps significantly with a higher-scoring box, suppress it
					if (iouMatrix[i][j] >= iouThreshold) {
						shouldKeep = false;
						break;
					}
				}

				if (shouldKeep) {
					keepIndices.push_back(j);
				}
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] NMS kept "
				<< keepIndices.size() << " of " << numBoxes
				<< " boxes (threshold: " << iouThreshold << ")");

			return keepIndices;
		}
		catch (const std::out_of_range& e) {
			this->_logger.LogError("ANSONNXOBB::nmsRotatedImpl",
				"[Instance " + std::to_string(instanceId_) + "] Index out of range: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
		catch (const std::exception& e) {
			this->_logger.LogError("ANSONNXOBB::nmsRotatedImpl",
				"[Instance " + std::to_string(instanceId_) + "] Error: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
	}
	std::vector<int> ANSONNXOBB::nmsRotated(
		const std::vector<OrientedBoundingBox>& boxes,
		const std::vector<float>& scores,
		float iouThreshold)
	{
		try {
			// Validate inputs
			if (boxes.empty() || scores.empty()) {
				return {};
			}

			if (boxes.size() != scores.size()) {
				this->_logger.LogError("ANSONNXOBB::nmsRotated",
					"[Instance " + std::to_string(instanceId_) + "] Boxes and scores size mismatch: " +
					std::to_string(boxes.size()) + " vs " + std::to_string(scores.size()),
					__FILE__, __LINE__);
				return {};
			}

			const size_t numBoxes = boxes.size();

			// Create and sort indices by score (descending order)
			std::vector<int> sortedIndices(numBoxes);
			std::iota(sortedIndices.begin(), sortedIndices.end(), 0);

			std::sort(sortedIndices.begin(), sortedIndices.end(),
				[&scores](int a, int b) {
					return scores[a] > scores[b];
				});

			// Create sorted boxes for NMS (avoid repeated indexing)
			std::vector<OrientedBoundingBox> sortedBoxes;
			sortedBoxes.reserve(numBoxes);

			for (int idx : sortedIndices) {
				sortedBoxes.push_back(boxes[idx]);
			}

			// Perform NMS on sorted boxes
			std::vector<int> keepSorted = nmsRotatedImpl(sortedBoxes, iouThreshold);

			// Map NMS results back to original indices
			std::vector<int> keepOriginal;
			keepOriginal.reserve(keepSorted.size());

			for (int sortedIdx : keepSorted) {
				keepOriginal.push_back(sortedIndices[sortedIdx]);
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] NMS kept "
				<< keepOriginal.size() << " of " << numBoxes << " boxes");

			return keepOriginal;
		}
		catch (const std::out_of_range& e) {
			this->_logger.LogError("ANSONNXOBB::nmsRotated",
				"[Instance " + std::to_string(instanceId_) + "] Index out of range: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
		catch (const std::exception& e) {
			this->_logger.LogError("ANSONNXOBB::nmsRotated",
				"[Instance " + std::to_string(instanceId_) + "] Error: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
	}
	std::vector<Object> ANSONNXOBB::nonMaxSuppression(
		const std::vector<Detection>& inputDetections,
		const std::string& camera_id,
		float confThreshold,
		float iouThreshold,
		int maxDetections)
	{
		std::lock_guard<std::recursive_mutex> lock(_mutex);

		try {
			if (inputDetections.empty()) {
				return {};
			}

			// Filter by confidence threshold and pre-allocate
			std::vector<Detection> candidates;
			candidates.reserve(inputDetections.size());

			for (const auto& det : inputDetections) {
				if (det.conf > confThreshold) {
					candidates.push_back(det);
				}
			}

			if (candidates.empty()) {
				DEBUG_PRINT("[Instance " << instanceId_ << "] No detections passed confidence threshold");
				return {};
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] " << candidates.size()
				<< " candidates for NMS (from " << inputDetections.size() << " total)");

			// Extract boxes and scores for NMS
			std::vector<OrientedBoundingBox> boxes;
			std::vector<float> scores;
			boxes.reserve(candidates.size());
			scores.reserve(candidates.size());

			for (const auto& det : candidates) {
				boxes.push_back(det.box);
				scores.push_back(det.conf);
			}

			// Perform rotated NMS
			std::vector<int> keepIndices = nmsRotated(boxes, scores, iouThreshold);

			// Limit to max detections
			const size_t finalCount = std::min(static_cast<size_t>(maxDetections), keepIndices.size());

			DEBUG_PRINT("[Instance " << instanceId_ << "] " << finalCount
				<< " detections after NMS");

			// Build final results
			std::vector<Object> results;
			results.reserve(finalCount);

			for (size_t i = 0; i < finalCount; ++i) {
				const int idx = keepIndices[i];
				const Detection& det = candidates[idx];
				const OrientedBoundingBox& obb = det.box;

				Object obj;
				obj.classId = det.classId;
				obj.confidence = det.conf;
				obj.cameraId = camera_id;

				// Store OBB parameters as keypoints
				obj.kps = { obb.x, obb.y, obb.width, obb.height, obb.angle };

				// Convert OBB to polygon points
				obj.polygon = OBBToPoints(obb);

