edgefirst_decoder/

lib.rs

// SPDX-FileCopyrightText: Copyright 2025 Au-Zone Technologies
// SPDX-License-Identifier: Apache-2.0

/*!
## EdgeFirst HAL - Decoders
This crate provides decoding utilities for YOLOobject detection and segmentation models, and ModelPack detection and segmentation models.
It supports both floating-point and quantized model outputs, allowing for efficient processing on edge devices. The crate includes functions
for efficient post-processing model outputs into usable detection boxes and segmentation masks, as well as utilities for dequantizing model outputs..

For general usage, use the `Decoder` struct which provides functions for decoding various model outputs based on the model configuration.
If you already know the model type and output formats, you can use the lower-level functions directly from the `yolo` and `modelpack` modules.


### Quick Example
```rust,no_run
use edgefirst_decoder::{DecoderBuilder, DecoderResult, configs::{self, DecoderVersion}};
use edgefirst_tensor::TensorDyn;

fn main() -> DecoderResult<()> {
    // Create a decoder for a YOLOv8 model with quantized int8 output
    let decoder = DecoderBuilder::new()
        .with_config_yolo_det(configs::Detection {
            anchors: None,
            decoder: configs::DecoderType::Ultralytics,
            quantization: Some(configs::QuantTuple(0.012345, 26)),
            shape: vec![1, 84, 8400],
            dshape: Vec::new(),
            normalized: Some(true),
        },
        Some(DecoderVersion::Yolov8))
        .with_score_threshold(0.25)
        .with_iou_threshold(0.7)
        .build()?;

    // Get the model output tensors from inference
    let model_output: Vec<TensorDyn> = vec![/* tensors from inference */];
    let tensor_refs: Vec<&TensorDyn> = model_output.iter().collect();

    let mut output_boxes = Vec::with_capacity(10);
    let mut output_masks = Vec::with_capacity(10);

    // Decode model output into detection boxes and segmentation masks
    decoder.decode(&tensor_refs, &mut output_boxes, &mut output_masks)?;
    Ok(())
}
```

# Overview

The primary components of this crate are:
- `Decoder`/`DecoderBuilder` struct: Provides high-level functions to decode model outputs based on the model configuration.
- `yolo` module: Contains functions specific to decoding YOLO model outputs.
- `modelpack` module: Contains functions specific to decoding ModelPack model outputs.

The `Decoder` supports both floating-point and quantized model outputs, allowing for efficient processing on edge devices.
It also supports mixed integer types for quantized outputs, such as when one output tensor is int8 and another is uint8.
When decoding quantized outputs, the appropriate quantization parameters must be provided for each output tensor.
If the integer types used in the model output is not supported by the decoder, the user can manually dequantize the model outputs using
the `dequantize` functions provided in this crate, and then use the floating-point decoding functions. However, it is recommended
to not dequantize the model outputs manually before passing them to the decoder, as the quantized decoder functions are optimized for performance.

The `yolo` and `modelpack` modules provide lower-level functions for decoding model outputs directly,
which can be used if the model type and output formats are known in advance.


*/
#![cfg_attr(coverage_nightly, feature(coverage_attribute))]

use ndarray::{Array, Array2, Array3, ArrayView, ArrayView1, ArrayView3, Dimension};
use num_traits::{AsPrimitive, Float, PrimInt};

pub mod byte;
pub mod error;
pub mod float;
pub mod modelpack;
pub mod per_scale;
pub mod schema;
pub mod yolo;

mod decoder;
pub use decoder::*;

pub use configs::{DecoderVersion, Nms};
pub use error::{DecoderError, DecoderResult};
pub use per_scale::DecodeDtype;

use crate::{
    decoder::configs::QuantTuple, modelpack::modelpack_segmentation_to_mask,
    yolo::yolo_segmentation_to_mask,
};

/// Trait to convert bounding box formats to XYXY float format
pub trait BBoxTypeTrait {
    /// Converts the bbox into XYXY float format.
    fn to_xyxy_float<A: Float + 'static, B: AsPrimitive<A>>(input: &[B; 4]) -> [A; 4];

    /// Converts the bbox into XYXY float format.
    fn to_xyxy_dequant<A: Float + 'static, B: AsPrimitive<A>>(
        input: &[B; 4],
        quant: Quantization,
    ) -> [A; 4]
    where
        f32: AsPrimitive<A>,
        i32: AsPrimitive<A>;

    /// Converts the bbox into XYXY float format.
    ///
    /// # Examples
    /// ```rust
    /// # use edgefirst_decoder::{BBoxTypeTrait, XYWH};
    /// # use ndarray::array;
    /// let arr = array![10.0_f32, 20.0, 20.0, 20.0];
    /// let xyxy: [f32; 4] = XYWH::ndarray_to_xyxy_float(arr.view());
    /// assert_eq!(xyxy, [0.0_f32, 10.0, 20.0, 30.0]);
    /// ```
    #[inline(always)]
    fn ndarray_to_xyxy_float<A: Float + 'static, B: AsPrimitive<A>>(
        input: ArrayView1<B>,
    ) -> [A; 4] {
        Self::to_xyxy_float(&[input[0], input[1], input[2], input[3]])
    }

    #[inline(always)]
    /// Converts the bbox into XYXY float format.
    fn ndarray_to_xyxy_dequant<A: Float + 'static, B: AsPrimitive<A>>(
        input: ArrayView1<B>,
        quant: Quantization,
    ) -> [A; 4]
    where
        f32: AsPrimitive<A>,
        i32: AsPrimitive<A>,
    {
        Self::to_xyxy_dequant(&[input[0], input[1], input[2], input[3]], quant)
    }
}

/// Converts XYXY bounding boxes to XYXY
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub struct XYXY {}

impl BBoxTypeTrait for XYXY {
    fn to_xyxy_float<A: Float + 'static, B: AsPrimitive<A>>(input: &[B; 4]) -> [A; 4] {
        input.map(|b| b.as_())
    }

    fn to_xyxy_dequant<A: Float + 'static, B: AsPrimitive<A>>(
        input: &[B; 4],
        quant: Quantization,
    ) -> [A; 4]
    where
        f32: AsPrimitive<A>,
        i32: AsPrimitive<A>,
    {
        let scale = quant.scale.as_();
        let zp = quant.zero_point.as_();
        input.map(|b| (b.as_() - zp) * scale)
    }

    #[inline(always)]
    fn ndarray_to_xyxy_float<A: Float + 'static, B: AsPrimitive<A>>(
        input: ArrayView1<B>,
    ) -> [A; 4] {
        [
            input[0].as_(),
            input[1].as_(),
            input[2].as_(),
            input[3].as_(),
        ]
    }
}

/// Converts XYWH bounding boxes to XYXY. The XY values are the center of the
/// box
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub struct XYWH {}

impl BBoxTypeTrait for XYWH {
    #[inline(always)]
    fn to_xyxy_float<A: Float + 'static, B: AsPrimitive<A>>(input: &[B; 4]) -> [A; 4] {
        let half = A::one() / (A::one() + A::one());
        [
            (input[0].as_()) - (input[2].as_() * half),
            (input[1].as_()) - (input[3].as_() * half),
            (input[0].as_()) + (input[2].as_() * half),
            (input[1].as_()) + (input[3].as_() * half),
        ]
    }

    #[inline(always)]
    fn to_xyxy_dequant<A: Float + 'static, B: AsPrimitive<A>>(
        input: &[B; 4],
        quant: Quantization,
    ) -> [A; 4]
    where
        f32: AsPrimitive<A>,
        i32: AsPrimitive<A>,
    {
        let scale = quant.scale.as_();
        let half_scale = (quant.scale * 0.5).as_();
        let zp = quant.zero_point.as_();
        let [x, y, w, h] = [
            (input[0].as_() - zp) * scale,
            (input[1].as_() - zp) * scale,
            (input[2].as_() - zp) * half_scale,
            (input[3].as_() - zp) * half_scale,
        ];

        [x - w, y - h, x + w, y + h]
    }

    #[inline(always)]
    fn ndarray_to_xyxy_float<A: Float + 'static, B: AsPrimitive<A>>(
        input: ArrayView1<B>,
    ) -> [A; 4] {
        let half = A::one() / (A::one() + A::one());
        [
            (input[0].as_()) - (input[2].as_() * half),
            (input[1].as_()) - (input[3].as_() * half),
            (input[0].as_()) + (input[2].as_() * half),
            (input[1].as_()) + (input[3].as_() * half),
        ]
    }
}

/// Describes the quantization parameters for a tensor
#[derive(Debug, Clone, Copy, PartialEq)]
pub struct Quantization {
    pub scale: f32,
    pub zero_point: i32,
}

impl Quantization {
    /// Creates a new Quantization struct
    /// # Examples
    /// ```
    /// # use edgefirst_decoder::Quantization;
    /// let quant = Quantization::new(0.1, -128);
    /// assert_eq!(quant.scale, 0.1);
    /// assert_eq!(quant.zero_point, -128);
    /// ```
    pub fn new(scale: f32, zero_point: i32) -> Self {
        Self { scale, zero_point }
    }

    /// Returns a quantization that's a no-op: scale=1.0, zero_point=0.
    ///
    /// Used by the per-scale pipeline as a sentinel for float-to-float
    /// passthrough cells where no affine transform is required.
    /// # Examples
    /// ```
    /// # use edgefirst_decoder::Quantization;
    /// let quant = Quantization::identity();
    /// assert_eq!(quant.scale, 1.0);
    /// assert_eq!(quant.zero_point, 0);
    /// ```
    pub fn identity() -> Self {
        Self {
            scale: 1.0,
            zero_point: 0,
        }
    }
}

impl From<QuantTuple> for Quantization {
    /// Creates a new Quantization struct from a QuantTuple
    /// # Examples
    /// ```
    /// # use edgefirst_decoder::Quantization;
    /// # use edgefirst_decoder::configs::QuantTuple;
    /// let quant_tuple = QuantTuple(0.1_f32, -128_i32);
    /// let quant = Quantization::from(quant_tuple);
    /// assert_eq!(quant.scale, 0.1);
    /// assert_eq!(quant.zero_point, -128);
    /// ```
    fn from(quant_tuple: QuantTuple) -> Quantization {
        Quantization {
            scale: quant_tuple.0,
            zero_point: quant_tuple.1,
        }
    }
}

impl<S, Z> From<(S, Z)> for Quantization
where
    S: AsPrimitive<f32>,
    Z: AsPrimitive<i32>,
{
    /// Creates a new Quantization struct from a tuple
    /// # Examples
    /// ```
    /// # use edgefirst_decoder::Quantization;
    /// let quant = Quantization::from((0.1_f64, -128_i64));
    /// assert_eq!(quant.scale, 0.1);
    /// assert_eq!(quant.zero_point, -128);
    /// ```
    fn from((scale, zp): (S, Z)) -> Quantization {
        Self {
            scale: scale.as_(),
            zero_point: zp.as_(),
        }
    }
}

impl Default for Quantization {
    /// Creates a default Quantization struct with scale 1.0 and zero_point 0
    /// # Examples
    /// ```rust
    /// # use edgefirst_decoder::Quantization;
    /// let quant = Quantization::default();
    /// assert_eq!(quant.scale, 1.0);
    /// assert_eq!(quant.zero_point, 0);
    /// ```
    fn default() -> Self {
        Self {
            scale: 1.0,
            zero_point: 0,
        }
    }
}

/// A detection box with f32 bbox and score
#[derive(Debug, Clone, Copy, PartialEq, Default)]
pub struct DetectBox {
    pub bbox: BoundingBox,
    /// model-specific score for this detection, higher implies more confidence
    pub score: f32,
    /// label index for this detection
    pub label: usize,
}

/// A bounding box with f32 coordinates in XYXY format
#[derive(Debug, Clone, Copy, PartialEq, Default)]
#[repr(C)]
pub struct BoundingBox {
    /// left-most normalized coordinate of the bounding box
    pub xmin: f32,
    /// top-most normalized coordinate of the bounding box
    pub ymin: f32,
    /// right-most normalized coordinate of the bounding box
    pub xmax: f32,
    /// bottom-most normalized coordinate of the bounding box
    pub ymax: f32,
}

// Guarantee that BoundingBox is 4 contiguous f32 fields for NEON vld1q_f32 loads.
const _: () = assert!(std::mem::size_of::<BoundingBox>() == 4 * std::mem::size_of::<f32>());
const _: () = assert!(std::mem::align_of::<BoundingBox>() == std::mem::align_of::<f32>());

impl BoundingBox {
    /// Creates a new BoundingBox from the given coordinates
    pub fn new(xmin: f32, ymin: f32, xmax: f32, ymax: f32) -> Self {
        Self {
            xmin,
            ymin,
            xmax,
            ymax,
        }
    }

    /// Transforms BoundingBox so that `xmin <= xmax` and `ymin <= ymax`
    ///
    /// ```
    /// # use edgefirst_decoder::BoundingBox;
    /// let bbox = BoundingBox::new(0.8, 0.6, 0.4, 0.2);
    /// let canonical_bbox = bbox.to_canonical();
    /// assert_eq!(canonical_bbox, BoundingBox::new(0.4, 0.2, 0.8, 0.6));
    /// ```
    pub fn to_canonical(&self) -> Self {
        let xmin = self.xmin.min(self.xmax);
        let xmax = self.xmin.max(self.xmax);
        let ymin = self.ymin.min(self.ymax);
        let ymax = self.ymin.max(self.ymax);
        BoundingBox {
            xmin,
            ymin,
            xmax,
            ymax,
        }
    }
}

impl From<BoundingBox> for [f32; 4] {
    /// Converts a BoundingBox into an array of 4 f32 values in xmin, ymin,
    /// xmax, ymax order
    /// # Examples
    /// ```
    /// # use edgefirst_decoder::BoundingBox;
    /// let bbox = BoundingBox {
    ///     xmin: 0.1,
    ///     ymin: 0.2,
    ///     xmax: 0.3,
    ///     ymax: 0.4,
    /// };
    /// let arr: [f32; 4] = bbox.into();
    /// assert_eq!(arr, [0.1, 0.2, 0.3, 0.4]);
    /// ```
    fn from(b: BoundingBox) -> Self {
        [b.xmin, b.ymin, b.xmax, b.ymax]
    }
}

impl From<[f32; 4]> for BoundingBox {
    // Converts an array of 4 f32 values in xmin, ymin, xmax, ymax order into a
    // BoundingBox
    fn from(arr: [f32; 4]) -> Self {
        BoundingBox {
            xmin: arr[0],
            ymin: arr[1],
            xmax: arr[2],
            ymax: arr[3],
        }
    }
}

impl DetectBox {
    /// Returns true if one detect box is equal to another detect box, within
    /// the given `eps`
    ///
    /// # Examples
    /// ```
    /// # use edgefirst_decoder::DetectBox;
    /// let box1 = DetectBox {
    ///     bbox: edgefirst_decoder::BoundingBox {
    ///         xmin: 0.1,
    ///         ymin: 0.2,
    ///         xmax: 0.3,
    ///         ymax: 0.4,
    ///     },
    ///     score: 0.5,
    ///     label: 1,
    /// };
    /// let box2 = DetectBox {
    ///     bbox: edgefirst_decoder::BoundingBox {
    ///         xmin: 0.101,
    ///         ymin: 0.199,
    ///         xmax: 0.301,
    ///         ymax: 0.399,
    ///     },
    ///     score: 0.510,
    ///     label: 1,
    /// };
    /// assert!(box1.equal_within_delta(&box2, 0.011));
    /// ```
    pub fn equal_within_delta(&self, rhs: &DetectBox, eps: f32) -> bool {
        let eq_delta = |a: f32, b: f32| (a - b).abs() <= eps;
        self.label == rhs.label
            && eq_delta(self.score, rhs.score)
            && eq_delta(self.bbox.xmin, rhs.bbox.xmin)
            && eq_delta(self.bbox.ymin, rhs.bbox.ymin)
            && eq_delta(self.bbox.xmax, rhs.bbox.xmax)
            && eq_delta(self.bbox.ymax, rhs.bbox.ymax)
    }
}

/// A segmentation result paired with the normalized bounding box that
/// describes the spatial extent of `segmentation`.
///
/// The `xmin`/`ymin`/`xmax`/`ymax` fields describe the **mask region** —
/// the proto-grid-aligned crop the [`segmentation`] tensor was sliced
/// from. They are quantized to the proto grid step (`1/proto_height` and
/// `1/proto_width`, typically `1/160`), so the region's origin floors and
/// its extent ceils relative to the companion [`DetectBox`]'s `bbox`. The
/// detection bbox itself stays un-snapped (see EDGEAI-1304); use
/// `Segmentation` bounds for rendering masks, and `DetectBox.bbox` for
/// IoU evaluation, drawing detection rectangles, etc. The mask region
/// always encloses the detection bbox.
#[derive(Debug, Clone, PartialEq, Default)]
pub struct Segmentation {
    /// Left-most normalized coordinate of the mask region (proto-grid
    /// floor of the companion `DetectBox.bbox.xmin`).
    pub xmin: f32,
    /// Top-most normalized coordinate of the mask region (proto-grid
    /// floor of the companion `DetectBox.bbox.ymin`).
    pub ymin: f32,
    /// Right-most normalized coordinate of the mask region (proto-grid
    /// ceil of the companion `DetectBox.bbox.xmax`).
    pub xmax: f32,
    /// Bottom-most normalized coordinate of the mask region (proto-grid
    /// ceil of the companion `DetectBox.bbox.ymax`).
    pub ymax: f32,
    /// 3D segmentation array of shape `(H, W, C)`.
    ///
    /// For instance segmentation (e.g. YOLO): `C=1` — per-instance mask with
    /// continuous sigmoid confidence values quantized to u8 (0 = background,
    /// 255 = full confidence). Renderers typically threshold at 128 (sigmoid
    /// 0.5) or use smooth interpolation for anti-aliased edges.
    ///
    /// For semantic segmentation (e.g. ModelPack): `C=num_classes` — per-pixel
    /// class scores where the object class is the argmax index.
    pub segmentation: Array3<u8>,
}

/// Memory layout of the prototype tensor within [`ProtoData`].
///
/// Models may output protos in either channel-last (NHWC) or channel-first
/// (NCHW) layout. The mask materialisation kernels dispatch on this field to
/// avoid a costly per-frame transpose.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum ProtoLayout {
    /// Channel-last: tensor shape is `[H, W, K]`, contiguous along K.
    /// This is the traditional layout produced by the `extract_proto_data`
    /// path after transposing from NCHW model outputs.
    Nhwc,
    /// Channel-first: tensor shape is `[K, H, W]`, each channel plane is
    /// contiguous. Skipping the NCHW→NHWC transpose saves ~3 ms per frame
    /// on Cortex-A53/A55 targets (819 KB for 32×160×160 protos).
    Nchw,
}

/// Raw prototype data for fused decode+render pipelines.
///
/// Holds post-NMS intermediate state before mask materialization, allowing the
/// renderer to compute `mask_coeff @ protos` directly (e.g. in a GPU fragment
/// shader) without materializing intermediate `Array3<u8>` masks.
///
/// Both fields are carried as [`TensorDyn`] so downstream consumers (Rust, C
/// API, Python) get zero-copy typed access through the HAL's shared tensor
/// infrastructure. Dtype policy:
///
/// | Source model | protos dtype | mask_coefficients dtype | protos.quantization |
/// |---|---|---|---|
/// | int8 quantized | [`TensorDyn::I8`] | [`TensorDyn::I8`] (raw + quantization) | `Some(q)` |
/// | f32 | [`TensorDyn::F32`] | [`TensorDyn::F32`] | `None` |
/// | f16 (TensorRT fp16) | [`TensorDyn::F16`] | [`TensorDyn::F16`] | `None` |
/// | f64 (narrowed) | [`TensorDyn::F32`] | [`TensorDyn::F32`] | `None` |
///
/// Quantization metadata lives on the proto tensor itself via
/// [`edgefirst_tensor::Tensor::quantization`] — float tensors cannot carry
/// quantization (compile-time gated on the `IntegerType` sealed trait).
///
/// `TensorDyn` is not `Clone`, so neither is `ProtoData`. Consumers that need
/// to share the proto buffer across threads should use `TensorDyn::clone_fd`
/// / `dmabuf_clone` to dup the backing fd.
#[derive(Debug)]
pub struct ProtoData {
    /// Per-detection mask coefficients, shape `[num_detections, num_protos]`.
    pub mask_coefficients: edgefirst_tensor::TensorDyn,
    /// Prototype tensor.
    ///
    /// - When `layout == ProtoLayout::Nhwc`: shape is `[proto_h, proto_w, num_protos]`.
    /// - When `layout == ProtoLayout::Nchw`: shape is `[num_protos, proto_h, proto_w]`.
    pub protos: edgefirst_tensor::TensorDyn,
    /// Physical memory layout of the `protos` tensor.
    pub layout: ProtoLayout,
}

/// Turns a DetectBoxQuantized into a DetectBox by dequantizing the score.
///
///  # Examples
/// ```
/// # use edgefirst_decoder::{BoundingBox, DetectBoxQuantized, Quantization, dequant_detect_box};
/// let quant = Quantization::new(0.1, -128);
/// let bbox = BoundingBox::new(0.1, 0.2, 0.3, 0.4);
/// let detect_quant = DetectBoxQuantized {
///     bbox,
///     score: 100_i8,
///     label: 1,
/// };
/// let detect = dequant_detect_box(&detect_quant, quant);
/// assert_eq!(detect.score, 0.1 * 100.0 + 12.8);
/// assert_eq!(detect.label, 1);
/// assert_eq!(detect.bbox, bbox);
/// ```
pub fn dequant_detect_box<SCORE: PrimInt + AsPrimitive<f32>>(
    detect: &DetectBoxQuantized<SCORE>,
    quant_scores: Quantization,
) -> DetectBox {
    let scaled_zp = -quant_scores.scale * quant_scores.zero_point as f32;
    DetectBox {
        bbox: detect.bbox,
        score: quant_scores.scale * detect.score.as_() + scaled_zp,
        label: detect.label,
    }
}
/// A detection box with a f32 bbox and quantized score
#[derive(Debug, Clone, Copy, PartialEq)]
pub struct DetectBoxQuantized<
    // BOX: Signed + PrimInt + AsPrimitive<f32>,
    SCORE: PrimInt + AsPrimitive<f32>,
> {
    // pub bbox: BoundingBoxQuantized<BOX>,
    pub bbox: BoundingBox,
    /// model-specific score for this detection, higher implies more
    /// confidence.
    pub score: SCORE,
    /// label index for this detect
    pub label: usize,
}

/// Dequantizes an ndarray from quantized values to f32 values using the given
/// quantization parameters
///
/// # Examples
/// ```
/// # use edgefirst_decoder::{dequantize_ndarray, Quantization};
/// let quant = Quantization::new(0.1, -128);
/// let input: Vec<i8> = vec![0, 127, -128, 64];
/// let input_array = ndarray::Array1::from(input);
/// let output_array: ndarray::Array1<f32> = dequantize_ndarray(input_array.view(), quant);
/// assert_eq!(output_array, ndarray::array![12.8, 25.5, 0.0, 19.2]);
/// ```
pub fn dequantize_ndarray<T: AsPrimitive<F>, D: Dimension, F: Float + 'static>(
    input: ArrayView<T, D>,
    quant: Quantization,
) -> Array<F, D>
where
    i32: num_traits::AsPrimitive<F>,
    f32: num_traits::AsPrimitive<F>,
{
    let zero_point = quant.zero_point.as_();
    let scale = quant.scale.as_();
    if zero_point != F::zero() {
        let scaled_zero = -zero_point * scale;
        input.mapv(|d| d.as_() * scale + scaled_zero)
    } else {
        input.mapv(|d| d.as_() * scale)
    }
}

/// Dequantizes a slice from quantized values to float values using the given
/// quantization parameters
///
/// # Examples
/// ```
/// # use edgefirst_decoder::{dequantize_cpu, Quantization};
/// let quant = Quantization::new(0.1, -128);
/// let input: Vec<i8> = vec![0, 127, -128, 64];
/// let mut output: Vec<f32> = vec![0.0; input.len()];
/// dequantize_cpu(&input, quant, &mut output);
/// assert_eq!(output, vec![12.8, 25.5, 0.0, 19.2]);
/// ```
pub fn dequantize_cpu<T: AsPrimitive<F>, F: Float + 'static>(
    input: &[T],
    quant: Quantization,
    output: &mut [F],
) where
    f32: num_traits::AsPrimitive<F>,
    i32: num_traits::AsPrimitive<F>,
{
    assert!(input.len() == output.len());
    let zero_point = quant.zero_point.as_();
    let scale = quant.scale.as_();
    if zero_point != F::zero() {
        let scaled_zero = -zero_point * scale; // scale * (d - zero_point) = d * scale - zero_point * scale
        input
            .iter()
            .zip(output)
            .for_each(|(d, deq)| *deq = d.as_() * scale + scaled_zero);
    } else {
        input
            .iter()
            .zip(output)
            .for_each(|(d, deq)| *deq = d.as_() * scale);
    }
}

/// Dequantizes a slice from quantized values to float values using the given
/// quantization parameters, using chunked processing. This is around 5% faster
/// than `dequantize_cpu` for large slices.
///
/// # Examples
/// ```
/// # use edgefirst_decoder::{dequantize_cpu_chunked, Quantization};
/// let quant = Quantization::new(0.1, -128);
/// let input: Vec<i8> = vec![0, 127, -128, 64];
/// let mut output: Vec<f32> = vec![0.0; input.len()];
/// dequantize_cpu_chunked(&input, quant, &mut output);
/// assert_eq!(output, vec![12.8, 25.5, 0.0, 19.2]);
/// ```
pub fn dequantize_cpu_chunked<T: AsPrimitive<F>, F: Float + 'static>(
    input: &[T],
    quant: Quantization,
    output: &mut [F],
) where
    f32: num_traits::AsPrimitive<F>,
    i32: num_traits::AsPrimitive<F>,
{
    assert!(input.len() == output.len());
    let zero_point = quant.zero_point.as_();
    let scale = quant.scale.as_();

    let input = input.as_chunks::<4>();
    let output = output.as_chunks_mut::<4>();

    if zero_point != F::zero() {
        let scaled_zero = -zero_point * scale; // scale * (d - zero_point) = d * scale - zero_point * scale

        input
            .0
            .iter()
            .zip(output.0)
            .for_each(|(d, deq)| *deq = d.map(|d| d.as_() * scale + scaled_zero));
        input
            .1
            .iter()
            .zip(output.1)
            .for_each(|(d, deq)| *deq = d.as_() * scale + scaled_zero);
    } else {
        input
            .0
            .iter()
            .zip(output.0)
            .for_each(|(d, deq)| *deq = d.map(|d| d.as_() * scale));
        input
            .1
            .iter()
            .zip(output.1)
            .for_each(|(d, deq)| *deq = d.as_() * scale);
    }
}

/// Converts a segmentation tensor into a 2D mask
/// If the last dimension of the segmentation tensor is 1, values equal or
/// above 128 are considered objects. Otherwise the object is the argmax index
///
/// # Errors
///
/// Returns `DecoderError::InvalidShape` if the segmentation tensor has an
/// invalid shape.
///
/// # Examples
/// ```
/// # use edgefirst_decoder::segmentation_to_mask;
/// let segmentation =
///     ndarray::Array3::<u8>::from_shape_vec((2, 2, 1), vec![0, 255, 128, 127]).unwrap();
/// let mask = segmentation_to_mask(segmentation.view()).unwrap();
/// assert_eq!(mask, ndarray::array![[0, 1], [1, 0]]);
/// ```
pub fn segmentation_to_mask(segmentation: ArrayView3<u8>) -> Result<Array2<u8>, DecoderError> {
    if segmentation.shape()[2] == 0 {
        return Err(DecoderError::InvalidShape(
            "Segmentation tensor must have non-zero depth".to_string(),
        ));
    }
    if segmentation.shape()[2] == 1 {
        yolo_segmentation_to_mask(segmentation, 128)
    } else {
        Ok(modelpack_segmentation_to_mask(segmentation))
    }
}

/// Returns the maximum value and its index from a 1D array
fn arg_max<T: PartialOrd + Copy>(score: ArrayView1<T>) -> (T, usize) {
    score
        .iter()
        .enumerate()
        .fold((score[0], 0), |(max, arg_max), (ind, s)| {
            if max > *s {
                (max, arg_max)
            } else {
                (*s, ind)
            }
        })
}

/// NEON-accelerated argmax for i8 slices on aarch64.
///
/// Finds the maximum value and its index (last index wins on ties, matching
/// the semantics of [`arg_max`]).  Falls back to the scalar implementation
/// on non-aarch64 targets or when the slice is too short to benefit from NEON.
#[cfg(target_arch = "aarch64")]
pub(crate) fn arg_max_i8(scores: &[i8]) -> (i8, usize) {
    use std::arch::aarch64::*;

    let n = scores.len();
    if n < 16 {
        // Scalar fallback for very short slices.
        let mut max = scores[0];
        let mut idx = 0;
        for (i, &s) in scores.iter().enumerate().skip(1) {
            if s >= max {
                max = s;
                idx = i;
            }
        }
        return (max, idx);
    }

    unsafe {
        // Phase 1: Find the global max value using NEON horizontal max.
        let chunks = n / 16;
        let mut vmax = vld1q_s8(scores.as_ptr());
        for i in 1..chunks {
            let v = vld1q_s8(scores.as_ptr().add(i * 16));
            vmax = vmaxq_s8(vmax, v);
        }
        let global_max = vmaxvq_s8(vmax);

        // Handle remainder with scalar
        let remainder_start = chunks * 16;
        let mut final_max = global_max;
        for &s in &scores[remainder_start..] {
            if s > final_max {
                final_max = s;
            }
        }

        // Phase 2: Find the LAST index of `final_max` (preserves tie semantics).
        // Scan backwards for the last occurrence.
        let mut idx = 0;
        for i in (0..n).rev() {
            if scores[i] == final_max {
                idx = i;
                break;
            }
        }
        (final_max, idx)
    }
}
#[cfg(test)]
#[cfg_attr(coverage_nightly, coverage(off))]
mod decoder_tests {
    #![allow(clippy::excessive_precision)]
    use crate::{
        configs::{DecoderType, DimName, Protos},
        modelpack::{decode_modelpack_det, decode_modelpack_split_quant},
        yolo::{
            decode_yolo_det, decode_yolo_det_float, decode_yolo_segdet_float,
            decode_yolo_segdet_quant,
        },
        *,
    };
    use edgefirst_tensor::{Tensor, TensorMapTrait, TensorTrait};
    use ndarray::Dimension;
    use ndarray::{array, s, Array2, Array3, Array4, Axis};
    use ndarray_stats::DeviationExt;
    use num_traits::{AsPrimitive, PrimInt};

    fn compare_outputs(
        boxes: (&[DetectBox], &[DetectBox]),
        masks: (&[Segmentation], &[Segmentation]),
    ) {
        let (boxes0, boxes1) = boxes;
        let (masks0, masks1) = masks;

        assert_eq!(boxes0.len(), boxes1.len());
        assert_eq!(masks0.len(), masks1.len());

        for (b_i8, b_f32) in boxes0.iter().zip(boxes1) {
            assert!(
                b_i8.equal_within_delta(b_f32, 1e-6),
                "{b_i8:?} is not equal to {b_f32:?}"
            );
        }

        for (m_i8, m_f32) in masks0.iter().zip(masks1) {
            assert_eq!(
                [m_i8.xmin, m_i8.ymin, m_i8.xmax, m_i8.ymax],
                [m_f32.xmin, m_f32.ymin, m_f32.xmax, m_f32.ymax],
            );
            assert_eq!(m_i8.segmentation.shape(), m_f32.segmentation.shape());
            let mask_i8 = m_i8.segmentation.map(|x| *x as i32);
            let mask_f32 = m_f32.segmentation.map(|x| *x as i32);
            let diff = &mask_i8 - &mask_f32;
            for x in 0..diff.shape()[0] {
                for y in 0..diff.shape()[1] {
                    for z in 0..diff.shape()[2] {
                        let val = diff[[x, y, z]];
                        assert!(
                            val.abs() <= 1,
                            "Difference between mask0 and mask1 is greater than 1 at ({}, {}, {}): {}",
                            x,
                            y,
                            z,
                            val
                        );
                    }
                }
            }
            let mean_sq_err = mask_i8.mean_sq_err(&mask_f32).unwrap();
            assert!(
                mean_sq_err < 1e-2,
                "Mean Square Error between masks was greater than 1%: {:.2}%",
                mean_sq_err * 100.0
            );
        }
    }

    // ─── Shared test data loaders ────────────────────────

    fn load_yolov8_boxes() -> Array3<i8> {
        let raw = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
        let raw = unsafe { std::slice::from_raw_parts(raw.as_ptr() as *const i8, raw.len()) };
        Array3::from_shape_vec((1, 116, 8400), raw.to_vec()).unwrap()
    }

    fn load_yolov8_protos() -> Array4<i8> {
        let raw = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
        let raw = unsafe { std::slice::from_raw_parts(raw.as_ptr() as *const i8, raw.len()) };
        Array4::from_shape_vec((1, 160, 160, 32), raw.to_vec()).unwrap()
    }

    fn load_yolov8s_det() -> Array3<i8> {
        let raw = edgefirst_bench::testdata::read("yolov8s_80_classes.bin");
        let raw = unsafe { std::slice::from_raw_parts(raw.as_ptr() as *const i8, raw.len()) };
        Array3::from_shape_vec((1, 84, 8400), raw.to_vec()).unwrap()
    }

    #[test]
    fn test_decoder_modelpack() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let boxes = edgefirst_bench::testdata::read("modelpack_boxes_1935x1x4.bin");
        let boxes = ndarray::Array4::from_shape_vec((1, 1935, 1, 4), boxes.to_vec()).unwrap();

        let scores = edgefirst_bench::testdata::read("modelpack_scores_1935x1.bin");
        let scores = ndarray::Array3::from_shape_vec((1, 1935, 1), scores.to_vec()).unwrap();

        let quant_boxes = (0.004656755365431309, 21).into();
        let quant_scores = (0.0019603664986789227, 0).into();

        let decoder = DecoderBuilder::default()
            .with_config_modelpack_det(
                configs::Boxes {
                    decoder: DecoderType::ModelPack,
                    quantization: Some(quant_boxes),
                    shape: vec![1, 1935, 1, 4],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumBoxes, 1935),
                        (DimName::Padding, 1),
                        (DimName::BoxCoords, 4),
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: DecoderType::ModelPack,
                    quantization: Some(quant_scores),
                    shape: vec![1, 1935, 1],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumBoxes, 1935),
                        (DimName::NumClasses, 1),
                    ],
                },
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let quant_boxes = quant_boxes.into();
        let quant_scores = quant_scores.into();

        let mut output_boxes: Vec<_> = Vec::with_capacity(50);
        decode_modelpack_det(
            (boxes.slice(s![0, .., 0, ..]), quant_boxes),
            (scores.slice(s![0, .., ..]), quant_scores),
            score_threshold,
            iou_threshold,
            300,
            &mut output_boxes,
        );
        assert!(output_boxes[0].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.40513772,
                    ymin: 0.6379755,
                    xmax: 0.5122431,
                    ymax: 0.7730214,
                },
                score: 0.4861709,
                label: 0
            },
            1e-6
        ));

        let mut output_boxes1 = Vec::with_capacity(50);
        let mut output_masks1 = Vec::with_capacity(50);

        decoder
            .decode_quantized(
                &[boxes.view().into(), scores.view().into()],
                &mut output_boxes1,
                &mut output_masks1,
            )
            .unwrap();

        let mut output_boxes_float = Vec::with_capacity(50);
        let mut output_masks_float = Vec::with_capacity(50);

        let boxes = dequantize_ndarray(boxes.view(), quant_boxes);
        let scores = dequantize_ndarray(scores.view(), quant_scores);

        decoder
            .decode_float::<f32>(
                &[boxes.view().into_dyn(), scores.view().into_dyn()],
                &mut output_boxes_float,
                &mut output_masks_float,
            )
            .unwrap();

        compare_outputs((&output_boxes, &output_boxes1), (&[], &output_masks1));
        compare_outputs(
            (&output_boxes, &output_boxes_float),
            (&[], &output_masks_float),
        );
    }

    #[test]
    fn test_decoder_modelpack_split_u8() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let detect0 = edgefirst_bench::testdata::read("modelpack_split_9x15x18.bin");
        let detect0 = ndarray::Array4::from_shape_vec((1, 9, 15, 18), detect0.to_vec()).unwrap();

        let detect1 = edgefirst_bench::testdata::read("modelpack_split_17x30x18.bin");
        let detect1 = ndarray::Array4::from_shape_vec((1, 17, 30, 18), detect1.to_vec()).unwrap();

        let quant0 = (0.08547406643629074, 174).into();
        let quant1 = (0.09929127991199493, 183).into();
        let anchors0 = vec![
            [0.36666667461395264, 0.31481480598449707],
            [0.38749998807907104, 0.4740740656852722],
            [0.5333333611488342, 0.644444465637207],
        ];
        let anchors1 = vec![
            [0.13750000298023224, 0.2074074000120163],
            [0.2541666626930237, 0.21481481194496155],
            [0.23125000298023224, 0.35185185074806213],
        ];

        let detect_config0 = configs::Detection {
            decoder: DecoderType::ModelPack,
            shape: vec![1, 9, 15, 18],
            anchors: Some(anchors0.clone()),
            quantization: Some(quant0),
            dshape: vec![
                (DimName::Batch, 1),
                (DimName::Height, 9),
                (DimName::Width, 15),
                (DimName::NumAnchorsXFeatures, 18),
            ],
            normalized: Some(true),
        };

        let detect_config1 = configs::Detection {
            decoder: DecoderType::ModelPack,
            shape: vec![1, 17, 30, 18],
            anchors: Some(anchors1.clone()),
            quantization: Some(quant1),
            dshape: vec![
                (DimName::Batch, 1),
                (DimName::Height, 17),
                (DimName::Width, 30),
                (DimName::NumAnchorsXFeatures, 18),
            ],
            normalized: Some(true),
        };

        let config0 = (&detect_config0).try_into().unwrap();
        let config1 = (&detect_config1).try_into().unwrap();

        let decoder = DecoderBuilder::default()
            .with_config_modelpack_det_split(vec![detect_config1, detect_config0])
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let quant0 = quant0.into();
        let quant1 = quant1.into();

        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        decode_modelpack_split_quant(
            &[
                detect0.slice(s![0, .., .., ..]),
                detect1.slice(s![0, .., .., ..]),
            ],
            &[config0, config1],
            score_threshold,
            iou_threshold,
            300,
            &mut output_boxes,
        );
        assert!(output_boxes[0].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.43171933,
                    ymin: 0.68243736,
                    xmax: 0.5626645,
                    ymax: 0.808863,
                },
                score: 0.99240804,
                label: 0
            },
            1e-6
        ));

        let mut output_boxes1: Vec<_> = Vec::with_capacity(10);
        let mut output_masks1: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[detect0.view().into(), detect1.view().into()],
                &mut output_boxes1,
                &mut output_masks1,
            )
            .unwrap();

        let mut output_boxes1_f32: Vec<_> = Vec::with_capacity(10);
        let mut output_masks1_f32: Vec<_> = Vec::with_capacity(10);

        let detect0 = dequantize_ndarray(detect0.view(), quant0);
        let detect1 = dequantize_ndarray(detect1.view(), quant1);
        decoder
            .decode_float::<f32>(
                &[detect0.view().into_dyn(), detect1.view().into_dyn()],
                &mut output_boxes1_f32,
                &mut output_masks1_f32,
            )
            .unwrap();

        compare_outputs((&output_boxes, &output_boxes1), (&[], &output_masks1));
        compare_outputs(
            (&output_boxes, &output_boxes1_f32),
            (&[], &output_masks1_f32),
        );
    }

    #[test]
    fn test_decoder_parse_config_modelpack_split_u8() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let detect0 = edgefirst_bench::testdata::read("modelpack_split_9x15x18.bin");
        let detect0 = ndarray::Array4::from_shape_vec((1, 9, 15, 18), detect0.to_vec()).unwrap();

        let detect1 = edgefirst_bench::testdata::read("modelpack_split_17x30x18.bin");
        let detect1 = ndarray::Array4::from_shape_vec((1, 17, 30, 18), detect1.to_vec()).unwrap();

        let decoder = DecoderBuilder::default()
            .with_config_yaml_str(
                edgefirst_bench::testdata::read_to_string("modelpack_split.yaml").to_string(),
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        let mut output_masks: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[
                    ArrayViewDQuantized::from(detect1.view()),
                    ArrayViewDQuantized::from(detect0.view()),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();
        assert!(output_boxes[0].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.43171933,
                    ymin: 0.68243736,
                    xmax: 0.5626645,
                    ymax: 0.808863,
                },
                score: 0.99240804,
                label: 0
            },
            1e-6
        ));
    }