				// Calculate axis-aligned bounding box
				obj.box = cv::boundingRect(obj.polygon);

				results.push_back(std::move(obj));
			}

			return results;
		}
		catch (const cv::Exception& e) {
			this->_logger.LogError("ANSONNXOBB::nonMaxSuppression",
				"[Instance " + std::to_string(instanceId_) + "] OpenCV error: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
		catch (const std::exception& e) {
			this->_logger.LogError("ANSONNXOBB::nonMaxSuppression",
				"[Instance " + std::to_string(instanceId_) + "] Error: " + e.what(),
				__FILE__, __LINE__);
			return {};
		}
	}
	bool ANSONNXOBB::Init(const std::string& modelPath, bool useGPU, int deviceId)
	{
		std::lock_guard<std::recursive_mutex> lock(_mutex);
		try {
			deviceId_ = deviceId;

			const auto& ep = ANSCENTER::EPLoader::Current();
			if (Ort::Global<void>::api_ == nullptr)
				Ort::InitApi(static_cast<const OrtApi*>(EPLoader::GetOrtApiRaw()));
			std::cout << "[ANSONNXOBB] EP ready: "
				<< ANSCENTER::EPLoader::EngineTypeName(ep.type) << std::endl;

			// Unique environment name per instance to avoid conflicts
			std::string envName = "ONNX_OBB_INST" + std::to_string(instanceId_);
			env = Ort::Env(ORT_LOGGING_LEVEL_WARNING, envName.c_str());

			sessionOptions = Ort::SessionOptions();
			sessionOptions.SetIntraOpNumThreads(
				std::min(6, static_cast<int>(std::thread::hardware_concurrency())));
			sessionOptions.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL);

			// ── Log available providers ─────────────────────────────────────────
			std::vector<std::string> availableProviders = Ort::GetAvailableProviders();
			std::cout << "[Instance " << instanceId_ << "] Available Execution Providers:" << std::endl;
			for (const auto& p : availableProviders)
				std::cout << " - " << p << std::endl;

			// ── Attach EP based on runtime-detected hardware ────────────────────
			if (useGPU) {
				bool attached = false;

				switch (ep.type) {

				case ANSCENTER::EngineType::NVIDIA_GPU: {
					auto it = std::find(availableProviders.begin(),
						availableProviders.end(), "CUDAExecutionProvider");
					if (it == availableProviders.end()) {
						this->_logger.LogError("ANSONNXOBB::Init", "CUDAExecutionProvider not in DLL — "
							"check ep/cuda/ has the CUDA ORT build.", __FILE__, __LINE__);
						break;
					}
					try {
						OrtCUDAProviderOptionsV2* cuda_options = nullptr;
						Ort::GetApi().CreateCUDAProviderOptions(&cuda_options);

						std::string deviceIdStr = std::to_string(deviceId_);
						const char* keys[] = { "device_id" };
						const char* values[] = { deviceIdStr.c_str() };
						Ort::GetApi().UpdateCUDAProviderOptions(cuda_options, keys, values, 1);

						sessionOptions.AppendExecutionProvider_CUDA_V2(*cuda_options);
						Ort::GetApi().ReleaseCUDAProviderOptions(cuda_options);

						std::cout << "[Instance " << instanceId_ << "] CUDA EP attached on device "
							<< deviceId_ << "." << std::endl;
						attached = true;
					}
					catch (const Ort::Exception& e) {
						this->_logger.LogError("ANSONNXOBB::Init", e.what(), __FILE__, __LINE__);
					}
					break;
				}

				case ANSCENTER::EngineType::AMD_GPU: {
					auto it = std::find(availableProviders.begin(),
						availableProviders.end(), "DmlExecutionProvider");
					if (it == availableProviders.end()) {
						this->_logger.LogError("ANSONNXOBB::Init", "DmlExecutionProvider not in DLL — "
							"check ep/directml/ has the DirectML ORT build.", __FILE__, __LINE__);
						break;
					}
					try {
						std::unordered_map<std::string, std::string> opts = {
							{ "device_id", std::to_string(deviceId_) }
						};
						sessionOptions.AppendExecutionProvider("DML", opts);
						std::cout << "[Instance " << instanceId_ << "] DirectML EP attached on device "
							<< deviceId_ << "." << std::endl;
						attached = true;
					}
					catch (const Ort::Exception& e) {
						this->_logger.LogError("ANSONNXOBB::Init", e.what(), __FILE__, __LINE__);
					}
					break;
				}

				case ANSCENTER::EngineType::OPENVINO_GPU: {
					auto it = std::find(availableProviders.begin(),
						availableProviders.end(), "OpenVINOExecutionProvider");
					if (it == availableProviders.end()) {
						this->_logger.LogError("ANSONNXOBB::Init", "OpenVINOExecutionProvider not in DLL — "
							"check ep/openvino/ has the OpenVINO ORT build.", __FILE__, __LINE__);
						break;
					}