    #[test]
    fn test_modelpack_seg() {
        let out = edgefirst_bench::testdata::read("modelpack_seg_2x160x160.bin");
        let out = ndarray::Array4::from_shape_vec((1, 2, 160, 160), out.to_vec()).unwrap();
        let quant = (1.0 / 255.0, 0).into();

        let decoder = DecoderBuilder::default()
            .with_config_modelpack_seg(configs::Segmentation {
                decoder: DecoderType::ModelPack,
                quantization: Some(quant),
                shape: vec![1, 2, 160, 160],
                dshape: vec![
                    (DimName::Batch, 1),
                    (DimName::NumClasses, 2),
                    (DimName::Height, 160),
                    (DimName::Width, 160),
                ],
            })
            .build()
            .unwrap();
        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        let mut output_masks: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(&[out.view().into()], &mut output_boxes, &mut output_masks)
            .unwrap();

        let mut mask = out.slice(s![0, .., .., ..]);
        mask.swap_axes(0, 1);
        mask.swap_axes(1, 2);
        let mask = [Segmentation {
            xmin: 0.0,
            ymin: 0.0,
            xmax: 1.0,
            ymax: 1.0,
            segmentation: mask.into_owned(),
        }];
        compare_outputs((&[], &output_boxes), (&mask, &output_masks));

        decoder
            .decode_float::<f32>(
                &[dequantize_ndarray(out.view(), quant.into())
                    .view()
                    .into_dyn()],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        // not expected for float decoder to have same values as quantized decoder, as
        // float decoder ensures the data fills 0-255, quantized decoder uses whatever
        // the model output. Thus the float output is the same as the quantized output
        // but scaled differently. However, it is expected that the mask after argmax
        // will be the same.
        compare_outputs((&[], &output_boxes), (&[], &[]));
        let mask0 = segmentation_to_mask(mask[0].segmentation.view()).unwrap();
        let mask1 = segmentation_to_mask(output_masks[0].segmentation.view()).unwrap();

        assert_eq!(mask0, mask1);
    }
    #[test]
    fn test_modelpack_seg_quant() {
        let out = edgefirst_bench::testdata::read("modelpack_seg_2x160x160.bin");
        let out_u8 = ndarray::Array4::from_shape_vec((1, 2, 160, 160), out.to_vec()).unwrap();
        let out_i8 = out_u8.mapv(|x| (x as i16 - 128) as i8);
        let out_u16 = out_u8.mapv(|x| (x as u16) << 8);
        let out_i16 = out_u8.mapv(|x| (((x as i32) << 8) - 32768) as i16);
        let out_u32 = out_u8.mapv(|x| (x as u32) << 24);
        let out_i32 = out_u8.mapv(|x| (((x as i64) << 24) - 2147483648) as i32);

        let quant = (1.0 / 255.0, 0).into();

        let decoder = DecoderBuilder::default()
            .with_config_modelpack_seg(configs::Segmentation {
                decoder: DecoderType::ModelPack,
                quantization: Some(quant),
                shape: vec![1, 2, 160, 160],
                dshape: vec![
                    (DimName::Batch, 1),
                    (DimName::NumClasses, 2),
                    (DimName::Height, 160),
                    (DimName::Width, 160),
                ],
            })
            .build()
            .unwrap();
        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        let mut output_masks_u8: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[out_u8.view().into()],
                &mut output_boxes,
                &mut output_masks_u8,
            )
            .unwrap();

        let mut output_masks_i8: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[out_i8.view().into()],
                &mut output_boxes,
                &mut output_masks_i8,
            )
            .unwrap();

        let mut output_masks_u16: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[out_u16.view().into()],
                &mut output_boxes,
                &mut output_masks_u16,
            )
            .unwrap();

        let mut output_masks_i16: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[out_i16.view().into()],
                &mut output_boxes,
                &mut output_masks_i16,
            )
            .unwrap();

        let mut output_masks_u32: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[out_u32.view().into()],
                &mut output_boxes,
                &mut output_masks_u32,
            )
            .unwrap();

        let mut output_masks_i32: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[out_i32.view().into()],
                &mut output_boxes,
                &mut output_masks_i32,
            )
            .unwrap();

        compare_outputs((&[], &output_boxes), (&[], &[]));
        let mask_u8 = segmentation_to_mask(output_masks_u8[0].segmentation.view()).unwrap();
        let mask_i8 = segmentation_to_mask(output_masks_i8[0].segmentation.view()).unwrap();
        let mask_u16 = segmentation_to_mask(output_masks_u16[0].segmentation.view()).unwrap();
        let mask_i16 = segmentation_to_mask(output_masks_i16[0].segmentation.view()).unwrap();
        let mask_u32 = segmentation_to_mask(output_masks_u32[0].segmentation.view()).unwrap();
        let mask_i32 = segmentation_to_mask(output_masks_i32[0].segmentation.view()).unwrap();
        assert_eq!(mask_u8, mask_i8);
        assert_eq!(mask_u8, mask_u16);
        assert_eq!(mask_u8, mask_i16);
        assert_eq!(mask_u8, mask_u32);
        assert_eq!(mask_u8, mask_i32);
    }

    #[test]
    fn test_modelpack_segdet() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let boxes = edgefirst_bench::testdata::read("modelpack_boxes_1935x1x4.bin");
        let boxes = Array4::from_shape_vec((1, 1935, 1, 4), boxes.to_vec()).unwrap();

        let scores = edgefirst_bench::testdata::read("modelpack_scores_1935x1.bin");
        let scores = Array3::from_shape_vec((1, 1935, 1), scores.to_vec()).unwrap();

        let seg = edgefirst_bench::testdata::read("modelpack_seg_2x160x160.bin");
        let seg = Array4::from_shape_vec((1, 2, 160, 160), seg.to_vec()).unwrap();

        let quant_boxes = (0.004656755365431309, 21).into();
        let quant_scores = (0.0019603664986789227, 0).into();
        let quant_seg = (1.0 / 255.0, 0).into();

        let decoder = DecoderBuilder::default()
            .with_config_modelpack_segdet(
                configs::Boxes {
                    decoder: DecoderType::ModelPack,
                    quantization: Some(quant_boxes),
                    shape: vec![1, 1935, 1, 4],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumBoxes, 1935),
                        (DimName::Padding, 1),
                        (DimName::BoxCoords, 4),
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: DecoderType::ModelPack,
                    quantization: Some(quant_scores),
                    shape: vec![1, 1935, 1],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumBoxes, 1935),
                        (DimName::NumClasses, 1),
                    ],
                },
                configs::Segmentation {
                    decoder: DecoderType::ModelPack,
                    quantization: Some(quant_seg),
                    shape: vec![1, 2, 160, 160],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 2),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                    ],
                },
            )
            .with_iou_threshold(iou_threshold)
            .with_score_threshold(score_threshold)
            .build()
            .unwrap();
        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        let mut output_masks: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[scores.view().into(), boxes.view().into(), seg.view().into()],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        let mut mask = seg.slice(s![0, .., .., ..]);
        mask.swap_axes(0, 1);
        mask.swap_axes(1, 2);
        let mask = [Segmentation {
            xmin: 0.0,
            ymin: 0.0,
            xmax: 1.0,
            ymax: 1.0,
            segmentation: mask.into_owned(),
        }];
        let correct_boxes = [DetectBox {
            bbox: BoundingBox {
                xmin: 0.40513772,
                ymin: 0.6379755,
                xmax: 0.5122431,
                ymax: 0.7730214,
            },
            score: 0.4861709,
            label: 0,
        }];
        compare_outputs((&correct_boxes, &output_boxes), (&mask, &output_masks));

        let scores = dequantize_ndarray(scores.view(), quant_scores.into());
        let boxes = dequantize_ndarray(boxes.view(), quant_boxes.into());
        let seg = dequantize_ndarray(seg.view(), quant_seg.into());
        decoder
            .decode_float::<f32>(
                &[
                    scores.view().into_dyn(),
                    boxes.view().into_dyn(),
                    seg.view().into_dyn(),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        // not expected for float segmentation decoder to have same values as quantized
        // segmentation decoder, as float decoder ensures the data fills 0-255,
        // quantized decoder uses whatever the model output. Thus the float
        // output is the same as the quantized output but scaled differently.
        // However, it is expected that the mask after argmax will be the same.
        compare_outputs((&correct_boxes, &output_boxes), (&[], &[]));
        let mask0 = segmentation_to_mask(mask[0].segmentation.view()).unwrap();
        let mask1 = segmentation_to_mask(output_masks[0].segmentation.view()).unwrap();

        assert_eq!(mask0, mask1);
    }

    #[test]
    fn test_modelpack_segdet_split() {
        let score_threshold = 0.8;
        let iou_threshold = 0.5;

        let seg = edgefirst_bench::testdata::read("modelpack_seg_2x160x160.bin");
        let seg = ndarray::Array4::from_shape_vec((1, 2, 160, 160), seg.to_vec()).unwrap();

        let detect0 = edgefirst_bench::testdata::read("modelpack_split_9x15x18.bin");
        let detect0 = ndarray::Array4::from_shape_vec((1, 9, 15, 18), detect0.to_vec()).unwrap();

        let detect1 = edgefirst_bench::testdata::read("modelpack_split_17x30x18.bin");
        let detect1 = ndarray::Array4::from_shape_vec((1, 17, 30, 18), detect1.to_vec()).unwrap();

        let quant0 = (0.08547406643629074, 174).into();
        let quant1 = (0.09929127991199493, 183).into();
        let quant_seg = (1.0 / 255.0, 0).into();

        let anchors0 = vec![
            [0.36666667461395264, 0.31481480598449707],
            [0.38749998807907104, 0.4740740656852722],
            [0.5333333611488342, 0.644444465637207],
        ];
        let anchors1 = vec![
            [0.13750000298023224, 0.2074074000120163],
            [0.2541666626930237, 0.21481481194496155],
            [0.23125000298023224, 0.35185185074806213],
        ];

        let decoder = DecoderBuilder::default()
            .with_config_modelpack_segdet_split(
                vec![
                    configs::Detection {
                        decoder: DecoderType::ModelPack,
                        shape: vec![1, 17, 30, 18],
                        anchors: Some(anchors1),
                        quantization: Some(quant1),
                        dshape: vec![
                            (DimName::Batch, 1),
                            (DimName::Height, 17),
                            (DimName::Width, 30),
                            (DimName::NumAnchorsXFeatures, 18),
                        ],
                        normalized: Some(true),
                    },
                    configs::Detection {
                        decoder: DecoderType::ModelPack,
                        shape: vec![1, 9, 15, 18],
                        anchors: Some(anchors0),
                        quantization: Some(quant0),
                        dshape: vec![
                            (DimName::Batch, 1),
                            (DimName::Height, 9),
                            (DimName::Width, 15),
                            (DimName::NumAnchorsXFeatures, 18),
                        ],
                        normalized: Some(true),
                    },
                ],
                configs::Segmentation {
                    decoder: DecoderType::ModelPack,
                    quantization: Some(quant_seg),
                    shape: vec![1, 2, 160, 160],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 2),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                    ],
                },
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();
        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        let mut output_masks: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_quantized(
                &[
                    detect0.view().into(),
                    detect1.view().into(),
                    seg.view().into(),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        let mut mask = seg.slice(s![0, .., .., ..]);
        mask.swap_axes(0, 1);
        mask.swap_axes(1, 2);
        let mask = [Segmentation {
            xmin: 0.0,
            ymin: 0.0,
            xmax: 1.0,
            ymax: 1.0,
            segmentation: mask.into_owned(),
        }];
        let correct_boxes = [DetectBox {
            bbox: BoundingBox {
                xmin: 0.43171933,
                ymin: 0.68243736,
                xmax: 0.5626645,
                ymax: 0.808863,
            },
            score: 0.99240804,
            label: 0,
        }];
        println!("Output Boxes: {:?}", output_boxes);
        compare_outputs((&correct_boxes, &output_boxes), (&mask, &output_masks));

        let detect0 = dequantize_ndarray(detect0.view(), quant0.into());
        let detect1 = dequantize_ndarray(detect1.view(), quant1.into());
        let seg = dequantize_ndarray(seg.view(), quant_seg.into());
        decoder
            .decode_float::<f32>(
                &[
                    detect0.view().into_dyn(),
                    detect1.view().into_dyn(),
                    seg.view().into_dyn(),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        // not expected for float segmentation decoder to have same values as quantized
        // segmentation decoder, as float decoder ensures the data fills 0-255,
        // quantized decoder uses whatever the model output. Thus the float
        // output is the same as the quantized output but scaled differently.
        // However, it is expected that the mask after argmax will be the same.
        compare_outputs((&correct_boxes, &output_boxes), (&[], &[]));
        let mask0 = segmentation_to_mask(mask[0].segmentation.view()).unwrap();
        let mask1 = segmentation_to_mask(output_masks[0].segmentation.view()).unwrap();

        assert_eq!(mask0, mask1);
    }

    #[test]
    fn test_dequant_chunked() {
        let mut out = load_yolov8s_det().into_raw_vec_and_offset().0;
        out.push(123); // make sure to test non multiple of 16 length

        let mut out_dequant = vec![0.0; 84 * 8400 + 1];
        let mut out_dequant_simd = vec![0.0; 84 * 8400 + 1];
        let quant = Quantization::new(0.0040811873, -123);
        dequantize_cpu(&out, quant, &mut out_dequant);

        dequantize_cpu_chunked(&out, quant, &mut out_dequant_simd);
        assert_eq!(out_dequant, out_dequant_simd);

        let quant = Quantization::new(0.0040811873, 0);
        dequantize_cpu(&out, quant, &mut out_dequant);

        dequantize_cpu_chunked(&out, quant, &mut out_dequant_simd);
        assert_eq!(out_dequant, out_dequant_simd);
    }

    #[test]
    fn test_dequant_ground_truth() {
        // Formula: output = (input - zero_point) * scale
        // Verify both dequantize_cpu and dequantize_cpu_chunked against hand-computed values.

        // Case 1: scale=0.1, zero_point=-128 (from doc example)
        let quant = Quantization::new(0.1, -128);
        let input: Vec<i8> = vec![0, 127, -128, 64];
        let mut output = vec![0.0f32; 4];
        let mut output_chunked = vec![0.0f32; 4];
        dequantize_cpu(&input, quant, &mut output);
        dequantize_cpu_chunked(&input, quant, &mut output_chunked);
        // (0 - (-128)) * 0.1 = 12.8
        // (127 - (-128)) * 0.1 = 25.5
        // (-128 - (-128)) * 0.1 = 0.0
        // (64 - (-128)) * 0.1 = 19.2
        let expected: Vec<f32> = vec![12.8, 25.5, 0.0, 19.2];
        for (i, (&out, &exp)) in output.iter().zip(expected.iter()).enumerate() {
            assert!((out - exp).abs() < 1e-5, "cpu[{i}]: {out} != {exp}");
        }
        for (i, (&out, &exp)) in output_chunked.iter().zip(expected.iter()).enumerate() {
            assert!((out - exp).abs() < 1e-5, "chunked[{i}]: {out} != {exp}");
        }

        // Case 2: scale=1.0, zero_point=0 (identity-like)
        let quant = Quantization::new(1.0, 0);
        dequantize_cpu(&input, quant, &mut output);
        dequantize_cpu_chunked(&input, quant, &mut output_chunked);
        let expected: Vec<f32> = vec![0.0, 127.0, -128.0, 64.0];
        assert_eq!(output, expected);
        assert_eq!(output_chunked, expected);

        // Case 3: scale=0.5, zero_point=0
        let quant = Quantization::new(0.5, 0);
        dequantize_cpu(&input, quant, &mut output);
        dequantize_cpu_chunked(&input, quant, &mut output_chunked);
        let expected: Vec<f32> = vec![0.0, 63.5, -64.0, 32.0];
        assert_eq!(output, expected);
        assert_eq!(output_chunked, expected);

        // Case 4: i8 min/max boundaries with typical quantization params
        let quant = Quantization::new(0.021287762, 31);
        let input: Vec<i8> = vec![-128, -1, 0, 1, 31, 127];
        let mut output = vec![0.0f32; 6];
        let mut output_chunked = vec![0.0f32; 6];
        dequantize_cpu(&input, quant, &mut output);
        dequantize_cpu_chunked(&input, quant, &mut output_chunked);
        for i in 0..6 {
            let expected = (input[i] as f32 - 31.0) * 0.021287762;
            assert!(
                (output[i] - expected).abs() < 1e-5,
                "cpu[{i}]: {} != {expected}",
                output[i]
            );
            assert!(
                (output_chunked[i] - expected).abs() < 1e-5,
                "chunked[{i}]: {} != {expected}",
                output_chunked[i]
            );
        }
    }

    #[test]
    fn test_decoder_yolo_det() {
        let score_threshold = 0.25;
        let iou_threshold = 0.7;
        let out = load_yolov8s_det();
        let quant = (0.0040811873, -123).into();

        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                configs::Detection {
                    decoder: DecoderType::Ultralytics,
                    shape: vec![1, 84, 8400],
                    anchors: None,
                    quantization: Some(quant),
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumFeatures, 84),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                Some(DecoderVersion::Yolo11),
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let mut output_boxes: Vec<_> = Vec::with_capacity(50);
        decode_yolo_det(
            (out.slice(s![0, .., ..]), quant.into()),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes,
        );
        assert!(output_boxes[0].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.5285137,
                    ymin: 0.05305544,
                    xmax: 0.87541467,
                    ymax: 0.9998909,
                },
                score: 0.5591227,
                label: 0
            },
            1e-6
        ));

        assert!(output_boxes[1].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.130598,
                    ymin: 0.43260583,
                    xmax: 0.35098213,
                    ymax: 0.9958097,
                },
                score: 0.33057618,
                label: 75
            },
            1e-6
        ));

        let mut output_boxes1: Vec<_> = Vec::with_capacity(50);
        let mut output_masks1: Vec<_> = Vec::with_capacity(50);
        decoder
            .decode_quantized(&[out.view().into()], &mut output_boxes1, &mut output_masks1)
            .unwrap();

        let out = dequantize_ndarray(out.view(), quant.into());
        let mut output_boxes_f32: Vec<_> = Vec::with_capacity(50);
        let mut output_masks_f32: Vec<_> = Vec::with_capacity(50);
        decoder
            .decode_float::<f32>(
                &[out.view().into_dyn()],
                &mut output_boxes_f32,
                &mut output_masks_f32,
            )
            .unwrap();

        compare_outputs((&output_boxes, &output_boxes1), (&[], &output_masks1));
        compare_outputs((&output_boxes, &output_boxes_f32), (&[], &output_masks_f32));
    }

    #[test]
    fn test_decoder_masks() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let boxes = load_yolov8_boxes();
        let quant_boxes = Quantization::new(0.021287761628627777, 31);

        let protos = load_yolov8_protos();
        let quant_protos = Quantization::new(0.02491161972284317, -117);
        let protos = dequantize_ndarray::<_, _, f32>(protos.view(), quant_protos);
        let seg = dequantize_ndarray::<_, _, f32>(boxes.view(), quant_boxes);
        let mut output_boxes: Vec<_> = Vec::with_capacity(10);
        let mut output_masks: Vec<_> = Vec::with_capacity(10);
        decode_yolo_segdet_float(
            seg.slice(s![0, .., ..]),
            protos.slice(s![0, .., .., ..]),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes,
            &mut output_masks,
        )
        .unwrap();
        assert_eq!(output_boxes.len(), 2);
        assert_eq!(output_boxes.len(), output_masks.len());

        for (b, m) in output_boxes.iter().zip(&output_masks) {
            // Mask region is the proto-grid-aligned crop (floor for min,
            // ceil for max), so it encloses the post-NMS bbox (EDGEAI-1304).
            assert!(b.bbox.xmin >= m.xmin);
            assert!(b.bbox.ymin >= m.ymin);
            assert!(b.bbox.xmax <= m.xmax);
            assert!(b.bbox.ymax <= m.ymax);
        }
        assert!(output_boxes[0].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.08515105,
                    ymin: 0.7131401,
                    xmax: 0.29802868,
                    ymax: 0.8195788,
                },
                score: 0.91537374,
                label: 23
            },
            1.0 / 160.0, // wider range because mask will expand the box
        ));

        assert!(output_boxes[1].equal_within_delta(
            &DetectBox {
                bbox: BoundingBox {
                    xmin: 0.59605736,
                    ymin: 0.25545314,
                    xmax: 0.93666154,
                    ymax: 0.72378385,
                },
                score: 0.91537374,
                label: 23
            },
            1.0 / 160.0, // wider range because mask will expand the box
        ));

        let full_mask = edgefirst_bench::testdata::read("yolov8_mask_results.bin");
        let full_mask = ndarray::Array2::from_shape_vec((160, 160), full_mask.to_vec()).unwrap();

        let cropped_mask = full_mask.slice(ndarray::s![
            (output_masks[1].ymin * 160.0) as usize..(output_masks[1].ymax * 160.0) as usize,
            (output_masks[1].xmin * 160.0) as usize..(output_masks[1].xmax * 160.0) as usize,
        ]);

        assert_eq!(
            cropped_mask,
            segmentation_to_mask(output_masks[1].segmentation.view()).unwrap()
        );
    }

    /// Regression test: config-driven path with physically-NCHW protos.
    /// Simulates YOLOv8-seg ONNX outputs where the producer emits protos
    /// as `(1, 32, 160, 160)` in CHW memory order — the caller declares
    /// shape and dshape matching that physical order and HAL permutes to
    /// canonical HWC via `swap_axes_if_needed`.
    ///
    /// This is the counterpart to the NHWC-producer case (TFLite /
    /// Ara-2) where shape+dshape are `(1, 160, 160, 32)` +
    /// `[batch, height, width, num_protos]` and no reordering is needed.
    #[test]
    fn test_decoder_masks_nchw_protos() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        // Load test data — boxes as [116, 8400]
        let boxes_2d = load_yolov8_boxes().slice_move(s![0, .., ..]);
        let quant_boxes = Quantization::new(0.021287761628627777, 31);

        // Load protos as HWC [160, 160, 32] (file layout) then dequantize
        let protos_hwc = load_yolov8_protos().slice_move(s![0, .., .., ..]);
        let quant_protos = Quantization::new(0.02491161972284317, -117);
        let protos_f32_hwc = dequantize_ndarray::<_, _, f32>(protos_hwc.view(), quant_protos);

        // ---- Reference: direct call with HWC protos (known working) ----
        let seg = dequantize_ndarray::<_, _, f32>(boxes_2d.view(), quant_boxes);
        let mut ref_boxes: Vec<_> = Vec::with_capacity(10);
        let mut ref_masks: Vec<_> = Vec::with_capacity(10);
        decode_yolo_segdet_float(
            seg.view(),
            protos_f32_hwc.view(),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut ref_boxes,
            &mut ref_masks,
        )
        .unwrap();
        assert_eq!(ref_boxes.len(), 2);

        // ---- Config-driven path: NCHW protos declared in physical order ----
        // Permute the HWC test data to CHW memory order — this is what an
        // ONNX-style producer would emit into the tensor buffer.
        // `to_owned` materialises a C-contiguous Array3<f32> with CHW
        // strides, matching a producer that writes channels-outer.
        let protos_f32_chw_view = protos_f32_hwc.view().permuted_axes([2, 0, 1]); // [32, 160, 160]
        let protos_f32_chw = protos_f32_chw_view.to_owned();
        let protos_nchw = protos_f32_chw.insert_axis(ndarray::Axis(0)); // [1, 32, 160, 160]

        // Build boxes as [1, 116, 8400] f32
        let seg_3d = seg.insert_axis(ndarray::Axis(0)); // [1, 116, 8400]

        // Declare shape and dshape in physical memory order (outermost
        // first). `swap_axes_if_needed` uses dshape role lookup to
        // permute the stride tuple into canonical HWC.
        let decoder = DecoderBuilder::default()
            .with_config_yolo_segdet(
                configs::Detection {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 116, 8400],
                    dshape: vec![
                        (configs::DimName::Batch, 1),
                        (configs::DimName::NumFeatures, 116),
                        (configs::DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                    anchors: None,
                },
                configs::Protos {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 32, 160, 160],
                    dshape: vec![
                        (configs::DimName::Batch, 1),
                        (configs::DimName::NumProtos, 32),
                        (configs::DimName::Height, 160),
                        (configs::DimName::Width, 160),
                    ],
                },
                None, // decoder version
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let mut cfg_boxes: Vec<_> = Vec::with_capacity(10);
        let mut cfg_masks: Vec<_> = Vec::with_capacity(10);
        decoder
            .decode_float(
                &[seg_3d.view().into_dyn(), protos_nchw.view().into_dyn()],
                &mut cfg_boxes,
                &mut cfg_masks,
            )
            .unwrap();

        // Must produce the same number of detections
        assert_eq!(
            cfg_boxes.len(),
            ref_boxes.len(),
            "config path produced {} boxes, reference produced {}",
            cfg_boxes.len(),
            ref_boxes.len()
        );

        // Boxes must match
        for (i, (cb, rb)) in cfg_boxes.iter().zip(&ref_boxes).enumerate() {
            assert!(
                cb.equal_within_delta(rb, 0.01),
                "box {i} mismatch: config={cb:?}, reference={rb:?}"
            );
        }

        // Masks must match pixel-for-pixel
        for (i, (cm, rm)) in cfg_masks.iter().zip(&ref_masks).enumerate() {
            let cm_arr = segmentation_to_mask(cm.segmentation.view()).unwrap();
            let rm_arr = segmentation_to_mask(rm.segmentation.view()).unwrap();
            assert_eq!(
                cm_arr, rm_arr,
                "mask {i} pixel mismatch between config-driven and reference paths"
            );
        }
    }

    #[test]
    fn test_decoder_masks_i8() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let boxes = load_yolov8_boxes();
        let quant_boxes = (0.021287761628627777, 31).into();

        let protos = load_yolov8_protos();
        let quant_protos = (0.02491161972284317, -117).into();
        let mut output_boxes: Vec<_> = Vec::with_capacity(500);
        let mut output_masks: Vec<_> = Vec::with_capacity(500);

        let decoder = DecoderBuilder::default()
            .with_config_yolo_segdet(
                configs::Detection {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes),
                    shape: vec![1, 116, 8400],
                    anchors: None,
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumFeatures, 116),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                Protos {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_protos),
                    shape: vec![1, 160, 160, 32],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                        (DimName::NumProtos, 32),
                    ],
                },
                Some(DecoderVersion::Yolo11),
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let quant_boxes = quant_boxes.into();
        let quant_protos = quant_protos.into();

        decode_yolo_segdet_quant(
            (boxes.slice(s![0, .., ..]), quant_boxes),
            (protos.slice(s![0, .., .., ..]), quant_protos),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes,
            &mut output_masks,
        )
        .unwrap();

        let mut output_boxes1: Vec<_> = Vec::with_capacity(500);
        let mut output_masks1: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_quantized(
                &[boxes.view().into(), protos.view().into()],
                &mut output_boxes1,
                &mut output_masks1,
            )
            .unwrap();

        let protos = dequantize_ndarray::<_, _, f32>(protos.view(), quant_protos);
        let seg = dequantize_ndarray::<_, _, f32>(boxes.view(), quant_boxes);

        let mut output_boxes_f32: Vec<_> = Vec::with_capacity(500);
        let mut output_masks_f32: Vec<_> = Vec::with_capacity(500);
        decode_yolo_segdet_float(
            seg.slice(s![0, .., ..]),
            protos.slice(s![0, .., .., ..]),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes_f32,
            &mut output_masks_f32,
        )
        .unwrap();

        let mut output_boxes1_f32: Vec<_> = Vec::with_capacity(500);
        let mut output_masks1_f32: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_float(
                &[seg.view().into_dyn(), protos.view().into_dyn()],
                &mut output_boxes1_f32,
                &mut output_masks1_f32,
            )
            .unwrap();

        compare_outputs(
            (&output_boxes, &output_boxes1),
            (&output_masks, &output_masks1),
        );

        compare_outputs(
            (&output_boxes, &output_boxes_f32),
            (&output_masks, &output_masks_f32),
        );

        compare_outputs(
            (&output_boxes_f32, &output_boxes1_f32),
            (&output_masks_f32, &output_masks1_f32),
        );
    }

    #[test]
    fn test_decoder_yolo_split() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let boxes = load_yolov8_boxes();
        let boxes: Vec<_> = boxes.iter().map(|x| *x as i16 * 256).collect();
        let boxes = ndarray::Array3::from_shape_vec((1, 116, 8400), boxes).unwrap();

        let quant_boxes = Quantization::new(0.021287761628627777 / 256.0, 31 * 256);

        let decoder = DecoderBuilder::default()
            .with_config_yolo_split_det(
                configs::Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(QuantTuple(quant_boxes.scale, quant_boxes.zero_point)),
                    shape: vec![1, 4, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::BoxCoords, 4),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(QuantTuple(quant_boxes.scale, quant_boxes.zero_point)),
                    shape: vec![1, 80, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 80),
                        (DimName::NumBoxes, 8400),
                    ],
                },
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let mut output_boxes: Vec<_> = Vec::with_capacity(500);
        let mut output_masks: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_quantized(
                &[
                    boxes.slice(s![.., ..4, ..]).into(),
                    boxes.slice(s![.., 4..84, ..]).into(),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        let seg = dequantize_ndarray::<_, _, f32>(boxes.view(), quant_boxes);
        let mut output_boxes_f32: Vec<_> = Vec::with_capacity(500);
        decode_yolo_det_float(
            seg.slice(s![0, ..84, ..]),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes_f32,
        );

        let mut output_boxes1: Vec<_> = Vec::with_capacity(500);
        let mut output_masks1: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_float(
                &[
                    seg.slice(s![.., ..4, ..]).into_dyn(),
                    seg.slice(s![.., 4..84, ..]).into_dyn(),
                ],
                &mut output_boxes1,
                &mut output_masks1,
            )
            .unwrap();
        compare_outputs((&output_boxes, &output_boxes_f32), (&output_masks, &[]));
        compare_outputs((&output_boxes_f32, &output_boxes1), (&[], &output_masks1));
    }

    #[test]
    fn test_decoder_masks_config_mixed() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let boxes_raw = load_yolov8_boxes();
        let boxes: Vec<_> = boxes_raw.iter().map(|x| *x as i16 * 256).collect();
        let boxes = ndarray::Array3::from_shape_vec((1, 116, 8400), boxes).unwrap();

        let quant_boxes = (0.021287761628627777 / 256.0, 31 * 256);

        let protos = load_yolov8_protos();
        let quant_protos = (0.02491161972284317, -117);

        let decoder = build_yolo_split_segdet_decoder(
            score_threshold,
            iou_threshold,
            quant_boxes,
            quant_protos,
        );
        let mut output_boxes: Vec<_> = Vec::with_capacity(500);
        let mut output_masks: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_quantized(
                &[
                    boxes.slice(s![.., ..4, ..]).into(),
                    boxes.slice(s![.., 4..84, ..]).into(),
                    boxes.slice(s![.., 84.., ..]).into(),
                    protos.view().into(),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        let protos = dequantize_ndarray::<_, _, f32>(protos.view(), quant_protos.into());
        let seg = dequantize_ndarray::<_, _, f32>(boxes.view(), quant_boxes.into());
        let mut output_boxes_f32: Vec<_> = Vec::with_capacity(500);
        let mut output_masks_f32: Vec<_> = Vec::with_capacity(500);
        decode_yolo_segdet_float(
            seg.slice(s![0, .., ..]),
            protos.slice(s![0, .., .., ..]),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes_f32,
            &mut output_masks_f32,
        )
        .unwrap();

        let mut output_boxes1: Vec<_> = Vec::with_capacity(500);
        let mut output_masks1: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_float(
                &[
                    seg.slice(s![.., ..4, ..]).into_dyn(),
                    seg.slice(s![.., 4..84, ..]).into_dyn(),
                    seg.slice(s![.., 84.., ..]).into_dyn(),
                    protos.view().into_dyn(),
                ],
                &mut output_boxes1,
                &mut output_masks1,
            )
            .unwrap();
        compare_outputs(
            (&output_boxes, &output_boxes_f32),
            (&output_masks, &output_masks_f32),
        );
        compare_outputs(
            (&output_boxes_f32, &output_boxes1),
            (&output_masks_f32, &output_masks1),
        );
    }

    fn build_yolo_split_segdet_decoder(
        score_threshold: f32,
        iou_threshold: f32,
        quant_boxes: (f32, i32),
        quant_protos: (f32, i32),
    ) -> crate::Decoder {
        DecoderBuilder::default()
            .with_config_yolo_split_segdet(
                configs::Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes.into()),
                    shape: vec![1, 4, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::BoxCoords, 4),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes.into()),
                    shape: vec![1, 80, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 80),
                        (DimName::NumBoxes, 8400),
                    ],
                },
                configs::MaskCoefficients {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes.into()),
                    shape: vec![1, 32, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumProtos, 32),
                        (DimName::NumBoxes, 8400),
                    ],
                },
                configs::Protos {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_protos.into()),
                    shape: vec![1, 160, 160, 32],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                        (DimName::NumProtos, 32),
                    ],
                },
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap()
    }

    fn build_yolov8_seg_decoder(score_threshold: f32, iou_threshold: f32) -> crate::Decoder {
        let config_yaml = edgefirst_bench::testdata::read_to_string("yolov8_seg.yaml");
        DecoderBuilder::default()
            .with_config_yaml_str(config_yaml.to_string())
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap()
    }
    #[test]
    fn test_decoder_masks_config_i32() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;
        let boxes_raw = load_yolov8_boxes();
        let scale = 1 << 23;
        let boxes: Vec<_> = boxes_raw.iter().map(|x| *x as i32 * scale).collect();
        let boxes = ndarray::Array3::from_shape_vec((1, 116, 8400), boxes).unwrap();

        let quant_boxes = (0.021287761628627777 / scale as f32, 31 * scale);

        let protos_raw = load_yolov8_protos();
        let protos: Vec<_> = protos_raw.iter().map(|x| *x as i32 * scale).collect();
        let protos = ndarray::Array4::from_shape_vec((1, 160, 160, 32), protos).unwrap();
        let quant_protos = (0.02491161972284317 / scale as f32, -117 * scale);

        let decoder = build_yolo_split_segdet_decoder(
            score_threshold,
            iou_threshold,
            quant_boxes,
            quant_protos,
        );

        let mut output_boxes: Vec<_> = Vec::with_capacity(500);
        let mut output_masks: Vec<_> = Vec::with_capacity(500);

        decoder
            .decode_quantized(
                &[
                    boxes.slice(s![.., ..4, ..]).into(),
                    boxes.slice(s![.., 4..84, ..]).into(),
                    boxes.slice(s![.., 84.., ..]).into(),
                    protos.view().into(),
                ],
                &mut output_boxes,
                &mut output_masks,
            )
            .unwrap();

        let protos = dequantize_ndarray::<_, _, f32>(protos.view(), quant_protos.into());
        let seg = dequantize_ndarray::<_, _, f32>(boxes.view(), quant_boxes.into());
        let mut output_boxes_f32: Vec<_> = Vec::with_capacity(500);
        let mut output_masks_f32: Vec<Segmentation> = Vec::with_capacity(500);
        decode_yolo_segdet_float(
            seg.slice(s![0, .., ..]),
            protos.slice(s![0, .., .., ..]),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut output_boxes_f32,
            &mut output_masks_f32,
        )
        .unwrap();

        assert_eq!(output_boxes.len(), output_boxes_f32.len());
        assert_eq!(output_masks.len(), output_masks_f32.len());

        compare_outputs(
            (&output_boxes, &output_boxes_f32),
            (&output_masks, &output_masks_f32),
        );
    }

    /// test running multiple decoders concurrently
    #[test]
    fn test_context_switch() {
        let yolo_det = || {
            let score_threshold = 0.25;
            let iou_threshold = 0.7;
            let out = load_yolov8s_det();
            let quant = (0.0040811873, -123).into();

            let decoder = DecoderBuilder::default()
                .with_config_yolo_det(
                    configs::Detection {
                        decoder: DecoderType::Ultralytics,
                        shape: vec![1, 84, 8400],
                        anchors: None,
                        quantization: Some(quant),
                        dshape: vec![
                            (DimName::Batch, 1),
                            (DimName::NumFeatures, 84),
                            (DimName::NumBoxes, 8400),
                        ],
                        normalized: None,
                    },
                    None,
                )
                .with_score_threshold(score_threshold)
                .with_iou_threshold(iou_threshold)
                .build()
                .unwrap();

            let mut output_boxes: Vec<_> = Vec::with_capacity(50);
            let mut output_masks: Vec<_> = Vec::with_capacity(50);

            for _ in 0..100 {
                decoder
                    .decode_quantized(&[out.view().into()], &mut output_boxes, &mut output_masks)
                    .unwrap();

                assert!(output_boxes[0].equal_within_delta(
                    &DetectBox {
                        bbox: BoundingBox {
                            xmin: 0.5285137,
                            ymin: 0.05305544,
                            xmax: 0.87541467,
                            ymax: 0.9998909,
                        },
                        score: 0.5591227,
                        label: 0
                    },
                    1e-6
                ));

                assert!(output_boxes[1].equal_within_delta(
                    &DetectBox {
                        bbox: BoundingBox {
                            xmin: 0.130598,
                            ymin: 0.43260583,
                            xmax: 0.35098213,
                            ymax: 0.9958097,
                        },
                        score: 0.33057618,
                        label: 75
                    },
                    1e-6
                ));
                assert!(output_masks.is_empty());
            }
        };

        let modelpack_det_split = || {
            let score_threshold = 0.8;
            let iou_threshold = 0.5;

            let seg = edgefirst_bench::testdata::read("modelpack_seg_2x160x160.bin");
            let seg = ndarray::Array4::from_shape_vec((1, 2, 160, 160), seg.to_vec()).unwrap();

            let detect0 = edgefirst_bench::testdata::read("modelpack_split_9x15x18.bin");
            let detect0 =
                ndarray::Array4::from_shape_vec((1, 9, 15, 18), detect0.to_vec()).unwrap();

            let detect1 = edgefirst_bench::testdata::read("modelpack_split_17x30x18.bin");
            let detect1 =
                ndarray::Array4::from_shape_vec((1, 17, 30, 18), detect1.to_vec()).unwrap();

            let mut mask = seg.slice(s![0, .., .., ..]);
            mask.swap_axes(0, 1);
            mask.swap_axes(1, 2);
            let mask = [Segmentation {
                xmin: 0.0,
                ymin: 0.0,
                xmax: 1.0,
                ymax: 1.0,
                segmentation: mask.into_owned(),
            }];
            let correct_boxes = [DetectBox {
                bbox: BoundingBox {
                    xmin: 0.43171933,
                    ymin: 0.68243736,
                    xmax: 0.5626645,
                    ymax: 0.808863,
                },
                score: 0.99240804,
                label: 0,
            }];

            let quant0 = (0.08547406643629074, 174).into();
            let quant1 = (0.09929127991199493, 183).into();
            let quant_seg = (1.0 / 255.0, 0).into();

            let anchors0 = vec![
                [0.36666667461395264, 0.31481480598449707],
                [0.38749998807907104, 0.4740740656852722],
                [0.5333333611488342, 0.644444465637207],
            ];
            let anchors1 = vec![
                [0.13750000298023224, 0.2074074000120163],
                [0.2541666626930237, 0.21481481194496155],
                [0.23125000298023224, 0.35185185074806213],
            ];

            let decoder = DecoderBuilder::default()
                .with_config_modelpack_segdet_split(
                    vec![
                        configs::Detection {
                            decoder: DecoderType::ModelPack,
                            shape: vec![1, 17, 30, 18],
                            anchors: Some(anchors1),
                            quantization: Some(quant1),
                            dshape: vec![
                                (DimName::Batch, 1),
                                (DimName::Height, 17),
                                (DimName::Width, 30),
                                (DimName::NumAnchorsXFeatures, 18),
                            ],
                            normalized: None,
                        },
                        configs::Detection {
                            decoder: DecoderType::ModelPack,
                            shape: vec![1, 9, 15, 18],
                            anchors: Some(anchors0),
                            quantization: Some(quant0),
                            dshape: vec![
                                (DimName::Batch, 1),
                                (DimName::Height, 9),
                                (DimName::Width, 15),
                                (DimName::NumAnchorsXFeatures, 18),
                            ],
                            normalized: None,
                        },
                    ],
                    configs::Segmentation {
                        decoder: DecoderType::ModelPack,
                        quantization: Some(quant_seg),
                        shape: vec![1, 2, 160, 160],
                        dshape: vec![
                            (DimName::Batch, 1),
                            (DimName::NumClasses, 2),
                            (DimName::Height, 160),
                            (DimName::Width, 160),
                        ],
                    },
                )
                .with_score_threshold(score_threshold)
                .with_iou_threshold(iou_threshold)
                .build()
                .unwrap();
            let mut output_boxes: Vec<_> = Vec::with_capacity(10);
            let mut output_masks: Vec<_> = Vec::with_capacity(10);

            for _ in 0..100 {
                decoder
                    .decode_quantized(
                        &[
                            detect0.view().into(),
                            detect1.view().into(),
                            seg.view().into(),
                        ],
                        &mut output_boxes,
                        &mut output_masks,
                    )
                    .unwrap();

                compare_outputs((&correct_boxes, &output_boxes), (&mask, &output_masks));
            }
        };

        let handles = vec![
            std::thread::spawn(yolo_det),
            std::thread::spawn(modelpack_det_split),
            std::thread::spawn(yolo_det),
            std::thread::spawn(modelpack_det_split),
            std::thread::spawn(yolo_det),
            std::thread::spawn(modelpack_det_split),
            std::thread::spawn(yolo_det),
            std::thread::spawn(modelpack_det_split),
        ];
        for handle in handles {
            handle.join().unwrap();
        }
    }

    #[test]
    fn test_ndarray_to_xyxy_float() {
        let arr = array![10.0_f32, 20.0, 20.0, 20.0];
        let xyxy: [f32; 4] = XYWH::ndarray_to_xyxy_float(arr.view());
        assert_eq!(xyxy, [0.0_f32, 10.0, 20.0, 30.0]);

        let arr = array![10.0_f32, 20.0, 20.0, 20.0];
        let xyxy: [f32; 4] = XYXY::ndarray_to_xyxy_float(arr.view());
        assert_eq!(xyxy, [10.0_f32, 20.0, 20.0, 20.0]);
    }

    #[test]
    fn test_class_aware_nms_float() {
        use crate::float::nms_class_aware_float;

        // Create two overlapping boxes with different classes
        let boxes = vec![
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.0,
                    ymin: 0.0,
                    xmax: 0.5,
                    ymax: 0.5,
                },
                score: 0.9,
                label: 0, // class 0
            },
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.1,
                    ymin: 0.1,
                    xmax: 0.6,
                    ymax: 0.6,
                },
                score: 0.8,
                label: 1, // class 1 - different class
            },
        ];

        // Class-aware NMS should keep both boxes (different classes, IoU ~0.47 >
        // threshold 0.3)
        let result = nms_class_aware_float(0.3, None, boxes.clone());
        assert_eq!(
            result.len(),
            2,
            "Class-aware NMS should keep both boxes with different classes"
        );