					// FP32 + single thread preserved for determinism; each instance gets its own stream and cache
					const std::string precision = "FP32";
					const std::string numberOfThreads = "1";
					const std::string numberOfStreams = std::to_string(instanceId_ + 1);
					const std::string primaryDevice = "GPU." + std::to_string(deviceId_);
					const std::string cacheDir = "./ov_cache_inst" + std::to_string(instanceId_);

					std::vector<std::unordered_map<std::string, std::string>> try_configs = {
						{ {"device_type", primaryDevice},    {"precision",precision},
						  {"num_of_threads",numberOfThreads}, {"num_streams",numberOfStreams},
						  {"enable_opencl_throttling","False"}, {"enable_qdq_optimizer","False"},
						  {"cache_dir", cacheDir} },
						{ {"device_type","GPU"},              {"precision",precision},
						  {"num_of_threads",numberOfThreads}, {"num_streams",numberOfStreams},
						  {"enable_opencl_throttling","False"}, {"enable_qdq_optimizer","False"},
						  {"cache_dir", cacheDir} },
						{ {"device_type","AUTO:GPU,CPU"},     {"precision",precision},
						  {"num_of_threads",numberOfThreads}, {"num_streams",numberOfStreams},
						  {"enable_opencl_throttling","False"}, {"enable_qdq_optimizer","False"},
						  {"cache_dir", cacheDir} }
					};

					for (const auto& config : try_configs) {
						try {
							sessionOptions.AppendExecutionProvider_OpenVINO_V2(config);
							std::cout << "[Instance " << instanceId_ << "] OpenVINO EP attached ("
								<< config.at("device_type") << ", stream: " << numberOfStreams << ")." << std::endl;
							attached = true;
							break;
						}
						catch (const Ort::Exception& e) {
							this->_logger.LogError("ANSONNXOBB::Init", e.what(), __FILE__, __LINE__);
						}
					}

					if (!attached)
						std::cerr << "[Instance " << instanceId_ << "] OpenVINO EP: all device configs failed." << std::endl;
					break;
				}

				default:
					break;
				}

				if (!attached) {
					std::cerr << "[Instance " << instanceId_ << "] No GPU EP attached — running on CPU." << std::endl;
					this->_logger.LogFatal("ANSONNXOBB::Init", "GPU EP not attached. Running on CPU.", __FILE__, __LINE__);
				}
			}
			else {
				std::cout << "[Instance " << instanceId_ << "] Inference device: CPU (useGPU=false)" << std::endl;
			}

			// ── Load model ──────────────────────────────────────────────────────
#ifdef _WIN32
			std::wstring w_modelPath = std::wstring(modelPath.begin(), modelPath.end());
			session = Ort::Session(env, w_modelPath.c_str(), sessionOptions);
#else
			session = Ort::Session(env, modelPath.c_str(), sessionOptions);
#endif

			Ort::AllocatorWithDefaultOptions allocator;

			// ── Input shape ─────────────────────────────────────────────────────
			Ort::TypeInfo inputTypeInfo = session.GetInputTypeInfo(0);
			std::vector<int64_t> inputTensorShapeVec =
				inputTypeInfo.GetTensorTypeAndShapeInfo().GetShape();
			isDynamicInputShape = (inputTensorShapeVec.size() >= 4) &&
				(inputTensorShapeVec[2] == -1 && inputTensorShapeVec[3] == -1);

			// ── Node names ──────────────────────────────────────────────────────
			auto input_name = session.GetInputNameAllocated(0, allocator);
			inputNodeNameAllocatedStrings.push_back(std::move(input_name));
			inputNames.push_back(inputNodeNameAllocatedStrings.back().get());

			auto output_name = session.GetOutputNameAllocated(0, allocator);
			outputNodeNameAllocatedStrings.push_back(std::move(output_name));
			outputNames.push_back(outputNodeNameAllocatedStrings.back().get());

			// ── Input image size ────────────────────────────────────────────────
			if (inputTensorShapeVec.size() >= 4) {
				inputImageShape = cv::Size(
					static_cast<int>(inputTensorShapeVec[3]),
					static_cast<int>(inputTensorShapeVec[2]));
			}
			else {
				throw std::runtime_error("Invalid input tensor shape.");
			}

			numInputNodes = session.GetInputCount();
			numOutputNodes = session.GetOutputCount();

			classColors = generateColors(_classes);

			std::cout << "[Instance " << instanceId_ << "] Model loaded successfully with "
				<< numInputNodes << " input nodes and " << numOutputNodes << " output nodes." << std::endl;

			// ── Warmup ──────────────────────────────────────────────────────────
			DEBUG_PRINT("[Instance " << instanceId_ << "] Starting warmup...");
			warmupModel();
			DEBUG_PRINT("[Instance " << instanceId_ << "] Warmup completed successfully.");

			return true;
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::Init",
				std::string("[Instance ") + std::to_string(instanceId_) + "] " + e.what(),
				__FILE__, __LINE__);
			return false;
		}
	}
	void ANSONNXOBB::warmupModel() {
		try {
			// Create dummy input image with correct size
			cv::Mat dummyImage = cv::Mat::zeros(inputImageShape.height, inputImageShape.width, CV_8UC3);

			DEBUG_PRINT("[Instance " << instanceId_ << "] Warmup: dummy image "
				<< dummyImage.cols << "x" << dummyImage.rows);

			// Run 3 warmup inferences to stabilize
			for (int i = 0; i < 3; ++i) {
				try {
					// Your preprocessing logic here
					float* blob = nullptr;
					std::vector<int64_t> inputShape;

					// If you have a preprocess method, call it
					// Otherwise, create a simple dummy tensor
					size_t tensorSize = 1 * 3 * inputImageShape.height * inputImageShape.width;
					blob = new float[tensorSize];
					std::memset(blob, 0, tensorSize * sizeof(float));

					inputShape = { 1, 3, inputImageShape.height, inputImageShape.width };

					// Create input tensor
					Ort::MemoryInfo memoryInfo = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault);
					Ort::Value inputTensor = Ort::Value::CreateTensor<float>(
						memoryInfo,
						blob,
						tensorSize,
						inputShape.data(),
						inputShape.size()
					);

					// Run inference
					std::vector<Ort::Value> outputTensors = session.Run(
						Ort::RunOptions{ nullptr },
						inputNames.data(),
						&inputTensor,
						1,
						outputNames.data(),
						numOutputNodes
					);

					// Clean up
					delete[] blob;

					DEBUG_PRINT("[Instance " << instanceId_ << "] Warmup " << (i + 1) << "/3 completed");
				}
				catch (const std::exception& e) {
					DEBUG_PRINT("[Instance " << instanceId_ << "] Warmup iteration " << i
						<< " failed (non-critical): " << e.what());
				}
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] Warmup successful - all states initialized");
		}
		catch (const std::exception& e) {
			this->_logger.LogWarn("ANSONNXOBB::warmupModel",
				std::string("[Instance ") + std::to_string(instanceId_) + "] Warmup failed: " + e.what(),
				__FILE__, __LINE__);
		}
	}
	cv::Mat ANSONNXOBB::preprocess(const cv::Mat& image, float*& blob, std::vector<int64_t>& inputTensorShape) {
		std::lock_guard<std::recursive_mutex> lock(_mutex);

		// Clean up existing blob first to prevent memory leak
		if (blob != nullptr) {
			delete[] blob;
			blob = nullptr;
		}

		try {
			// Validate input image
			if (image.empty() || image.data == nullptr) {
				this->_logger.LogError("ANSONNXOBB::preprocess",
					"Input image is empty or has null data pointer", __FILE__, __LINE__);
				return cv::Mat();
			}

			if (image.cols <= 0 || image.rows <= 0) {
				this->_logger.LogError("ANSONNXOBB::preprocess",
					"Invalid image dimensions: " + std::to_string(image.cols) + "x" + std::to_string(image.rows),
					__FILE__, __LINE__);
				return cv::Mat();
			}

			// Check for NaN/Inf values (only in debug builds for performance)
#ifdef DEBUG_MODE
			double minVal, maxVal;
			cv::minMaxLoc(image, &minVal, &maxVal);

			if (std::isnan(minVal) || std::isnan(maxVal) || std::isinf(minVal) || std::isinf(maxVal)) {
				this->_logger.LogError("ANSONNXOBB::preprocess",
					"Input image contains NaN or Inf values. Range: [" + std::to_string(minVal) +
					", " + std::to_string(maxVal) + "]", __FILE__, __LINE__);
				return cv::Mat();
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] Input: " << image.cols << "x" << image.rows
				<< ", channels: " << image.channels() << ", type: " << image.type()
				<< ", range: [" << minVal << ", " << maxVal << "]");
#else
			DEBUG_PRINT("[Instance " << instanceId_ << "] Input: " << image.cols << "x" << image.rows
				<< ", channels: " << image.channels());
#endif

			// Resize and pad image using letterBox
			cv::Mat resizedImage;
			letterBox(image, resizedImage, inputImageShape, cv::Scalar(114, 114, 114),
				isDynamicInputShape, false, true, 32);

			if (resizedImage.empty()) {
				this->_logger.LogError("ANSONNXOBB::preprocess",
					"letterBox returned empty image", __FILE__, __LINE__);
				return cv::Mat();
			}

			// Update input tensor shape
			inputTensorShape[2] = resizedImage.rows;
			inputTensorShape[3] = resizedImage.cols;

			// Validate resized dimensions
			const int channels = resizedImage.channels();
			const int height = resizedImage.rows;
			const int width = resizedImage.cols;

			if (channels != 3) {
				this->_logger.LogError("ANSONNXOBB::preprocess",
					"Expected 3 channels, got " + std::to_string(channels), __FILE__, __LINE__);
				return cv::Mat();
			}

			// Calculate memory requirements
			const size_t imageSize = static_cast<size_t>(width) * height;
			const size_t totalSize = imageSize * channels;

			// Check for potential overflow
			if (totalSize > SIZE_MAX / sizeof(float)) {
				this->_logger.LogError("ANSONNXOBB::preprocess",
					"Image size too large: would overflow memory allocation", __FILE__, __LINE__);
				return cv::Mat();
			}

			// Allocate blob memory for CHW format
			blob = new float[totalSize];

			// Convert to float and normalize in one operation
			resizedImage.convertTo(resizedImage, CV_32FC3, 1.0 / 255.0);

			// Convert from HWC (OpenCV) to CHW (ONNX) format efficiently
			std::vector<cv::Mat> channelMats(channels);
			for (int c = 0; c < channels; ++c) {
				channelMats[c] = cv::Mat(height, width, CV_32FC1, blob + c * imageSize);
			}
			cv::split(resizedImage, channelMats);