        // Now test with same class - should suppress one
        let same_class_boxes = vec![
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.0,
                    ymin: 0.0,
                    xmax: 0.5,
                    ymax: 0.5,
                },
                score: 0.9,
                label: 0,
            },
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.1,
                    ymin: 0.1,
                    xmax: 0.6,
                    ymax: 0.6,
                },
                score: 0.8,
                label: 0, // same class
            },
        ];

        let result = nms_class_aware_float(0.3, None, same_class_boxes);
        assert_eq!(
            result.len(),
            1,
            "Class-aware NMS should suppress overlapping box with same class"
        );
        assert_eq!(result[0].label, 0);
        assert!((result[0].score - 0.9).abs() < 1e-6);
    }

    #[test]
    fn test_class_agnostic_vs_aware_nms() {
        use crate::float::{nms_class_aware_float, nms_float};

        // Two overlapping boxes with different classes
        let boxes = vec![
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.0,
                    ymin: 0.0,
                    xmax: 0.5,
                    ymax: 0.5,
                },
                score: 0.9,
                label: 0,
            },
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.1,
                    ymin: 0.1,
                    xmax: 0.6,
                    ymax: 0.6,
                },
                score: 0.8,
                label: 1,
            },
        ];

        // Class-agnostic should suppress one (IoU ~0.47 > threshold 0.3)
        let agnostic_result = nms_float(0.3, None, boxes.clone());
        assert_eq!(
            agnostic_result.len(),
            1,
            "Class-agnostic NMS should suppress overlapping boxes"
        );

        // Class-aware should keep both (different classes)
        let aware_result = nms_class_aware_float(0.3, None, boxes);
        assert_eq!(
            aware_result.len(),
            2,
            "Class-aware NMS should keep boxes with different classes"
        );
    }

    #[test]
    fn test_class_aware_nms_int() {
        use crate::byte::nms_class_aware_int;

        // Create two overlapping boxes with different classes
        let boxes = vec![
            DetectBoxQuantized {
                bbox: BoundingBox {
                    xmin: 0.0,
                    ymin: 0.0,
                    xmax: 0.5,
                    ymax: 0.5,
                },
                score: 200_u8,
                label: 0,
            },
            DetectBoxQuantized {
                bbox: BoundingBox {
                    xmin: 0.1,
                    ymin: 0.1,
                    xmax: 0.6,
                    ymax: 0.6,
                },
                score: 180_u8,
                label: 1, // different class
            },
        ];

        // Should keep both (different classes)
        let result = nms_class_aware_int(0.5, None, boxes);
        assert_eq!(
            result.len(),
            2,
            "Class-aware NMS (int) should keep boxes with different classes"
        );
    }

    #[test]
    fn test_nms_enum_default() {
        // Test that Nms enum has the correct default
        let default_nms: configs::Nms = Default::default();
        assert_eq!(default_nms, configs::Nms::ClassAgnostic);
    }

    #[test]
    fn test_decoder_nms_mode() {
        // Test that decoder properly stores NMS mode
        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                configs::Detection {
                    anchors: None,
                    decoder: DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 84, 8400],
                    dshape: Vec::new(),
                    normalized: Some(true),
                },
                None,
            )
            .with_nms(Some(configs::Nms::ClassAware))
            .build()
            .unwrap();

        assert_eq!(decoder.nms, Some(configs::Nms::ClassAware));
    }

    #[test]
    fn test_decoder_nms_bypass() {
        // Test that decoder can be configured with nms=None (bypass)
        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                configs::Detection {
                    anchors: None,
                    decoder: DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 84, 8400],
                    dshape: Vec::new(),
                    normalized: Some(true),
                },
                None,
            )
            .with_nms(None)
            .build()
            .unwrap();

        assert_eq!(decoder.nms, None);
    }

    #[test]
    fn test_decoder_normalized_boxes_true() {
        // Test that normalized_boxes returns Some(true) when explicitly set
        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                configs::Detection {
                    anchors: None,
                    decoder: DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 84, 8400],
                    dshape: Vec::new(),
                    normalized: Some(true),
                },
                None,
            )
            .build()
            .unwrap();

        assert_eq!(decoder.normalized_boxes(), Some(true));
    }

    #[test]
    fn test_decoder_normalized_boxes_false() {
        // Test that normalized_boxes returns Some(false) when config specifies
        // unnormalized
        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                configs::Detection {
                    anchors: None,
                    decoder: DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 84, 8400],
                    dshape: Vec::new(),
                    normalized: Some(false),
                },
                None,
            )
            .build()
            .unwrap();

        assert_eq!(decoder.normalized_boxes(), Some(false));
    }

    #[test]
    fn test_decoder_normalized_boxes_unknown() {
        // Test that normalized_boxes returns None when not specified in config
        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                configs::Detection {
                    anchors: None,
                    decoder: DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 84, 8400],
                    dshape: Vec::new(),
                    normalized: None,
                },
                Some(DecoderVersion::Yolo11),
            )
            .build()
            .unwrap();

        assert_eq!(decoder.normalized_boxes(), None);
    }

    pub fn quantize_ndarray<T: PrimInt + 'static, D: Dimension, F: Float + AsPrimitive<T>>(
        input: ArrayView<F, D>,
        quant: Quantization,
    ) -> Array<T, D>
    where
        i32: num_traits::AsPrimitive<F>,
        f32: num_traits::AsPrimitive<F>,
    {
        let zero_point = quant.zero_point.as_();
        let div_scale = F::one() / quant.scale.as_();
        if zero_point != F::zero() {
            input.mapv(|d| (d * div_scale + zero_point).round().as_())
        } else {
            input.mapv(|d| (d * div_scale).round().as_())
        }
    }

    fn real_data_expected_boxes() -> [DetectBox; 2] {
        [
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.08515105,
                    ymin: 0.7131401,
                    xmax: 0.29802868,
                    ymax: 0.8195788,
                },
                score: 0.91537374,
                label: 23,
            },
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.59605736,
                    ymin: 0.25545314,
                    xmax: 0.93666154,
                    ymax: 0.72378385,
                },
                score: 0.91537374,
                label: 23,
            },
        ]
    }

    fn e2e_expected_boxes_quant() -> [DetectBox; 1] {
        [DetectBox {
            bbox: BoundingBox {
                xmin: 0.12549022,
                ymin: 0.12549022,
                xmax: 0.23529413,
                ymax: 0.23529413,
            },
            score: 0.98823535,
            label: 2,
        }]
    }

    fn e2e_expected_boxes_float() -> [DetectBox; 1] {
        [DetectBox {
            bbox: BoundingBox {
                xmin: 0.1234,
                ymin: 0.1234,
                xmax: 0.2345,
                ymax: 0.2345,
            },
            score: 0.9876,
            label: 2,
        }]
    }

    macro_rules! real_data_proto_test {
        ($name:ident, quantized, $layout:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;
                let quant_boxes = (0.021287762_f32, 31_i32);
                let quant_protos = (0.02491162_f32, -117_i32);

                let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
                let raw_boxes = unsafe {
                    std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len())
                };
                let boxes_i8 =
                    ndarray::Array3::from_shape_vec((1, 116, 8400), raw_boxes.to_vec()).unwrap();

                let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
                let raw_protos = unsafe {
                    std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
                };
                let protos_i8 =
                    ndarray::Array4::from_shape_vec((1, 160, 160, 32), raw_protos.to_vec())
                        .unwrap();

                // Pre-split (unused for combined, but harmless)
                let mask_split = boxes_i8.slice(s![.., 84.., ..]).to_owned();
                let scores_split = boxes_i8.slice(s![.., 4..84, ..]).to_owned();
                let boxes_split = boxes_i8.slice(s![.., ..4, ..]).to_owned();
                let boxes_combined = boxes_i8;

                let decoder = if is_split {
                    build_yolo_split_segdet_decoder(
                        score_threshold,
                        iou_threshold,
                        quant_boxes,
                        quant_protos,
                    )
                } else {
                    build_yolov8_seg_decoder(score_threshold, iou_threshold)
                };

                let expected = real_data_expected_boxes();
                let mut output_boxes = Vec::with_capacity(50);

                let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = if is_split {
                    vec![
                        boxes_split.view().into(),
                        scores_split.view().into(),
                        mask_split.view().into(),
                        protos_i8.view().into(),
                    ]
                } else {
                    vec![boxes_combined.view().into(), protos_i8.view().into()]
                };
                decoder
                    .decode_quantized_proto(&inputs, &mut output_boxes)
                    .unwrap();

                assert_eq!(output_boxes.len(), 2);
                assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));
            }
        };
        ($name:ident, float, $layout:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;
                let quant_boxes = (0.021287762_f32, 31_i32);
                let quant_protos = (0.02491162_f32, -117_i32);

                let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
                let raw_boxes = unsafe {
                    std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len())
                };
                let boxes_i8 =
                    ndarray::Array3::from_shape_vec((1, 116, 8400), raw_boxes.to_vec()).unwrap();
                let boxes_f32: Array3<f32> =
                    dequantize_ndarray(boxes_i8.view(), quant_boxes.into());

                let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
                let raw_protos = unsafe {
                    std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
                };
                let protos_i8 =
                    ndarray::Array4::from_shape_vec((1, 160, 160, 32), raw_protos.to_vec())
                        .unwrap();
                let protos_f32: Array4<f32> =
                    dequantize_ndarray(protos_i8.view(), quant_protos.into());

                // Pre-split from dequantized data
                let mask_split = boxes_f32.slice(s![.., 84.., ..]).to_owned();
                let scores_split = boxes_f32.slice(s![.., 4..84, ..]).to_owned();
                let boxes_split = boxes_f32.slice(s![.., ..4, ..]).to_owned();
                let boxes_combined = boxes_f32;

                let decoder = if is_split {
                    build_yolo_split_segdet_decoder(
                        score_threshold,
                        iou_threshold,
                        quant_boxes,
                        quant_protos,
                    )
                } else {
                    build_yolov8_seg_decoder(score_threshold, iou_threshold)
                };

                let expected = real_data_expected_boxes();
                let mut output_boxes = Vec::with_capacity(50);

                let inputs = if is_split {
                    vec![
                        boxes_split.view().into_dyn(),
                        scores_split.view().into_dyn(),
                        mask_split.view().into_dyn(),
                        protos_f32.view().into_dyn(),
                    ]
                } else {
                    vec![
                        boxes_combined.view().into_dyn(),
                        protos_f32.view().into_dyn(),
                    ]
                };
                decoder
                    .decode_float_proto(&inputs, &mut output_boxes)
                    .unwrap();

                assert_eq!(output_boxes.len(), 2);
                assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));
            }
        };
    }

    real_data_proto_test!(test_decoder_segdet_proto, quantized, combined);
    real_data_proto_test!(test_decoder_segdet_proto_float, float, combined);
    real_data_proto_test!(test_decoder_segdet_split_proto, quantized, split);
    real_data_proto_test!(test_decoder_segdet_split_proto_float, float, split);

    const E2E_COMBINED_DET_CONFIG: &str = "
decoder_version: yolo26
outputs:
 - type: detection
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 6]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_features, 6]
   normalized: true
";

    const E2E_COMBINED_SEGDET_CONFIG: &str = "
decoder_version: yolo26
outputs:
 - type: detection
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 38]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_features, 38]
   normalized: true
 - type: protos
   decoder: ultralytics
   quantization: [0.0039215686274509803921568627451, 128]
   shape: [1, 160, 160, 32]
   dshape:
    - [batch, 1]
    - [height, 160]
    - [width, 160]
    - [num_protos, 32]
";

    const E2E_SPLIT_DET_CONFIG: &str = "
decoder_version: yolo26
outputs:
 - type: boxes
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 4]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [box_coords, 4]
   normalized: true
 - type: scores
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 1]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_classes, 1]
 - type: classes
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 1]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_classes, 1]
";

    const E2E_SPLIT_SEGDET_CONFIG: &str = "
decoder_version: yolo26
outputs:
 - type: boxes
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 4]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [box_coords, 4]
   normalized: true
 - type: scores
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 1]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_classes, 1]
 - type: classes
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 1]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_classes, 1]
 - type: mask_coefficients
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 32]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_protos, 32]
 - type: protos
   decoder: ultralytics
   quantization: [0.0039215686274509803921568627451, 128]
   shape: [1, 160, 160, 32]
   dshape:
    - [batch, 1]
    - [height, 160]
    - [width, 160]
    - [num_protos, 32]
";

    macro_rules! e2e_segdet_test {
        ($name:ident, quantized, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array2::zeros((10, 4));
                let mut scores = Array2::zeros((10, 1));
                let mut classes = Array2::zeros((10, 1));
                let mask = Array2::zeros((10, 32));
                let protos = Array3::<f64>::zeros((160, 160, 32));
                let protos = protos.insert_axis(Axis(0));
                let protos_quant = (1.0 / 255.0, 0.0);
                let protos: Array4<u8> = quantize_ndarray(protos.view(), protos_quant.into());

                boxes
                    .slice_mut(s![0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, ..]).assign(&array![2.0]);

                let detect_quant = (2.0 / 255.0, 0.0);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_SEGDET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_SEGDET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                let expected = e2e_expected_boxes_quant();
                let mut output_boxes = Vec::with_capacity(50);

                if is_split {
                    let boxes = boxes.insert_axis(Axis(0));
                    let scores = scores.insert_axis(Axis(0));
                    let classes = classes.insert_axis(Axis(0));
                    let mask = mask.insert_axis(Axis(0));

                    let boxes: Array3<u8> = quantize_ndarray(boxes.view(), detect_quant.into());
                    let scores: Array3<u8> = quantize_ndarray(scores.view(), detect_quant.into());
                    let classes: Array3<u8> = quantize_ndarray(classes.view(), detect_quant.into());
                    let mask: Array3<u8> = quantize_ndarray(mask.view(), detect_quant.into());

                    if is_proto {
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                            boxes.view().into(),
                            scores.view().into(),
                            classes.view().into(),
                            mask.view().into(),
                            protos.view().into(),
                        ];
                        decoder
                            .decode_quantized_proto(&inputs, &mut output_boxes)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                            boxes.view().into(),
                            scores.view().into(),
                            classes.view().into(),
                            mask.view().into(),
                            protos.view().into(),
                        ];
                        decoder
                            .decode_quantized(&inputs, &mut output_boxes, &mut output_masks)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    }
                } else {
                    // Combined layout
                    let detect = ndarray::concatenate![
                        Axis(1),
                        boxes.view(),
                        scores.view(),
                        classes.view(),
                        mask.view()
                    ];
                    let detect = detect.insert_axis(Axis(0));
                    assert_eq!(detect.shape(), &[1, 10, 38]);
                    let detect: Array3<u8> = quantize_ndarray(detect.view(), detect_quant.into());

                    if is_proto {
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                            vec![detect.view().into(), protos.view().into()];
                        decoder
                            .decode_quantized_proto(&inputs, &mut output_boxes)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                            vec![detect.view().into(), protos.view().into()];
                        decoder
                            .decode_quantized(&inputs, &mut output_boxes, &mut output_masks)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    }
                }
            }
        };
        ($name:ident, float, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array2::zeros((10, 4));
                let mut scores = Array2::zeros((10, 1));
                let mut classes = Array2::zeros((10, 1));
                let mask: Array2<f64> = Array2::zeros((10, 32));
                let protos = Array3::<f64>::zeros((160, 160, 32));
                let protos = protos.insert_axis(Axis(0));

                boxes
                    .slice_mut(s![0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, ..]).assign(&array![2.0]);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_SEGDET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_SEGDET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                let expected = e2e_expected_boxes_float();
                let mut output_boxes = Vec::with_capacity(50);

                if is_split {
                    let boxes = boxes.insert_axis(Axis(0));
                    let scores = scores.insert_axis(Axis(0));
                    let classes = classes.insert_axis(Axis(0));
                    let mask = mask.insert_axis(Axis(0));

                    if is_proto {
                        let inputs = vec![
                            boxes.view().into_dyn(),
                            scores.view().into_dyn(),
                            classes.view().into_dyn(),
                            mask.view().into_dyn(),
                            protos.view().into_dyn(),
                        ];
                        decoder
                            .decode_float_proto(&inputs, &mut output_boxes)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        let inputs = vec![
                            boxes.view().into_dyn(),
                            scores.view().into_dyn(),
                            classes.view().into_dyn(),
                            mask.view().into_dyn(),
                            protos.view().into_dyn(),
                        ];
                        decoder
                            .decode_float(&inputs, &mut output_boxes, &mut output_masks)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    }
                } else {
                    // Combined layout
                    let detect = ndarray::concatenate![
                        Axis(1),
                        boxes.view(),
                        scores.view(),
                        classes.view(),
                        mask.view()
                    ];
                    let detect = detect.insert_axis(Axis(0));
                    assert_eq!(detect.shape(), &[1, 10, 38]);

                    if is_proto {
                        let inputs = vec![detect.view().into_dyn(), protos.view().into_dyn()];
                        decoder
                            .decode_float_proto(&inputs, &mut output_boxes)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        let inputs = vec![detect.view().into_dyn(), protos.view().into_dyn()];
                        decoder
                            .decode_float(&inputs, &mut output_boxes, &mut output_masks)
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    }
                }
            }
        };
    }

    e2e_segdet_test!(test_decoder_end_to_end_segdet, quantized, combined, masks);
    e2e_segdet_test!(test_decoder_end_to_end_segdet_float, float, combined, masks);
    e2e_segdet_test!(
        test_decoder_end_to_end_segdet_proto,
        quantized,
        combined,
        proto
    );
    e2e_segdet_test!(
        test_decoder_end_to_end_segdet_proto_float,
        float,
        combined,
        proto
    );
    e2e_segdet_test!(
        test_decoder_end_to_end_segdet_split,
        quantized,
        split,
        masks
    );
    e2e_segdet_test!(
        test_decoder_end_to_end_segdet_split_float,
        float,
        split,
        masks
    );
    e2e_segdet_test!(
        test_decoder_end_to_end_segdet_split_proto,
        quantized,
        split,
        proto
    );
    e2e_segdet_test!(
        test_decoder_end_to_end_segdet_split_proto_float,
        float,
        split,
        proto
    );

    macro_rules! e2e_det_test {
        ($name:ident, quantized, $layout:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array3::zeros((1, 10, 4));
                let mut scores = Array3::zeros((1, 10, 1));
                let mut classes = Array3::zeros((1, 10, 1));

                boxes
                    .slice_mut(s![0, 0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, 0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, 0, ..]).assign(&array![2.0]);

                let detect_quant = (2.0 / 255.0, 0_i32);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_DET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_DET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                let expected = e2e_expected_boxes_quant();
                let mut output_boxes = Vec::with_capacity(50);

                if is_split {
                    let boxes: Array<u8, _> = quantize_ndarray(boxes.view(), detect_quant.into());
                    let scores: Array<u8, _> = quantize_ndarray(scores.view(), detect_quant.into());
                    let classes: Array<u8, _> =
                        quantize_ndarray(classes.view(), detect_quant.into());
                    let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                        boxes.view().into(),
                        scores.view().into(),
                        classes.view().into(),
                    ];
                    decoder
                        .decode_quantized(&inputs, &mut output_boxes, &mut Vec::new())
                        .unwrap();
                } else {
                    let detect =
                        ndarray::concatenate![Axis(2), boxes.view(), scores.view(), classes.view()];
                    assert_eq!(detect.shape(), &[1, 10, 6]);
                    let detect: Array3<u8> = quantize_ndarray(detect.view(), detect_quant.into());
                    let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                        vec![detect.view().into()];
                    decoder
                        .decode_quantized(&inputs, &mut output_boxes, &mut Vec::new())
                        .unwrap();
                }

                assert_eq!(output_boxes.len(), 1);
                assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
            }
        };
        ($name:ident, float, $layout:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array3::zeros((1, 10, 4));
                let mut scores = Array3::zeros((1, 10, 1));
                let mut classes = Array3::zeros((1, 10, 1));

                boxes
                    .slice_mut(s![0, 0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, 0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, 0, ..]).assign(&array![2.0]);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_DET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_DET_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                let expected = e2e_expected_boxes_float();
                let mut output_boxes = Vec::with_capacity(50);

                if is_split {
                    let inputs = vec![
                        boxes.view().into_dyn(),
                        scores.view().into_dyn(),
                        classes.view().into_dyn(),
                    ];
                    decoder
                        .decode_float(&inputs, &mut output_boxes, &mut Vec::new())
                        .unwrap();
                } else {
                    let detect =
                        ndarray::concatenate![Axis(2), boxes.view(), scores.view(), classes.view()];
                    assert_eq!(detect.shape(), &[1, 10, 6]);
                    let inputs = vec![detect.view().into_dyn()];
                    decoder
                        .decode_float(&inputs, &mut output_boxes, &mut Vec::new())
                        .unwrap();
                }

                assert_eq!(output_boxes.len(), 1);
                assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
            }
        };
    }

    e2e_det_test!(test_decoder_end_to_end_combined_det, quantized, combined);
    e2e_det_test!(test_decoder_end_to_end_combined_det_float, float, combined);
    e2e_det_test!(test_decoder_end_to_end_split_det, quantized, split);
    e2e_det_test!(test_decoder_end_to_end_split_det_float, float, split);