			DEBUG_PRINT("[Instance " << instanceId_ << "] Preprocessing completed: "
				<< width << "x" << height);

			return resizedImage;
		}
		catch (const cv::Exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::preprocess",
				"[Instance " + std::to_string(instanceId_) + "] OpenCV error: " + e.what(),
				__FILE__, __LINE__);
			if (blob != nullptr) {
				delete[] blob;
				blob = nullptr;
			}
			return cv::Mat();
		}
		catch (const std::bad_alloc& e) {
			this->_logger.LogFatal("ANSONNXOBB::preprocess",
				"[Instance " + std::to_string(instanceId_) + "] Memory allocation failed for " +
				std::to_string(static_cast<size_t>(inputTensorShape[2]) * inputTensorShape[3] * 3 * sizeof(float)) +
				" bytes: " + e.what(),
				__FILE__, __LINE__);
			if (blob != nullptr) {
				delete[] blob;
				blob = nullptr;
			}
			return cv::Mat();
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::preprocess",
				"[Instance " + std::to_string(instanceId_) + "] Error: " + e.what(),
				__FILE__, __LINE__);
			if (blob != nullptr) {
				delete[] blob;
				blob = nullptr;
			}
			return cv::Mat();
		}
	}

	std::vector<Object> ANSONNXOBB::postprocess(
		const cv::Size& originalImageSize,
		const cv::Size& resizedImageShape,
		const std::vector<Ort::Value>& outputTensors,
		int topk,
		const std::string& camera_id)
	{
		std::lock_guard<std::recursive_mutex> lock(_mutex);

		try {
			// Validate output tensors
			if (outputTensors.empty()) {
				this->_logger.LogError("ANSONNXOBB::postprocess",
					"Output tensors are empty", __FILE__, __LINE__);
				return {};
			}

			// Extract output tensor data and shape [1, num_features, num_detections]
			const float* rawOutput = outputTensors[0].GetTensorData<float>();
			const std::vector<int64_t> outputShape = outputTensors[0].GetTensorTypeAndShapeInfo().GetShape();

			if (outputShape.size() < 3) {
				this->_logger.LogError("ANSONNXOBB::postprocess",
					"Invalid output shape dimensions: " + std::to_string(outputShape.size()),
					__FILE__, __LINE__);
				return {};
			}

			const int numFeatures = static_cast<int>(outputShape[1]);
			const int numDetections = static_cast<int>(outputShape[2]);

			if (numDetections == 0) {
				DEBUG_PRINT("[Instance " << instanceId_ << "] No detections in output");
				return {};
			}

			// Calculate number of class labels (layout: [x, y, w, h, scores..., angle])
			const int numLabels = numFeatures - 5;
			if (numLabels <= 0) {
				this->_logger.LogError("ANSONNXOBB::postprocess",
					"Invalid number of labels: " + std::to_string(numLabels),
					__FILE__, __LINE__);
				return {};
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] Processing " << numDetections
				<< " detections with " << numLabels << " classes");

			// Calculate letterbox transformation parameters
			const float inputWidth = static_cast<float>(resizedImageShape.width);
			const float inputHeight = static_cast<float>(resizedImageShape.height);
			const float originalWidth = static_cast<float>(originalImageSize.width);
			const float originalHeight = static_cast<float>(originalImageSize.height);

			const float scale = std::min(inputHeight / originalHeight, inputWidth / originalWidth);
			const float paddedWidth = std::round(originalWidth * scale);
			const float paddedHeight = std::round(originalHeight * scale);
			const float offsetX = (inputWidth - paddedWidth) / 2.0f;
			const float offsetY = (inputHeight - paddedHeight) / 2.0f;
			const float inverseScale = 1.0f / scale;

			// Transpose output: [num_features, num_detections] -> [num_detections, num_features]
			cv::Mat output = cv::Mat(numFeatures, numDetections, CV_32F, const_cast<float*>(rawOutput));
			output = output.t();

			// Pre-allocate vectors with reasonable capacity
			std::vector<Detection> candidateDetections;
			candidateDetections.reserve(numDetections / 2); // Estimate ~50% will pass threshold

			// Extract and filter detections
			for (int i = 0; i < numDetections; ++i) {
				const float* rowPtr = output.ptr<float>(i);

				// Extract bounding box parameters (in letterbox space)
				const float x = rowPtr[0];
				const float y = rowPtr[1];
				const float w = rowPtr[2];
				const float h = rowPtr[3];

				// Find best class and score
				const float* scoresPtr = rowPtr + 4;
				float maxScore = -FLT_MAX;
				int classId = -1;

				for (int j = 0; j < numLabels; ++j) {
					const float score = scoresPtr[j];
					if (score > maxScore) {
						maxScore = score;
						classId = j;
					}
				}

				// Apply score threshold
				if (maxScore <= _modelConfig.detectionScoreThreshold) {
					continue;
				}

				// Extract rotation angle (stored after class scores)
				const float angle = rowPtr[4 + numLabels];

				// Transform coordinates from letterbox space to original image space
				const float cx = (x - offsetX) * inverseScale;
				const float cy = (y - offsetY) * inverseScale;
				const float bw = w * inverseScale;
				const float bh = h * inverseScale;

				// Clamp coordinates to image bounds
				const float clampedCx = std::clamp(cx, 0.0f, originalWidth);
				const float clampedCy = std::clamp(cy, 0.0f, originalHeight);
				const float clampedWidth = std::clamp(bw, 0.0f, originalWidth);
				const float clampedHeight = std::clamp(bh, 0.0f, originalHeight);

				// Create detection
				OrientedBoundingBox obb(clampedCx, clampedCy, clampedWidth, clampedHeight, angle);
				candidateDetections.emplace_back(Detection{ obb, maxScore, classId });
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] " << candidateDetections.size()
				<< " detections passed score threshold");

			// Apply Non-Maximum Suppression
			std::vector<Object> finalDetections = nonMaxSuppression(
				candidateDetections,
				camera_id,
				_modelConfig.modelConfThreshold,
				_modelConfig.modelMNSThreshold,
				topk
			);

			DEBUG_PRINT("[Instance " << instanceId_ << "] " << finalDetections.size()
				<< " detections after NMS");

			return finalDetections;
		}
		catch (const Ort::Exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::postprocess",
				"[Instance " + std::to_string(instanceId_) + "] ONNX Runtime error: " +
				std::string(e.what()),
				__FILE__, __LINE__);
			return {};
		}
		catch (const cv::Exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::postprocess",
				"[Instance " + std::to_string(instanceId_) + "] OpenCV error: " +
				std::string(e.what()),
				__FILE__, __LINE__);
			return {};
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::postprocess",
				"[Instance " + std::to_string(instanceId_) + "] Error: " +
				std::string(e.what()),
				__FILE__, __LINE__);
			return {};
		}
	}

	std::vector<Object> ANSONNXOBB::detect(const cv::Mat& image, const std::string& camera_id) {
		std::lock_guard<std::recursive_mutex> lock(_mutex);
		float* blobPtr = nullptr;

		try {
			// Validate input image
			if (image.empty() || image.data == nullptr) {
				this->_logger.LogError("ANSONNXOBB::detect",
					"Input image is empty or has null data pointer", __FILE__, __LINE__);
				return {};
			}

			if (image.cols <= 0 || image.rows <= 0) {
				this->_logger.LogError("ANSONNXOBB::detect",
					"Invalid image dimensions: " + std::to_string(image.cols) + "x" + std::to_string(image.rows),
					__FILE__, __LINE__);
				return {};
			}

			DEBUG_PRINT("[Instance " << instanceId_ << "] Detecting objects in "
				<< image.cols << "x" << image.rows << " image");

			// Prepare input tensor shape (batch size, channels, height, width)
			std::vector<int64_t> inputTensorShape = { 1, 3, inputImageShape.height, inputImageShape.width };

			// Preprocess image and get blob pointer
			cv::Mat preprocessedImage = preprocess(image, blobPtr, inputTensorShape);
			if (preprocessedImage.empty() || blobPtr == nullptr) {
				this->_logger.LogError("ANSONNXOBB::detect",
					"Preprocessing failed", __FILE__, __LINE__);
				return {};
			}

			// Calculate input tensor size
			const size_t inputTensorSize = vectorProduct(inputTensorShape);

			// Create ONNX Runtime memory info (static to avoid repeated allocation)
			static Ort::MemoryInfo memoryInfo = Ort::MemoryInfo::CreateCpu(
				OrtArenaAllocator, OrtMemTypeDefault);

			// Create input tensor directly from blob pointer (avoid vector copy)
			Ort::Value inputTensor = Ort::Value::CreateTensor<float>(
				memoryInfo,
				blobPtr,
				inputTensorSize,
				inputTensorShape.data(),
				inputTensorShape.size()
			);

			// Run inference
			std::vector<Ort::Value> outputTensors = session.Run(
				Ort::RunOptions{ nullptr },
				inputNames.data(),
				&inputTensor,
				numInputNodes,
				outputNames.data(),
				numOutputNodes
			);

			// Clean up blob after inference
			delete[] blobPtr;
			blobPtr = nullptr;

			// Post-process results
			const cv::Size resizedImageShape(
				static_cast<int>(inputTensorShape[3]),
				static_cast<int>(inputTensorShape[2])
			);

			std::vector<Object> detections = postprocess(
				image.size(),
				resizedImageShape,
				outputTensors,
				100,
				camera_id
			);

			DEBUG_PRINT("[Instance " << instanceId_ << "] Detected "
				<< detections.size() << " objects");