    #[test]
    fn test_decode_tensor() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
        let raw_boxes =
            unsafe { std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len()) };
        let boxes_i8: Tensor<i8> = Tensor::new(&[1, 116, 8400], None, None).unwrap();
        boxes_i8
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(raw_boxes);
        let boxes_i8 = boxes_i8.into();

        let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
        let raw_protos = unsafe {
            std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
        };
        let protos_i8: Tensor<i8> = Tensor::new(&[1, 160, 160, 32], None, None).unwrap();
        protos_i8
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(raw_protos);
        let protos_i8 = protos_i8.into();

        let decoder = build_yolov8_seg_decoder(score_threshold, iou_threshold);
        let expected = real_data_expected_boxes();
        let mut output_boxes = Vec::with_capacity(50);

        decoder
            .decode(&[&boxes_i8, &protos_i8], &mut output_boxes, &mut Vec::new())
            .unwrap();

        assert_eq!(output_boxes.len(), 2);
        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
        assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));
    }

    #[test]
    fn test_decode_tensor_f32() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let quant_boxes = (0.021287762_f32, 31_i32);
        let quant_protos = (0.02491162_f32, -117_i32);
        let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
        let raw_boxes =
            unsafe { std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len()) };
        let mut raw_boxes_f32 = vec![0f32; raw_boxes.len()];
        dequantize_cpu(raw_boxes, quant_boxes.into(), &mut raw_boxes_f32);
        let boxes_f32: Tensor<f32> = Tensor::new(&[1, 116, 8400], None, None).unwrap();
        boxes_f32
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(&raw_boxes_f32);
        let boxes_f32 = boxes_f32.into();

        let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
        let raw_protos = unsafe {
            std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
        };
        let mut raw_protos_f32 = vec![0f32; raw_protos.len()];
        dequantize_cpu(raw_protos, quant_protos.into(), &mut raw_protos_f32);
        let protos_f32: Tensor<f32> = Tensor::new(&[1, 160, 160, 32], None, None).unwrap();
        protos_f32
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(&raw_protos_f32);
        let protos_f32 = protos_f32.into();

        let decoder = build_yolov8_seg_decoder(score_threshold, iou_threshold);

        let expected = real_data_expected_boxes();
        let mut output_boxes = Vec::with_capacity(50);

        decoder
            .decode(
                &[&boxes_f32, &protos_f32],
                &mut output_boxes,
                &mut Vec::new(),
            )
            .unwrap();

        assert_eq!(output_boxes.len(), 2);
        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
        assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));
    }

    #[test]
    fn test_decode_tensor_f64() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let quant_boxes = (0.021287762_f32, 31_i32);
        let quant_protos = (0.02491162_f32, -117_i32);
        let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
        let raw_boxes =
            unsafe { std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len()) };
        let mut raw_boxes_f64 = vec![0f64; raw_boxes.len()];
        dequantize_cpu(raw_boxes, quant_boxes.into(), &mut raw_boxes_f64);
        let boxes_f64: Tensor<f64> = Tensor::new(&[1, 116, 8400], None, None).unwrap();
        boxes_f64
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(&raw_boxes_f64);
        let boxes_f64 = boxes_f64.into();

        let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
        let raw_protos = unsafe {
            std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
        };
        let mut raw_protos_f64 = vec![0f64; raw_protos.len()];
        dequantize_cpu(raw_protos, quant_protos.into(), &mut raw_protos_f64);
        let protos_f64: Tensor<f64> = Tensor::new(&[1, 160, 160, 32], None, None).unwrap();
        protos_f64
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(&raw_protos_f64);
        let protos_f64 = protos_f64.into();

        let decoder = build_yolov8_seg_decoder(score_threshold, iou_threshold);

        let expected = real_data_expected_boxes();
        let mut output_boxes = Vec::with_capacity(50);

        decoder
            .decode(
                &[&boxes_f64, &protos_f64],
                &mut output_boxes,
                &mut Vec::new(),
            )
            .unwrap();

        assert_eq!(output_boxes.len(), 2);
        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
        assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));
    }

    #[test]
    fn test_decode_tensor_proto() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
        let raw_boxes =
            unsafe { std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len()) };
        let boxes_i8: Tensor<i8> = Tensor::new(&[1, 116, 8400], None, None).unwrap();
        boxes_i8
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(raw_boxes);
        let boxes_i8 = boxes_i8.into();

        let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
        let raw_protos = unsafe {
            std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
        };
        let protos_i8: Tensor<i8> = Tensor::new(&[1, 160, 160, 32], None, None).unwrap();
        protos_i8
            .map()
            .unwrap()
            .as_mut_slice()
            .copy_from_slice(raw_protos);
        let protos_i8 = protos_i8.into();

        let decoder = build_yolov8_seg_decoder(score_threshold, iou_threshold);

        let expected = real_data_expected_boxes();
        let mut output_boxes = Vec::with_capacity(50);

        let proto_data = decoder
            .decode_proto(&[&boxes_i8, &protos_i8], &mut output_boxes)
            .unwrap();

        assert_eq!(output_boxes.len(), 2);
        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
        assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));

        let proto_data = proto_data.expect("segmentation model should return ProtoData");
        let coeffs_shape = proto_data.mask_coefficients.shape();
        assert_eq!(
            coeffs_shape[0],
            output_boxes.len(),
            "mask_coefficients count must match detection count"
        );
        assert_eq!(
            coeffs_shape[1], 32,
            "each detection should have 32 mask coefficients"
        );
    }

    // =========================================================================
    // Physical-order contract regression tests
    //
    // These cover the TFLite VX-delegate vertical-stripe mask bug and the
    // Ara-2-via-overlay anchor-first split-tensor bug. The core claim:
    // declaring shape+dshape in physical memory order produces correct
    // strides at wrap time, and `swap_axes_if_needed` permutes the stride
    // tuple into canonical logical order without touching bytes.
    // =========================================================================

    /// TFLite YOLOv8-seg protos arrive as physically-NHWC bytes with
    /// NNStreamer dim string `"32:160:160:1"` (innermost-first). The
    /// overlay's 2026-04-22 workaround declares `[1, 160, 160, 32]` with
    /// dshape `[batch, height, width, num_protos]` — shape matches
    /// physical order, so no permutation is needed and the view is
    /// already in canonical HWC after the batch-dim slice. This test
    /// confirms that path matches the reference (direct-HWC) decode.
    #[test]
    fn test_physical_order_tflite_nhwc_protos() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        // Load HWC protos and dequantize to f32.
        let protos_hwc = load_yolov8_protos().slice_move(s![0, .., .., ..]);
        let quant_protos = Quantization::new(0.02491161972284317, -117);
        let protos_f32_hwc = dequantize_ndarray::<_, _, f32>(protos_hwc.view(), quant_protos);

        let boxes_2d = load_yolov8_boxes().slice_move(s![0, .., ..]);
        let quant_boxes = Quantization::new(0.021287761628627777, 31);
        let seg = dequantize_ndarray::<_, _, f32>(boxes_2d.view(), quant_boxes);

        // Reference: direct call with canonical HWC protos.
        let mut ref_boxes: Vec<_> = Vec::with_capacity(10);
        let mut ref_masks: Vec<_> = Vec::with_capacity(10);
        decode_yolo_segdet_float(
            seg.view(),
            protos_f32_hwc.view(),
            score_threshold,
            iou_threshold,
            Some(configs::Nms::ClassAgnostic),
            &mut ref_boxes,
            &mut ref_masks,
        )
        .unwrap();

        // Build the same protos as a 4D NHWC tensor and feed it through
        // the config-driven path with dshape in physical order.
        let protos_nhwc = protos_f32_hwc.clone().insert_axis(Axis(0)); // [1, 160, 160, 32]
        let seg_3d = seg.insert_axis(Axis(0)); // [1, 116, 8400]

        let decoder = DecoderBuilder::default()
            .with_config_yolo_segdet(
                configs::Detection {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 116, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumFeatures, 116),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                    anchors: None,
                },
                configs::Protos {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 160, 160, 32],
                    // Physical NHWC — matches the TFLite buffer layout.
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                        (DimName::NumProtos, 32),
                    ],
                },
                None,
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .expect("config with NHWC protos dshape must build");

        let mut cfg_boxes = Vec::with_capacity(10);
        let mut cfg_masks = Vec::with_capacity(10);
        decoder
            .decode_float(
                &[seg_3d.view().into_dyn(), protos_nhwc.view().into_dyn()],
                &mut cfg_boxes,
                &mut cfg_masks,
            )
            .unwrap();

        assert_eq!(cfg_boxes.len(), ref_boxes.len(), "box count mismatch");
        for (c, r) in cfg_boxes.iter().zip(&ref_boxes) {
            assert!(
                c.equal_within_delta(r, 0.01),
                "NHWC-declared box does not match reference: {c:?} vs {r:?}"
            );
        }
        for (cm, rm) in cfg_masks.iter().zip(&ref_masks) {
            let cm_arr = segmentation_to_mask(cm.segmentation.view()).unwrap();
            let rm_arr = segmentation_to_mask(rm.segmentation.view()).unwrap();
            assert_eq!(
                cm_arr, rm_arr,
                "NHWC-declared mask must match reference pixel-for-pixel"
            );
        }
    }

    /// Ara-2 split-tensor boxes arrive physically anchor-first: NNStreamer
    /// dim string `"4:1:8400:1"` means innermost axis is 4 (coords), next
    /// is 1 (padding), next is 8400 (anchors), outermost is 1 (batch).
    /// The correct physical-order declaration is `[1, 8400, 1, 4]` with
    /// dshape `[batch, num_boxes, padding, box_coords]`. This test
    /// confirms that declaration produces the same decoded boxes as the
    /// canonical features-first TFLite declaration over the same logical
    /// data.
    #[test]
    fn test_physical_order_ara2_anchor_first_split_boxes() {
        use configs::{Boxes, Scores};

        // Build synthetic boxes data in features-first canonical layout:
        // shape [1, 4, 8400] with one detection at anchor 42.
        const N: usize = 8400;
        let mut boxes_canonical = Array3::<f32>::zeros((1, 4, N));
        let target_anchor = 42usize;
        boxes_canonical[[0, 0, target_anchor]] = 0.4; // xc
        boxes_canonical[[0, 1, target_anchor]] = 0.5; // yc
        boxes_canonical[[0, 2, target_anchor]] = 0.2; // w
        boxes_canonical[[0, 3, target_anchor]] = 0.2; // h

        // Scores: one class at 0.9 for the same anchor.
        let mut scores_canonical = Array3::<f32>::zeros((1, 80, N));
        scores_canonical[[0, 0, target_anchor]] = 0.9;

        // Reference: canonical (features-first) shape declaration.
        let ref_decoder = DecoderBuilder::default()
            .with_config_yolo_split_det(
                Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 4, N],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::BoxCoords, 4),
                        (DimName::NumBoxes, N),
                    ],
                    normalized: Some(true),
                },
                Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 80, N],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 80),
                        (DimName::NumBoxes, N),
                    ],
                },
            )
            .with_score_threshold(0.5)
            .with_iou_threshold(0.5)
            .with_nms(Some(configs::Nms::ClassAgnostic))
            .build()
            .expect("reference canonical split decoder must build");

        let mut ref_boxes = Vec::with_capacity(4);
        let mut ref_masks = Vec::with_capacity(0);
        ref_decoder
            .decode_float(
                &[
                    boxes_canonical.view().into_dyn(),
                    scores_canonical.view().into_dyn(),
                ],
                &mut ref_boxes,
                &mut ref_masks,
            )
            .unwrap();
        assert_eq!(ref_boxes.len(), 1, "reference should produce one box");

        // Ara-2 physical layout: transpose axes 1↔2 so the innermost
        // axis is BoxCoords / NumClasses. Materialise to get a
        // C-contiguous Array3 with strides matching the physical order
        // the Ara-2 backend would write into the tensor.
        let boxes_ara2 = boxes_canonical.view().permuted_axes([0, 2, 1]).to_owned(); // [1, 8400, 4]
        let scores_ara2 = scores_canonical.view().permuted_axes([0, 2, 1]).to_owned(); // [1, 8400, 80]

        let ara2_decoder = DecoderBuilder::default()
            .with_config_yolo_split_det(
                Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, N, 4],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumBoxes, N),
                        (DimName::BoxCoords, 4),
                    ],
                    normalized: Some(true),
                },
                Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, N, 80],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumBoxes, N),
                        (DimName::NumClasses, 80),
                    ],
                },
            )
            .with_score_threshold(0.5)
            .with_iou_threshold(0.5)
            .with_nms(Some(configs::Nms::ClassAgnostic))
            .build()
            .expect("Ara-2 anchor-first decoder must build");

        let mut ara2_boxes = Vec::with_capacity(4);
        let mut ara2_masks = Vec::with_capacity(0);
        ara2_decoder
            .decode_float(
                &[boxes_ara2.view().into_dyn(), scores_ara2.view().into_dyn()],
                &mut ara2_boxes,
                &mut ara2_masks,
            )
            .unwrap();

        assert_eq!(
            ara2_boxes.len(),
            ref_boxes.len(),
            "Ara-2 anchor-first declaration must produce the same number \
             of boxes as the canonical features-first reference"
        );
        for (a, r) in ara2_boxes.iter().zip(&ref_boxes) {
            assert!(
                a.equal_within_delta(r, 1e-4),
                "Ara-2 box differs from reference: {a:?} vs {r:?}"
            );
        }
    }

    /// Dshape whose per-axis sizes disagree with shape (the exact
    /// failure mode that caused the TFLite stripe bug — shape declared
    /// in one order, dshape in another) is rejected with a clear error.
    #[test]
    fn test_physical_order_rejects_shape_dshape_mismatch() {
        let result = DecoderBuilder::default()
            .with_config_yolo_segdet(
                configs::Detection {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 116, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumFeatures, 116),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                    anchors: None,
                },
                configs::Protos {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    // Shape in NCHW order...
                    shape: vec![1, 32, 160, 160],
                    // ...but dshape in NHWC order — the sizes don't line
                    // up positionally (dshape[1]=160 vs shape[1]=32).
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                        (DimName::NumProtos, 32),
                    ],
                },
                None,
            )
            .build();

        match result {
            Err(DecoderError::InvalidConfig(msg)) => {
                assert!(
                    msg.contains("does not match shape"),
                    "expected shape/dshape size mismatch error, got: {msg}"
                );
            }
            other => panic!("expected InvalidConfig, got {other:?}"),
        }
    }

    /// Duplicate dim name in dshape is rejected (two axes mapping to the
    /// same canonical slot would break the permutation).
    #[test]
    fn test_physical_order_rejects_duplicate_dshape_axis() {
        let result = DecoderBuilder::default()
            .with_config_yolo_split_det(
                configs::Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 4, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::BoxCoords, 4),
                        (DimName::BoxCoords, 4), // duplicate (size matches shape[2]=8400? no)
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 80, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 80),
                        (DimName::NumBoxes, 8400),
                    ],
                },
            )
            .build();

        // Shape[2] = 8400 ≠ dshape[2] size 4, so the positional-mismatch
        // check fires first — which is fine: any mis-shaped dshape
        // should be rejected. Check for either error as long as it's a
        // clear InvalidConfig.
        match result {
            Err(DecoderError::InvalidConfig(msg)) => {
                assert!(
                    msg.contains("appears at both index") || msg.contains("does not match shape"),
                    "expected positional or duplicate-axis error, got: {msg}"
                );
            }
            other => panic!("expected InvalidConfig, got {other:?}"),
        }

        // Separate case: size-consistent duplicate to exercise the
        // duplicate-axis code path explicitly. Use `Batch` (no size
        // constraint, can repeat with size 1 against a shape that
        // carries two singleton dims).
        let result = DecoderBuilder::default()
            .with_config_yolo_split_det(
                configs::Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 1, 4, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::Batch, 1), // duplicate, sizes match
                        (DimName::BoxCoords, 4),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: None,
                    shape: vec![1, 80, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 80),
                        (DimName::NumBoxes, 8400),
                    ],
                },
            )
            .build();
        match result {
            Err(DecoderError::InvalidConfig(msg)) => {
                assert!(
                    msg.contains("appears at both index"),
                    "expected duplicate-axis error, got: {msg}"
                );
            }
            other => panic!("expected InvalidConfig, got {other:?}"),
        }
    }

    /// Canonical (dshape-omitted) high-level decode produces the same
    /// numeric result as the dshape-populated form. This closes a
    /// coverage gap flagged during review: dshape omission had been
    /// exercised only at the builder level, not through the full
    /// `decode_float` pipeline.
    #[test]
    fn test_physical_order_dshape_omitted_decodes_numerically() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let protos_hwc = load_yolov8_protos().slice_move(s![0, .., .., ..]);
        let quant_protos = Quantization::new(0.02491161972284317, -117);
        let protos_f32_hwc = dequantize_ndarray::<_, _, f32>(protos_hwc.view(), quant_protos);

        let boxes_2d = load_yolov8_boxes().slice_move(s![0, .., ..]);
        let quant_boxes = Quantization::new(0.021287761628627777, 31);
        let seg = dequantize_ndarray::<_, _, f32>(boxes_2d.view(), quant_boxes);

        let protos_nhwc = protos_f32_hwc.clone().insert_axis(Axis(0));
        let seg_3d = seg.insert_axis(Axis(0));

        let build_decoder = |det_dshape: Vec<(DimName, usize)>,
                             proto_dshape: Vec<(DimName, usize)>| {
            DecoderBuilder::default()
                .with_config_yolo_segdet(
                    configs::Detection {
                        decoder: configs::DecoderType::Ultralytics,
                        quantization: None,
                        shape: vec![1, 116, 8400],
                        dshape: det_dshape,
                        normalized: Some(true),
                        anchors: None,
                    },
                    configs::Protos {
                        decoder: configs::DecoderType::Ultralytics,
                        quantization: None,
                        shape: vec![1, 160, 160, 32],
                        dshape: proto_dshape,
                    },
                    None,
                )
                .with_score_threshold(score_threshold)
                .with_iou_threshold(iou_threshold)
                .build()
                .unwrap()
        };

        // Baseline: dshape populated in physical order.
        let dshaped = build_decoder(
            vec![
                (DimName::Batch, 1),
                (DimName::NumFeatures, 116),
                (DimName::NumBoxes, 8400),
            ],
            vec![
                (DimName::Batch, 1),
                (DimName::Height, 160),
                (DimName::Width, 160),
                (DimName::NumProtos, 32),
            ],
        );
        let mut dshaped_boxes = Vec::new();
        let mut dshaped_masks = Vec::new();
        dshaped
            .decode_float(
                &[seg_3d.view().into_dyn(), protos_nhwc.view().into_dyn()],
                &mut dshaped_boxes,
                &mut dshaped_masks,
            )
            .unwrap();

        // Variant: dshape omitted — caller asserts shape is already in
        // the decoder's canonical order.
        let bare = build_decoder(vec![], vec![]);
        let mut bare_boxes = Vec::new();
        let mut bare_masks = Vec::new();
        bare.decode_float(
            &[seg_3d.view().into_dyn(), protos_nhwc.view().into_dyn()],
            &mut bare_boxes,
            &mut bare_masks,
        )
        .unwrap();

        assert_eq!(bare_boxes.len(), dshaped_boxes.len());
        for (b, d) in bare_boxes.iter().zip(&dshaped_boxes) {
            assert!(
                b.equal_within_delta(d, 1e-4),
                "dshape-omitted box {b:?} differs from dshape-populated {d:?}"
            );
        }
        for (bm, dm) in bare_masks.iter().zip(&dshaped_masks) {
            let bm_arr = segmentation_to_mask(bm.segmentation.view()).unwrap();
            let dm_arr = segmentation_to_mask(dm.segmentation.view()).unwrap();
            assert_eq!(
                bm_arr, dm_arr,
                "dshape-omitted mask must match dshape-populated pixel-for-pixel"
            );
        }
    }

    /// 4D anchor-first boxes schema with a trailing `padding` axis — the
    /// exact Ara-2 DVM shape (`"4:1:8400:1"` innermost-first = physical
    /// `[1, 8400, 1, 4]`). Exercises the schema path's
    /// `squeeze_padding_dims`: the caller declares a 4D physical-order
    /// layout including `padding`, HAL squeezes the size-1 axis during
    /// `to_legacy_config_outputs`, and the decoder sees the resulting
    /// 3D shape. Callers feed HAL a 3D squeezed view of the same bytes.
    /// Complements the 3D `test_physical_order_ara2_anchor_first_split_boxes`
    /// which exercises the programmatic-builder path.
    #[test]
    fn test_physical_order_ara2_4d_anchor_first_with_padding() {
        // Build synthetic data in anchor-first 3D layout (the shape HAL
        // actually operates on after squeezing). The 4D-with-padding
        // declaration in the schema is a producer-side convention; the
        // caller is expected to present HAL with a squeezed view.
        const N: usize = 8400;
        let mut boxes = Array3::<f32>::zeros((1, N, 4));
        let target = 42usize;
        boxes[[0, target, 0]] = 0.4;
        boxes[[0, target, 1]] = 0.5;
        boxes[[0, target, 2]] = 0.2;
        boxes[[0, target, 3]] = 0.2;
        let mut scores = Array3::<f32>::zeros((1, N, 80));
        scores[[0, target, 0]] = 0.9;