			return detections;
		}
		catch (const Ort::Exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::detect",
				"[Instance " + std::to_string(instanceId_) + "] ONNX Runtime error: " +
				std::string(e.what()),
				__FILE__, __LINE__);
			if (blobPtr != nullptr) {
				delete[] blobPtr;
			}
			return {};
		}
		catch (const cv::Exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::detect",
				"[Instance " + std::to_string(instanceId_) + "] OpenCV error: " +
				std::string(e.what()),
				__FILE__, __LINE__);
			if (blobPtr != nullptr) {
				delete[] blobPtr;
			}
			return {};
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::detect",
				"[Instance " + std::to_string(instanceId_) + "] Error: " +
				std::string(e.what()),
				__FILE__, __LINE__);
			if (blobPtr != nullptr) {
				delete[] blobPtr;
			}
			return {};
		}
	}
	// Public functions
	ANSONNXOBB::~ANSONNXOBB() {
		Destroy();
	}
	bool ANSONNXOBB::Destroy() {
		std::cout << "[ANSONNXOBB] Destroyed instance " << instanceId_ << std::endl;
		return true;
	}
	bool ANSONNXOBB::OptimizeModel(bool fp16, std::string& optimizedModelFolder) {
		if (!ANSODBase::OptimizeModel(fp16, optimizedModelFolder)) {
			return false;
		}
		return true;
	}
	bool ANSONNXOBB::Initialize(std::string licenseKey, ModelConfig modelConfig, const std::string& modelZipFilePath, const std::string& modelZipPassword, std::string& labelMap) {
		std::lock_guard<std::recursive_mutex> lock(_mutex);
		try {
			_modelLoadValid = false;
			bool result = ANSODBase::Initialize(licenseKey, modelConfig, modelZipFilePath, modelZipPassword, labelMap);
			if (!result) return false;
			// Parsing for YOLO only here
			_modelConfig = modelConfig;
			_modelConfig.detectionType = ANSCENTER::DetectionType::DETECTION;
			_modelConfig.modelType = ModelType::ONNXPOSE;
			_modelConfig.inpHeight = 640;
			_modelConfig.inpWidth = 640;
			if (_modelConfig.modelMNSThreshold < 0.2)
				_modelConfig.modelMNSThreshold = 0.5;
			if (_modelConfig.modelConfThreshold < 0.2)
				_modelConfig.modelConfThreshold = 0.5;
			if (_modelConfig.numKPS <= 0 || _modelConfig.numKPS > 133)  // 133 = COCO wholebody max
				_modelConfig.numKPS = 17;
			if (_modelConfig.kpsThreshold == 0)_modelConfig.kpsThreshold = 0.5; // If not define
			_fp16 = (modelConfig.precisionType == PrecisionType::FP16);

			if (FileExist(_modelConfigFile)) {
				ModelType modelType;
				std::vector<int> inputShape;
				_classes = ANSUtilityHelper::GetConfigFileContent(_modelConfigFile, modelType, inputShape);
				if (inputShape.size() == 2) {
					if (inputShape[0] > 0)_modelConfig.inpHeight = inputShape[0];
					if (inputShape[1] > 0)_modelConfig.inpWidth = inputShape[1];
				}
			}
			else {// This is old version of model zip file
				_modelFilePath = CreateFilePath(_modelFolder, "train_last.onnx");
				_classFilePath = CreateFilePath(_modelFolder, "classes.names");
				std::ifstream isValidFileName(_classFilePath);
				if (!isValidFileName)
				{
					this->_logger.LogDebug("ANSONNXCL::Initialize.  Load classes from string", _classFilePath, __FILE__, __LINE__);
					LoadClassesFromString();
				}
				else {
					this->_logger.LogDebug("ANSONNXCL::Initialize.  Load classes from file", _classFilePath, __FILE__, __LINE__);
					LoadClassesFromFile();
				}
			}
			// 1. Load labelMap and engine
			labelMap.clear();
			if (!_classes.empty())
				labelMap = VectorToCommaSeparatedString(_classes);

			// 2. Initialize ONNX Runtime session
			instanceId_ = instanceCounter_.fetch_add(1);  // Atomic increment
			result = Init(_modelFilePath, true, 0);
			_modelLoadValid = true;
			_isInitialized = true;
			return result;
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXCL::Initialize", e.what(), __FILE__, __LINE__);
			return false;
		}
	}
	bool ANSONNXOBB::LoadModel(const std::string& modelZipFilePath, const std::string& modelZipPassword) {
		std::lock_guard<std::recursive_mutex> lock(_mutex);
		try {
			bool result = ANSODBase::LoadModel(modelZipFilePath, modelZipPassword);
			if (!result) return false;
			_modelConfig.detectionType = ANSCENTER::DetectionType::CLASSIFICATION;
			_modelConfig.modelType = ModelType::TENSORRT;
			_modelConfig.inpHeight = 640;
			_modelConfig.inpWidth = 640;
			if (_modelConfig.modelMNSThreshold < 0.2)
				_modelConfig.modelMNSThreshold = 0.5;
			if (_modelConfig.modelConfThreshold < 0.2)
				_modelConfig.modelConfThreshold = 0.5;
			if (_modelConfig.numKPS <= 0 || _modelConfig.numKPS > 133)  // 133 = COCO wholebody max
				_modelConfig.numKPS = 17;
			if (_modelConfig.kpsThreshold == 0)_modelConfig.kpsThreshold = 0.5; // If not define
			// if (_modelConfig.precisionType == PrecisionType::FP16)_fp16 = true;
			_fp16 = true; // Load Model from Here