        // Schema JSON declares shape+dshape in physical anchor-first
        // order including padding — mirrors `ara2_int8_edgefirst.json`'s
        // feature-first declaration but with the axes in physical
        // anchor-first order. `to_legacy_config_outputs` squeezes
        // padding before the decoder's rank-3 verification.
        let json = r#"{
          "schema_version": 2,
          "decoder_version": "yolov8",
          "nms": "class_agnostic",
          "outputs": [
            {"name": "boxes", "type": "boxes",
             "shape": [1, 8400, 1, 4],
             "dshape": [{"batch":1},{"num_boxes":8400},{"padding":1},{"box_coords":4}],
             "encoding": "direct",
             "decoder": "ultralytics",
             "normalized": true},
            {"name": "scores", "type": "scores",
             "shape": [1, 8400, 1, 80],
             "dshape": [{"batch":1},{"num_boxes":8400},{"padding":1},{"num_classes":80}],
             "decoder": "ultralytics",
             "score_format": "per_class"}
          ]
        }"#;
        let decoder = DecoderBuilder::default()
            .with_config_json_str(json.to_string())
            .with_score_threshold(0.5)
            .with_iou_threshold(0.5)
            .build()
            .expect("4D anchor-first schema should build via squeeze_padding_dims");

        let mut out_boxes = Vec::with_capacity(4);
        let mut out_masks = Vec::with_capacity(0);
        decoder
            .decode_float(
                &[boxes.view().into_dyn(), scores.view().into_dyn()],
                &mut out_boxes,
                &mut out_masks,
            )
            .unwrap();

        assert_eq!(
            out_boxes.len(),
            1,
            "4D anchor-first with padding should decode exactly one box from the seeded anchor"
        );
        let b = &out_boxes[0];
        // xywh(0.4, 0.5, 0.2, 0.2) → xyxy(0.3, 0.4, 0.5, 0.6)
        assert!((b.bbox.xmin - 0.3).abs() < 1e-3, "xmin wrong: {b:?}");
        assert!((b.bbox.ymin - 0.4).abs() < 1e-3, "ymin wrong: {b:?}");
        assert!((b.bbox.xmax - 0.5).abs() < 1e-3, "xmax wrong: {b:?}");
        assert!((b.bbox.ymax - 0.6).abs() < 1e-3, "ymax wrong: {b:?}");
        assert_eq!(b.label, 0);
        assert!(b.score > 0.85, "score {}: {b:?}", b.score);
    }
}

#[cfg(feature = "tracker")]
#[cfg(test)]
#[cfg_attr(coverage_nightly, coverage(off))]
mod decoder_tracked_tests {

    use edgefirst_tracker::{ByteTrackBuilder, Tracker};
    use ndarray::{array, s, Array, Array2, Array3, Array4, ArrayView, Axis, Dimension};
    use num_traits::{AsPrimitive, Float, PrimInt};
    use rand::{RngExt, SeedableRng};
    use rand_distr::StandardNormal;

    use crate::{
        configs::{self, DimName},
        dequantize_ndarray, BoundingBox, DecoderBuilder, DetectBox, Quantization,
    };

    pub fn quantize_ndarray<T: PrimInt + 'static, D: Dimension, F: Float + AsPrimitive<T>>(
        input: ArrayView<F, D>,
        quant: Quantization,
    ) -> Array<T, D>
    where
        i32: num_traits::AsPrimitive<F>,
        f32: num_traits::AsPrimitive<F>,
    {
        let zero_point = quant.zero_point.as_();
        let div_scale = F::one() / quant.scale.as_();
        if zero_point != F::zero() {
            input.mapv(|d| (d * div_scale + zero_point).round().as_())
        } else {
            input.mapv(|d| (d * div_scale).round().as_())
        }
    }

    #[test]
    fn test_decoder_tracked_random_jitter() {
        use crate::configs::{DecoderType, Nms};
        use crate::DecoderBuilder;

        let score_threshold = 0.25;
        let iou_threshold = 0.1;
        let out = edgefirst_bench::testdata::read("yolov8s_80_classes.bin");
        let out = unsafe { std::slice::from_raw_parts(out.as_ptr() as *const i8, out.len()) };
        let out = Array3::from_shape_vec((1, 84, 8400), out.to_vec()).unwrap();
        let quant = (0.0040811873, -123).into();

        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                crate::configs::Detection {
                    decoder: DecoderType::Ultralytics,
                    shape: vec![1, 84, 8400],
                    anchors: None,
                    quantization: Some(quant),
                    dshape: vec![
                        (crate::configs::DimName::Batch, 1),
                        (crate::configs::DimName::NumFeatures, 84),
                        (crate::configs::DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                None,
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .with_nms(Some(Nms::ClassAgnostic))
            .build()
            .unwrap();
        let mut rng = rand::rngs::StdRng::seed_from_u64(0xAB_BEEF); // fixed seed for reproducibility

        let expected_boxes = [
            crate::DetectBox {
                bbox: crate::BoundingBox {
                    xmin: 0.5285137,
                    ymin: 0.05305544,
                    xmax: 0.87541467,
                    ymax: 0.9998909,
                },
                score: 0.5591227,
                label: 0,
            },
            crate::DetectBox {
                bbox: crate::BoundingBox {
                    xmin: 0.130598,
                    ymin: 0.43260583,
                    xmax: 0.35098213,
                    ymax: 0.9958097,
                },
                score: 0.33057618,
                label: 75,
            },
        ];

        let mut tracker = ByteTrackBuilder::new()
            .track_update(0.1)
            .track_high_conf(0.3)
            .build();

        let mut output_boxes = Vec::with_capacity(50);
        let mut output_masks = Vec::with_capacity(50);
        let mut output_tracks = Vec::with_capacity(50);

        decoder
            .decode_tracked_quantized(
                &mut tracker,
                0,
                &[out.view().into()],
                &mut output_boxes,
                &mut output_masks,
                &mut output_tracks,
            )
            .unwrap();

        assert_eq!(output_boxes.len(), 2);
        assert!(output_boxes[0].equal_within_delta(&expected_boxes[0], 1e-6));
        assert!(output_boxes[1].equal_within_delta(&expected_boxes[1], 1e-6));

        let mut last_boxes = output_boxes.clone();

        for i in 1..=100 {
            let mut out = out.clone();
            // introduce jitter into the XY coordinates to simulate movement and test tracking stability
            let mut x_values = out.slice_mut(s![0, 0, ..]);
            for x in x_values.iter_mut() {
                let r: f32 = rng.sample(StandardNormal);
                let r = r.clamp(-2.0, 2.0) / 2.0;
                *x = x.saturating_add((r * 1e-2 / quant.0) as i8);
            }

            let mut y_values = out.slice_mut(s![0, 1, ..]);
            for y in y_values.iter_mut() {
                let r: f32 = rng.sample(StandardNormal);
                let r = r.clamp(-2.0, 2.0) / 2.0;
                *y = y.saturating_add((r * 1e-2 / quant.0) as i8);
            }

            decoder
                .decode_tracked_quantized(
                    &mut tracker,
                    100_000_000 * i / 3, // simulate 33.333ms between frames
                    &[out.view().into()],
                    &mut output_boxes,
                    &mut output_masks,
                    &mut output_tracks,
                )
                .unwrap();

            assert_eq!(output_boxes.len(), 2);
            assert!(output_boxes[0].equal_within_delta(&expected_boxes[0], 5e-3));
            assert!(output_boxes[1].equal_within_delta(&expected_boxes[1], 5e-3));

            assert!(output_boxes[0].equal_within_delta(&last_boxes[0], 1e-3));
            assert!(output_boxes[1].equal_within_delta(&last_boxes[1], 1e-3));
            last_boxes = output_boxes.clone();
        }
    }

    // ─── Shared helpers for tracked decoder tests ────────────────────

    fn real_data_expected_boxes() -> [DetectBox; 2] {
        [
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.08515105,
                    ymin: 0.7131401,
                    xmax: 0.29802868,
                    ymax: 0.8195788,
                },
                score: 0.91537374,
                label: 23,
            },
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.59605736,
                    ymin: 0.25545314,
                    xmax: 0.93666154,
                    ymax: 0.72378385,
                },
                score: 0.91537374,
                label: 23,
            },
        ]
    }

    fn e2e_expected_boxes_quant() -> [DetectBox; 1] {
        [DetectBox {
            bbox: BoundingBox {
                xmin: 0.12549022,
                ymin: 0.12549022,
                xmax: 0.23529413,
                ymax: 0.23529413,
            },
            score: 0.98823535,
            label: 2,
        }]
    }

    fn e2e_expected_boxes_float() -> [DetectBox; 1] {
        [DetectBox {
            bbox: BoundingBox {
                xmin: 0.1234,
                ymin: 0.1234,
                xmax: 0.2345,
                ymax: 0.2345,
            },
            score: 0.9876,
            label: 2,
        }]
    }

    fn build_yolo_split_segdet_decoder(
        score_threshold: f32,
        iou_threshold: f32,
        quant_boxes: (f32, i32),
        quant_protos: (f32, i32),
    ) -> crate::Decoder {
        DecoderBuilder::default()
            .with_config_yolo_split_segdet(
                configs::Boxes {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes.into()),
                    shape: vec![1, 4, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::BoxCoords, 4),
                        (DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                configs::Scores {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes.into()),
                    shape: vec![1, 80, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumClasses, 80),
                        (DimName::NumBoxes, 8400),
                    ],
                },
                configs::MaskCoefficients {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_boxes.into()),
                    shape: vec![1, 32, 8400],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::NumProtos, 32),
                        (DimName::NumBoxes, 8400),
                    ],
                },
                configs::Protos {
                    decoder: configs::DecoderType::Ultralytics,
                    quantization: Some(quant_protos.into()),
                    shape: vec![1, 160, 160, 32],
                    dshape: vec![
                        (DimName::Batch, 1),
                        (DimName::Height, 160),
                        (DimName::Width, 160),
                        (DimName::NumProtos, 32),
                    ],
                },
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap()
    }

    fn build_yolov8_seg_decoder(score_threshold: f32, iou_threshold: f32) -> crate::Decoder {
        let config_yaml = edgefirst_bench::testdata::read_to_string("yolov8_seg.yaml");
        DecoderBuilder::default()
            .with_config_yaml_str(config_yaml.to_string())
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap()
    }

    // ─── Real-data tracked test macro ───────────────────────────────
    //
    // Generates tests that load i8 binary test data from testdata/ and
    // exercise all (quant/float) × (combined/split) × (masks/proto)
    // decoder paths.

    macro_rules! real_data_tracked_test {
        ($name:ident, quantized, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;
                let quant_boxes = (0.021287762_f32, 31_i32);
                let quant_protos = (0.02491162_f32, -117_i32);

                let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
                let raw_boxes = unsafe {
                    std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len())
                };
                let boxes_i8 =
                    ndarray::Array3::from_shape_vec((1, 116, 8400), raw_boxes.to_vec()).unwrap();

                let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
                let raw_protos = unsafe {
                    std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
                };
                let protos_i8 =
                    ndarray::Array4::from_shape_vec((1, 160, 160, 32), raw_protos.to_vec())
                        .unwrap();

                // Pre-split (unused for combined, but harmless)
                let mask_split = boxes_i8.slice(s![.., 84.., ..]).to_owned();
                let mut scores_split = boxes_i8.slice(s![.., 4..84, ..]).to_owned();
                let boxes_split = boxes_i8.slice(s![.., ..4, ..]).to_owned();
                let mut boxes_combined = boxes_i8;

                let decoder = if is_split {
                    build_yolo_split_segdet_decoder(
                        score_threshold,
                        iou_threshold,
                        quant_boxes,
                        quant_protos,
                    )
                } else {
                    build_yolov8_seg_decoder(score_threshold, iou_threshold)
                };

                let expected = real_data_expected_boxes();
                let mut tracker = ByteTrackBuilder::new()
                    .track_update(0.1)
                    .track_high_conf(0.7)
                    .build();
                let mut output_boxes = Vec::with_capacity(50);
                let mut output_tracks = Vec::with_capacity(50);

                // Frame 1: decode
                if is_proto {
                    {
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = if is_split {
                            vec![
                                boxes_split.view().into(),
                                scores_split.view().into(),
                                mask_split.view().into(),
                                protos_i8.view().into(),
                            ]
                        } else {
                            vec![boxes_combined.view().into(), protos_i8.view().into()]
                        };
                        decoder
                            .decode_tracked_quantized_proto(
                                &mut tracker,
                                0,
                                &inputs,
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();
                    }
                    assert_eq!(output_boxes.len(), 2);
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));

                    // Zero scores for frame 2
                    if is_split {
                        for score in scores_split.iter_mut() {
                            *score = i8::MIN;
                        }
                    } else {
                        for score in boxes_combined.slice_mut(s![0, 4..84, ..]).iter_mut() {
                            *score = i8::MIN;
                        }
                    }

                    let proto_result = {
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = if is_split {
                            vec![
                                boxes_split.view().into(),
                                scores_split.view().into(),
                                mask_split.view().into(),
                                protos_i8.view().into(),
                            ]
                        } else {
                            vec![boxes_combined.view().into(), protos_i8.view().into()]
                        };
                        decoder
                            .decode_tracked_quantized_proto(
                                &mut tracker,
                                100_000_000 / 3,
                                &inputs,
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap()
                    };
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1e-6));
                    assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                } else {
                    let mut output_masks = Vec::with_capacity(50);
                    {
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = if is_split {
                            vec![
                                boxes_split.view().into(),
                                scores_split.view().into(),
                                mask_split.view().into(),
                                protos_i8.view().into(),
                            ]
                        } else {
                            vec![boxes_combined.view().into(), protos_i8.view().into()]
                        };
                        decoder
                            .decode_tracked_quantized(
                                &mut tracker,
                                0,
                                &inputs,
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                    }
                    assert_eq!(output_boxes.len(), 2);
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));

                    if is_split {
                        for score in scores_split.iter_mut() {
                            *score = i8::MIN;
                        }
                    } else {
                        for score in boxes_combined.slice_mut(s![0, 4..84, ..]).iter_mut() {
                            *score = i8::MIN;
                        }
                    }

                    {
                        let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = if is_split {
                            vec![
                                boxes_split.view().into(),
                                scores_split.view().into(),
                                mask_split.view().into(),
                                protos_i8.view().into(),
                            ]
                        } else {
                            vec![boxes_combined.view().into(), protos_i8.view().into()]
                        };
                        decoder
                            .decode_tracked_quantized(
                                &mut tracker,
                                100_000_000 / 3,
                                &inputs,
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                    }
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1e-6));
                    assert!(output_masks.is_empty());
                }
            }
        };
        ($name:ident, float, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;
                let quant_boxes = (0.021287762_f32, 31_i32);
                let quant_protos = (0.02491162_f32, -117_i32);

                let raw_boxes = edgefirst_bench::testdata::read("yolov8_boxes_116x8400.bin");
                let raw_boxes = unsafe {
                    std::slice::from_raw_parts(raw_boxes.as_ptr() as *const i8, raw_boxes.len())
                };
                let boxes_i8 =
                    ndarray::Array3::from_shape_vec((1, 116, 8400), raw_boxes.to_vec()).unwrap();
                let boxes_f32 = dequantize_ndarray(boxes_i8.view(), quant_boxes.into());

                let raw_protos = edgefirst_bench::testdata::read("yolov8_protos_160x160x32.bin");
                let raw_protos = unsafe {
                    std::slice::from_raw_parts(raw_protos.as_ptr() as *const i8, raw_protos.len())
                };
                let protos_i8 =
                    ndarray::Array4::from_shape_vec((1, 160, 160, 32), raw_protos.to_vec())
                        .unwrap();
                let protos_f32 = dequantize_ndarray(protos_i8.view(), quant_protos.into());

                // Pre-split from dequantized data
                let mask_split = boxes_f32.slice(s![.., 84.., ..]).to_owned();
                let mut scores_split = boxes_f32.slice(s![.., 4..84, ..]).to_owned();
                let boxes_split = boxes_f32.slice(s![.., ..4, ..]).to_owned();
                let mut boxes_combined = boxes_f32;

                let decoder = if is_split {
                    build_yolo_split_segdet_decoder(
                        score_threshold,
                        iou_threshold,
                        quant_boxes,
                        quant_protos,
                    )
                } else {
                    build_yolov8_seg_decoder(score_threshold, iou_threshold)
                };

                let expected = real_data_expected_boxes();
                let mut tracker = ByteTrackBuilder::new()
                    .track_update(0.1)
                    .track_high_conf(0.7)
                    .build();
                let mut output_boxes = Vec::with_capacity(50);
                let mut output_tracks = Vec::with_capacity(50);

                if is_proto {
                    {
                        let inputs = if is_split {
                            vec![
                                boxes_split.view().into_dyn(),
                                scores_split.view().into_dyn(),
                                mask_split.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        } else {
                            vec![
                                boxes_combined.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        };
                        decoder
                            .decode_tracked_float_proto(
                                &mut tracker,
                                0,
                                &inputs,
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();
                    }
                    assert_eq!(output_boxes.len(), 2);
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));

                    if is_split {
                        for score in scores_split.iter_mut() {
                            *score = 0.0;
                        }
                    } else {
                        for score in boxes_combined.slice_mut(s![0, 4..84, ..]).iter_mut() {
                            *score = 0.0;
                        }
                    }

                    let proto_result = {
                        let inputs = if is_split {
                            vec![
                                boxes_split.view().into_dyn(),
                                scores_split.view().into_dyn(),
                                mask_split.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        } else {
                            vec![
                                boxes_combined.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        };
                        decoder
                            .decode_tracked_float_proto(
                                &mut tracker,
                                100_000_000 / 3,
                                &inputs,
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap()
                    };
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1e-6));
                    assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                } else {
                    let mut output_masks = Vec::with_capacity(50);
                    {
                        let inputs = if is_split {
                            vec![
                                boxes_split.view().into_dyn(),
                                scores_split.view().into_dyn(),
                                mask_split.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        } else {
                            vec![
                                boxes_combined.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        };
                        decoder
                            .decode_tracked_float(
                                &mut tracker,
                                0,
                                &inputs,
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                    }
                    assert_eq!(output_boxes.len(), 2);
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1.0 / 160.0));

                    if is_split {
                        for score in scores_split.iter_mut() {
                            *score = 0.0;
                        }
                    } else {
                        for score in boxes_combined.slice_mut(s![0, 4..84, ..]).iter_mut() {
                            *score = 0.0;
                        }
                    }

                    {
                        let inputs = if is_split {
                            vec![
                                boxes_split.view().into_dyn(),
                                scores_split.view().into_dyn(),
                                mask_split.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        } else {
                            vec![
                                boxes_combined.view().into_dyn(),
                                protos_f32.view().into_dyn(),
                            ]
                        };
                        decoder
                            .decode_tracked_float(
                                &mut tracker,
                                100_000_000 / 3,
                                &inputs,
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                    }
                    assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                    assert!(output_boxes[1].equal_within_delta(&expected[1], 1e-6));
                    assert!(output_masks.is_empty());
                }
            }
        };
    }

    real_data_tracked_test!(test_decoder_tracked_segdet, quantized, combined, masks);
    real_data_tracked_test!(test_decoder_tracked_segdet_float, float, combined, masks);
    real_data_tracked_test!(
        test_decoder_tracked_segdet_proto,
        quantized,
        combined,
        proto
    );
    real_data_tracked_test!(
        test_decoder_tracked_segdet_proto_float,
        float,
        combined,
        proto
    );
    real_data_tracked_test!(test_decoder_tracked_segdet_split, quantized, split, masks);
    real_data_tracked_test!(test_decoder_tracked_segdet_split_float, float, split, masks);
    real_data_tracked_test!(
        test_decoder_tracked_segdet_split_proto,
        quantized,
        split,
        proto
    );
    real_data_tracked_test!(
        test_decoder_tracked_segdet_split_proto_float,
        float,
        split,
        proto
    );

    // ─── End-to-end tracked test macro ──────────────────────────────
    //
    // Generates tests with synthetic data to exercise all tracked
    // decode paths without needing real model output files.