			// 0. Check if the configuration file exist
			if (FileExist(_modelConfigFile)) {
				ModelType modelType;
				std::vector<int> inputShape;
				_classes = ANSUtilityHelper::GetConfigFileContent(_modelConfigFile, modelType, inputShape);
				if (inputShape.size() == 2) {
					if (inputShape[0] > 0)_modelConfig.inpHeight = inputShape[0];
					if (inputShape[1] > 0)_modelConfig.inpWidth = inputShape[1];
				}
			}
			else {// This is old version of model zip file
				_modelFilePath = CreateFilePath(_modelFolder, "train_last.onnx");
				_classFilePath = CreateFilePath(_modelFolder, "classes.names");
				std::ifstream isValidFileName(_classFilePath);
				if (!isValidFileName)
				{
					this->_logger.LogDebug("ANSONNXOBB::Initialize.  Load classes from string", _classFilePath, __FILE__, __LINE__);
					LoadClassesFromString();
				}
				else {
					this->_logger.LogDebug("ANSONNXOBB::Initialize.  Load classes from file", _classFilePath, __FILE__, __LINE__);
					LoadClassesFromFile();
				}
			}
			// Initialize ONNX Runtime session
			instanceId_ = instanceCounter_.fetch_add(1);  // Atomic increment
			result = Init(_modelFilePath, true, 0);
			_modelLoadValid = true;
			_isInitialized = true;
			return result;
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::LoadModel", e.what(), __FILE__, __LINE__);
			return false;
		}
	}
	bool ANSONNXOBB::LoadModelFromFolder(std::string licenseKey, ModelConfig modelConfig, std::string modelName, std::string className, const std::string& modelFolder, std::string& labelMap) {
		std::lock_guard<std::recursive_mutex> lock(_mutex);
		try {
			bool result = ANSODBase::LoadModelFromFolder(licenseKey, modelConfig, modelName, className, modelFolder, labelMap);
			if (!result) return false;
			std::string _modelName = modelName;
			if (_modelName.empty()) {
				_modelName = "train_last";
			}
			std::string modelFullName = _modelName + ".onnx";
			// Parsing for YOLO only here
			_modelConfig = modelConfig;
			_modelConfig.detectionType = ANSCENTER::DetectionType::CLASSIFICATION;
			_modelConfig.modelType = ModelType::TENSORRT;
			_modelConfig.inpHeight = 640;
			_modelConfig.inpWidth = 640;
			if (_modelConfig.modelMNSThreshold < 0.2)
				_modelConfig.modelMNSThreshold = 0.5;
			if (_modelConfig.modelConfThreshold < 0.2)
				_modelConfig.modelConfThreshold = 0.5;
			if (_modelConfig.numKPS <= 0 || _modelConfig.numKPS > 133)  // 133 = COCO wholebody max
				_modelConfig.numKPS = 17;
			if (_modelConfig.kpsThreshold == 0)_modelConfig.kpsThreshold = 0.5; // If not define
			_fp16 = true; // Load Model from Here

			// 0. Check if the configuration file exist
			if (FileExist(_modelConfigFile)) {
				ModelType modelType;
				std::vector<int> inputShape;
				_classes = ANSUtilityHelper::GetConfigFileContent(_modelConfigFile, modelType, inputShape);
				if (inputShape.size() == 2) {
					if (inputShape[0] > 0)_modelConfig.inpHeight = inputShape[0];
					if (inputShape[1] > 0)_modelConfig.inpWidth = inputShape[1];
				}
			}
			else {// This is old version of model zip file
				_modelFilePath = CreateFilePath(_modelFolder, modelFullName);
				_classFilePath = CreateFilePath(_modelFolder, className);
				std::ifstream isValidFileName(_classFilePath);
				if (!isValidFileName)
				{
					this->_logger.LogDebug("ANSONNXOBB::Initialize.  Load classes from string", _classFilePath, __FILE__, __LINE__);
					LoadClassesFromString();
				}
				else {
					this->_logger.LogDebug("ANSONNXOBB::Initialize.  Load classes from file", _classFilePath, __FILE__, __LINE__);
					LoadClassesFromFile();
				}
			}
			// 1. Load labelMap and engine
			labelMap.clear();
			if (!_classes.empty())
				labelMap = VectorToCommaSeparatedString(_classes);
			// 2. Initialize ONNX Runtime session
			instanceId_ = instanceCounter_.fetch_add(1);  // Atomic increment
			_modelLoadValid = true;
			_isInitialized = true;
			return result;
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::LoadModelFromFolder", e.what(), __FILE__, __LINE__);
			return false;
		}
	}
	std::vector<Object> ANSONNXOBB::RunInference(const cv::Mat& input, const std::string& camera_id) {
		std::lock_guard<std::recursive_mutex> lock(_mutex);
		if (!_modelLoadValid) {
			this->_logger.LogFatal("ANSONNXOBB::RunInference", "Cannot load the TensorRT model. Please check if it is exist", __FILE__, __LINE__);
			std::vector<Object> result;
			result.clear();
			return result;
		}
		if (!_licenseValid) {
			this->_logger.LogFatal("ANSONNXOBB::RunInference", "Runtime license is not valid or expired. Please contact ANSCENTER", __FILE__, __LINE__);
			std::vector<Object> result;
			result.clear();
			return result;
		}
		if (!_isInitialized) {
			this->_logger.LogFatal("ANSONNXOBB::RunInference", "Model is not initialized", __FILE__, __LINE__);
			std::vector<Object> result;
			result.clear();
			return result;
		}
		try {
			std::vector<Object> result;
			if (input.empty()) return result;
			if ((input.cols < 5) || (input.rows < 5)) return result;
			result = detect(input, camera_id);
			if (_trackerEnabled) {
				result = ApplyTracking(result, camera_id);
				if (_stabilizationEnabled) result = StabilizeDetections(result, camera_id);
			}
			return result;
		}
		catch (const std::exception& e) {
			this->_logger.LogFatal("ANSONNXOBB::RunInference", e.what(), __FILE__, __LINE__);
			return {};
		}
	}
	std::vector<Object> ANSONNXOBB::RunInference(const cv::Mat& inputImgBGR) {
		return RunInference(inputImgBGR, "CustomCam");
	}
}