    const E2E_COMBINED_CONFIG: &str = "
decoder_version: yolo26
outputs:
 - type: detection
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 38]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_features, 38]
   normalized: true
 - type: protos
   decoder: ultralytics
   quantization: [0.0039215686274509803921568627451, 128]
   shape: [1, 160, 160, 32]
   dshape:
    - [batch, 1]
    - [height, 160]
    - [width, 160]
    - [num_protos, 32]
";

    const E2E_SPLIT_CONFIG: &str = "
decoder_version: yolo26
outputs:
 - type: boxes
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 4]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [box_coords, 4]
   normalized: true
 - type: scores
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 1]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_classes, 1]
 - type: classes
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 1]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_classes, 1]
 - type: mask_coefficients
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 32]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_protos, 32]
 - type: protos
   decoder: ultralytics
   quantization: [0.0039215686274509803921568627451, 128]
   shape: [1, 160, 160, 32]
   dshape:
    - [batch, 1]
    - [height, 160]
    - [width, 160]
    - [num_protos, 32]
";

    macro_rules! e2e_tracked_test {
        ($name:ident, quantized, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array2::zeros((10, 4));
                let mut scores = Array2::zeros((10, 1));
                let mut classes = Array2::zeros((10, 1));
                let mask = Array2::zeros((10, 32));
                let protos = Array3::<f64>::zeros((160, 160, 32));
                let protos = protos.insert_axis(Axis(0));
                let protos_quant = (1.0 / 255.0, 0.0);
                let protos: Array4<u8> = quantize_ndarray(protos.view(), protos_quant.into());

                boxes
                    .slice_mut(s![0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, ..]).assign(&array![2.0]);

                let detect_quant = (2.0 / 255.0, 0.0);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                let expected = e2e_expected_boxes_quant();
                let mut tracker = ByteTrackBuilder::new()
                    .track_update(0.1)
                    .track_high_conf(0.7)
                    .build();
                let mut output_boxes = Vec::with_capacity(50);
                let mut output_tracks = Vec::with_capacity(50);

                if is_split {
                    let boxes = boxes.insert_axis(Axis(0));
                    let scores = scores.insert_axis(Axis(0));
                    let classes = classes.insert_axis(Axis(0));
                    let mask = mask.insert_axis(Axis(0));

                    let boxes: Array3<u8> = quantize_ndarray(boxes.view(), detect_quant.into());
                    let mut scores: Array3<u8> =
                        quantize_ndarray(scores.view(), detect_quant.into());
                    let classes: Array3<u8> = quantize_ndarray(classes.view(), detect_quant.into());
                    let mask: Array3<u8> = quantize_ndarray(mask.view(), detect_quant.into());

                    if is_proto {
                        {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                                boxes.view().into(),
                                scores.view().into(),
                                classes.view().into(),
                                mask.view().into(),
                                protos.view().into(),
                            ];
                            decoder
                                .decode_tracked_quantized_proto(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = u8::MIN;
                        }
                        let proto_result = {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                                boxes.view().into(),
                                scores.view().into(),
                                classes.view().into(),
                                mask.view().into(),
                                protos.view().into(),
                            ];
                            decoder
                                .decode_tracked_quantized_proto(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap()
                        };
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                                boxes.view().into(),
                                scores.view().into(),
                                classes.view().into(),
                                mask.view().into(),
                                protos.view().into(),
                            ];
                            decoder
                                .decode_tracked_quantized(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = u8::MIN;
                        }
                        {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> = vec![
                                boxes.view().into(),
                                scores.view().into(),
                                classes.view().into(),
                                mask.view().into(),
                                protos.view().into(),
                            ];
                            decoder
                                .decode_tracked_quantized(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                } else {
                    // Combined layout
                    let detect = ndarray::concatenate![
                        Axis(1),
                        boxes.view(),
                        scores.view(),
                        classes.view(),
                        mask.view()
                    ];
                    let detect = detect.insert_axis(Axis(0));
                    assert_eq!(detect.shape(), &[1, 10, 38]);
                    let mut detect: Array3<u8> =
                        quantize_ndarray(detect.view(), detect_quant.into());

                    if is_proto {
                        {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                                vec![detect.view().into(), protos.view().into()];
                            decoder
                                .decode_tracked_quantized_proto(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = u8::MIN;
                        }
                        let proto_result = {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                                vec![detect.view().into(), protos.view().into()];
                            decoder
                                .decode_tracked_quantized_proto(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap()
                        };
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                                vec![detect.view().into(), protos.view().into()];
                            decoder
                                .decode_tracked_quantized(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = u8::MIN;
                        }
                        {
                            let inputs: Vec<crate::decoder::ArrayViewDQuantized<'_>> =
                                vec![detect.view().into(), protos.view().into()];
                            decoder
                                .decode_tracked_quantized(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                }
            }
        };
        ($name:ident, float, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array2::zeros((10, 4));
                let mut scores = Array2::zeros((10, 1));
                let mut classes = Array2::zeros((10, 1));
                let mask: Array2<f64> = Array2::zeros((10, 32));
                let protos = Array3::<f64>::zeros((160, 160, 32));
                let protos = protos.insert_axis(Axis(0));

                boxes
                    .slice_mut(s![0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, ..]).assign(&array![2.0]);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                let expected = e2e_expected_boxes_float();
                let mut tracker = ByteTrackBuilder::new()
                    .track_update(0.1)
                    .track_high_conf(0.7)
                    .build();
                let mut output_boxes = Vec::with_capacity(50);
                let mut output_tracks = Vec::with_capacity(50);

                if is_split {
                    let boxes = boxes.insert_axis(Axis(0));
                    let mut scores = scores.insert_axis(Axis(0));
                    let classes = classes.insert_axis(Axis(0));
                    let mask = mask.insert_axis(Axis(0));

                    if is_proto {
                        {
                            let inputs = vec![
                                boxes.view().into_dyn(),
                                scores.view().into_dyn(),
                                classes.view().into_dyn(),
                                mask.view().into_dyn(),
                                protos.view().into_dyn(),
                            ];
                            decoder
                                .decode_tracked_float_proto(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = 0.0;
                        }
                        let proto_result = {
                            let inputs = vec![
                                boxes.view().into_dyn(),
                                scores.view().into_dyn(),
                                classes.view().into_dyn(),
                                mask.view().into_dyn(),
                                protos.view().into_dyn(),
                            ];
                            decoder
                                .decode_tracked_float_proto(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap()
                        };
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        {
                            let inputs = vec![
                                boxes.view().into_dyn(),
                                scores.view().into_dyn(),
                                classes.view().into_dyn(),
                                mask.view().into_dyn(),
                                protos.view().into_dyn(),
                            ];
                            decoder
                                .decode_tracked_float(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = 0.0;
                        }
                        {
                            let inputs = vec![
                                boxes.view().into_dyn(),
                                scores.view().into_dyn(),
                                classes.view().into_dyn(),
                                mask.view().into_dyn(),
                                protos.view().into_dyn(),
                            ];
                            decoder
                                .decode_tracked_float(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                } else {
                    // Combined layout
                    let detect = ndarray::concatenate![
                        Axis(1),
                        boxes.view(),
                        scores.view(),
                        classes.view(),
                        mask.view()
                    ];
                    let mut detect = detect.insert_axis(Axis(0));
                    assert_eq!(detect.shape(), &[1, 10, 38]);

                    if is_proto {
                        {
                            let inputs = vec![detect.view().into_dyn(), protos.view().into_dyn()];
                            decoder
                                .decode_tracked_float_proto(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = 0.0;
                        }
                        let proto_result = {
                            let inputs = vec![detect.view().into_dyn(), protos.view().into_dyn()];
                            decoder
                                .decode_tracked_float_proto(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_tracks,
                                )
                                .unwrap()
                        };
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let mut output_masks = Vec::with_capacity(50);
                        {
                            let inputs = vec![detect.view().into_dyn(), protos.view().into_dyn()];
                            decoder
                                .decode_tracked_float(
                                    &mut tracker,
                                    0,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = 0.0;
                        }
                        {
                            let inputs = vec![detect.view().into_dyn(), protos.view().into_dyn()];
                            decoder
                                .decode_tracked_float(
                                    &mut tracker,
                                    100_000_000 / 3,
                                    &inputs,
                                    &mut output_boxes,
                                    &mut output_masks,
                                    &mut output_tracks,
                                )
                                .unwrap();
                        }
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                }
            }
        };
    }

    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet,
        quantized,
        combined,
        masks
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_float,
        float,
        combined,
        masks
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_proto,
        quantized,
        combined,
        proto
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_proto_float,
        float,
        combined,
        proto
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_split,
        quantized,
        split,
        masks
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_split_float,
        float,
        split,
        masks
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_split_proto,
        quantized,
        split,
        proto
    );
    e2e_tracked_test!(
        test_decoder_tracked_end_to_end_segdet_split_proto_float,
        float,
        split,
        proto
    );

    // ─── End-to-end tracked TensorDyn test macro ────────────────────
    //
    // Same as e2e_tracked_test but wraps data in TensorDyn and exercises
    // the public decode_tracked / decode_proto_tracked API.

    macro_rules! e2e_tracked_tensor_test {
        ($name:ident, quantized, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                use edgefirst_tensor::{Tensor, TensorMapTrait, TensorTrait};

                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array2::zeros((10, 4));
                let mut scores = Array2::zeros((10, 1));
                let mut classes = Array2::zeros((10, 1));
                let mask = Array2::zeros((10, 32));
                let protos_f64 = Array3::<f64>::zeros((160, 160, 32));
                let protos_f64 = protos_f64.insert_axis(Axis(0));
                let protos_quant = (1.0 / 255.0, 0.0);
                let protos_u8: Array4<u8> =
                    quantize_ndarray(protos_f64.view(), protos_quant.into());

                boxes
                    .slice_mut(s![0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, ..]).assign(&array![2.0]);

                let detect_quant = (2.0 / 255.0, 0.0);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                // Helper to wrap a u8 slice into a TensorDyn
                let make_u8_tensor =
                    |shape: &[usize], data: &[u8]| -> edgefirst_tensor::TensorDyn {
                        let t = Tensor::<u8>::new(shape, None, None).unwrap();
                        t.map().unwrap().as_mut_slice()[..data.len()].copy_from_slice(data);
                        t.into()
                    };

                let expected = e2e_expected_boxes_quant();
                let mut tracker = ByteTrackBuilder::new()
                    .track_update(0.1)
                    .track_high_conf(0.7)
                    .build();
                let mut output_boxes = Vec::with_capacity(50);
                let mut output_tracks = Vec::with_capacity(50);

                let protos_td = make_u8_tensor(protos_u8.shape(), protos_u8.as_slice().unwrap());

                if is_split {
                    let boxes = boxes.insert_axis(Axis(0));
                    let scores = scores.insert_axis(Axis(0));
                    let classes = classes.insert_axis(Axis(0));
                    let mask = mask.insert_axis(Axis(0));

                    let boxes_q: Array3<u8> = quantize_ndarray(boxes.view(), detect_quant.into());
                    let mut scores_q: Array3<u8> =
                        quantize_ndarray(scores.view(), detect_quant.into());
                    let classes_q: Array3<u8> =
                        quantize_ndarray(classes.view(), detect_quant.into());
                    let mask_q: Array3<u8> = quantize_ndarray(mask.view(), detect_quant.into());

                    let boxes_td = make_u8_tensor(boxes_q.shape(), boxes_q.as_slice().unwrap());
                    let classes_td =
                        make_u8_tensor(classes_q.shape(), classes_q.as_slice().unwrap());
                    let mask_td = make_u8_tensor(mask_q.shape(), mask_q.as_slice().unwrap());

                    if is_proto {
                        let scores_td =
                            make_u8_tensor(scores_q.shape(), scores_q.as_slice().unwrap());
                        decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                0,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores_q.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = u8::MIN;
                        }
                        let scores_td =
                            make_u8_tensor(scores_q.shape(), scores_q.as_slice().unwrap());
                        let proto_result = decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let scores_td =
                            make_u8_tensor(scores_q.shape(), scores_q.as_slice().unwrap());
                        let mut output_masks = Vec::with_capacity(50);
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                0,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores_q.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = u8::MIN;
                        }
                        let scores_td =
                            make_u8_tensor(scores_q.shape(), scores_q.as_slice().unwrap());
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                } else {
                    // Combined layout
                    let detect = ndarray::concatenate![
                        Axis(1),
                        boxes.view(),
                        scores.view(),
                        classes.view(),
                        mask.view()
                    ];
                    let detect = detect.insert_axis(Axis(0));
                    assert_eq!(detect.shape(), &[1, 10, 38]);
                    // Ensure contiguous layout after concatenation for as_slice()
                    let detect =
                        Array3::from_shape_vec(detect.raw_dim(), detect.iter().copied().collect())
                            .unwrap();
                    let mut detect_q: Array3<u8> =
                        quantize_ndarray(detect.view(), detect_quant.into());

                    if is_proto {
                        let detect_td =
                            make_u8_tensor(detect_q.shape(), detect_q.as_slice().unwrap());
                        decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                0,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect_q.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = u8::MIN;
                        }
                        let detect_td =
                            make_u8_tensor(detect_q.shape(), detect_q.as_slice().unwrap());
                        let proto_result = decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let detect_td =
                            make_u8_tensor(detect_q.shape(), detect_q.as_slice().unwrap());
                        let mut output_masks = Vec::with_capacity(50);
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                0,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect_q.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = u8::MIN;
                        }
                        let detect_td =
                            make_u8_tensor(detect_q.shape(), detect_q.as_slice().unwrap());
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                }
            }
        };
        ($name:ident, float, $layout:ident, $output:ident) => {
            #[test]
            fn $name() {
                use edgefirst_tensor::{Tensor, TensorMapTrait, TensorTrait};

                let is_split = matches!(stringify!($layout), "split");
                let is_proto = matches!(stringify!($output), "proto");

                let score_threshold = 0.45;
                let iou_threshold = 0.45;

                let mut boxes = Array2::zeros((10, 4));
                let mut scores = Array2::zeros((10, 1));
                let mut classes = Array2::zeros((10, 1));
                let mask: Array2<f64> = Array2::zeros((10, 32));
                let protos = Array3::<f64>::zeros((160, 160, 32));
                let protos = protos.insert_axis(Axis(0));

                boxes
                    .slice_mut(s![0, ..])
                    .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
                scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
                classes.slice_mut(s![0, ..]).assign(&array![2.0]);

                let decoder = if is_split {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_SPLIT_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                } else {
                    DecoderBuilder::default()
                        .with_config_yaml_str(E2E_COMBINED_CONFIG.to_string())
                        .with_score_threshold(score_threshold)
                        .with_iou_threshold(iou_threshold)
                        .build()
                        .unwrap()
                };

                // Helper to wrap an f64 slice into a TensorDyn
                let make_f64_tensor =
                    |shape: &[usize], data: &[f64]| -> edgefirst_tensor::TensorDyn {
                        let t = Tensor::<f64>::new(shape, None, None).unwrap();
                        t.map().unwrap().as_mut_slice()[..data.len()].copy_from_slice(data);
                        t.into()
                    };

                let expected = e2e_expected_boxes_float();
                let mut tracker = ByteTrackBuilder::new()
                    .track_update(0.1)
                    .track_high_conf(0.7)
                    .build();
                let mut output_boxes = Vec::with_capacity(50);
                let mut output_tracks = Vec::with_capacity(50);

                let protos_td = make_f64_tensor(protos.shape(), protos.as_slice().unwrap());

                if is_split {
                    let boxes = boxes.insert_axis(Axis(0));
                    let mut scores = scores.insert_axis(Axis(0));
                    let classes = classes.insert_axis(Axis(0));
                    let mask = mask.insert_axis(Axis(0));

                    let boxes_td = make_f64_tensor(boxes.shape(), boxes.as_slice().unwrap());
                    let classes_td = make_f64_tensor(classes.shape(), classes.as_slice().unwrap());
                    let mask_td = make_f64_tensor(mask.shape(), mask.as_slice().unwrap());

                    if is_proto {
                        let scores_td = make_f64_tensor(scores.shape(), scores.as_slice().unwrap());
                        decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                0,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = 0.0;
                        }
                        let scores_td = make_f64_tensor(scores.shape(), scores.as_slice().unwrap());
                        let proto_result = decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let scores_td = make_f64_tensor(scores.shape(), scores.as_slice().unwrap());
                        let mut output_masks = Vec::with_capacity(50);
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                0,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in scores.slice_mut(s![.., .., ..]).iter_mut() {
                            *score = 0.0;
                        }
                        let scores_td = make_f64_tensor(scores.shape(), scores.as_slice().unwrap());
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&boxes_td, &scores_td, &classes_td, &mask_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                } else {
                    // Combined layout
                    let detect = ndarray::concatenate![
                        Axis(1),
                        boxes.view(),
                        scores.view(),
                        classes.view(),
                        mask.view()
                    ];
                    let detect = detect.insert_axis(Axis(0));
                    assert_eq!(detect.shape(), &[1, 10, 38]);
                    // Ensure contiguous layout after concatenation for as_slice()
                    let mut detect =
                        Array3::from_shape_vec(detect.raw_dim(), detect.iter().copied().collect())
                            .unwrap();

                    if is_proto {
                        let detect_td = make_f64_tensor(detect.shape(), detect.as_slice().unwrap());
                        decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                0,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = 0.0;
                        }
                        let detect_td = make_f64_tensor(detect.shape(), detect.as_slice().unwrap());
                        let proto_result = decoder
                            .decode_proto_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(proto_result.is_some_and(|x| x.mask_coefficients.shape()[0] == 0));
                    } else {
                        let detect_td = make_f64_tensor(detect.shape(), detect.as_slice().unwrap());
                        let mut output_masks = Vec::with_capacity(50);
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                0,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();

                        assert_eq!(output_boxes.len(), 1);
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1.0 / 160.0));

                        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
                            *score = 0.0;
                        }
                        let detect_td = make_f64_tensor(detect.shape(), detect.as_slice().unwrap());
                        decoder
                            .decode_tracked(
                                &mut tracker,
                                100_000_000 / 3,
                                &[&detect_td, &protos_td],
                                &mut output_boxes,
                                &mut output_masks,
                                &mut output_tracks,
                            )
                            .unwrap();
                        assert!(output_boxes[0].equal_within_delta(&expected[0], 1e-6));
                        assert!(output_masks.is_empty());
                    }
                }
            }
        };
    }

    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet,
        quantized,
        combined,
        masks
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_float,
        float,
        combined,
        masks
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_proto,
        quantized,
        combined,
        proto
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_proto_float,
        float,
        combined,
        proto
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_split,
        quantized,
        split,
        masks
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_split_float,
        float,
        split,
        masks
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_split_proto,
        quantized,
        split,
        proto
    );
    e2e_tracked_tensor_test!(
        test_decoder_tracked_tensor_end_to_end_segdet_split_proto_float,
        float,
        split,
        proto
    );

    #[test]
    fn test_decoder_tracked_linear_motion() {
        use crate::configs::{DecoderType, Nms};
        use crate::DecoderBuilder;

        let score_threshold = 0.25;
        let iou_threshold = 0.1;
        let out = edgefirst_bench::testdata::read("yolov8s_80_classes.bin");
        let out = unsafe { std::slice::from_raw_parts(out.as_ptr() as *const i8, out.len()) };
        let mut out = Array3::from_shape_vec((1, 84, 8400), out.to_vec()).unwrap();
        let quant = (0.0040811873, -123).into();

        let decoder = DecoderBuilder::default()
            .with_config_yolo_det(
                crate::configs::Detection {
                    decoder: DecoderType::Ultralytics,
                    shape: vec![1, 84, 8400],
                    anchors: None,
                    quantization: Some(quant),
                    dshape: vec![
                        (crate::configs::DimName::Batch, 1),
                        (crate::configs::DimName::NumFeatures, 84),
                        (crate::configs::DimName::NumBoxes, 8400),
                    ],
                    normalized: Some(true),
                },
                None,
            )
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .with_nms(Some(Nms::ClassAgnostic))
            .build()
            .unwrap();

        let mut expected_boxes = [
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.5285137,
                    ymin: 0.05305544,
                    xmax: 0.87541467,
                    ymax: 0.9998909,
                },
                score: 0.5591227,
                label: 0,
            },
            DetectBox {
                bbox: BoundingBox {
                    xmin: 0.130598,
                    ymin: 0.43260583,
                    xmax: 0.35098213,
                    ymax: 0.9958097,
                },
                score: 0.33057618,
                label: 75,
            },
        ];

        let mut tracker = ByteTrackBuilder::new()
            .track_update(0.1)
            .track_high_conf(0.3)
            .build();

        let mut output_boxes = Vec::with_capacity(50);
        let mut output_masks = Vec::with_capacity(50);
        let mut output_tracks = Vec::with_capacity(50);

        decoder
            .decode_tracked_quantized(
                &mut tracker,
                0,
                &[out.view().into()],
                &mut output_boxes,
                &mut output_masks,
                &mut output_tracks,
            )
            .unwrap();

        assert_eq!(output_boxes.len(), 2);
        assert!(output_boxes[0].equal_within_delta(&expected_boxes[0], 1e-6));
        assert!(output_boxes[1].equal_within_delta(&expected_boxes[1], 1e-6));

        for i in 1..=100 {
            let mut out = out.clone();
            // introduce linear movement into the XY coordinates
            let mut x_values = out.slice_mut(s![0, 0, ..]);
            for x in x_values.iter_mut() {
                *x = x.saturating_add((i as f32 * 1e-3 / quant.0).round() as i8);
            }

            decoder
                .decode_tracked_quantized(
                    &mut tracker,
                    100_000_000 * i / 3, // simulate 33.333ms between frames
                    &[out.view().into()],
                    &mut output_boxes,
                    &mut output_masks,
                    &mut output_tracks,
                )
                .unwrap();

            assert_eq!(output_boxes.len(), 2);
        }
        let tracks = tracker.get_active_tracks();
        let predicted_boxes: Vec<_> = tracks
            .iter()
            .map(|track| {
                let mut l = track.last_box;
                l.bbox = track.info.tracked_location.into();
                l
            })
            .collect();
        expected_boxes[0].bbox.xmin += 0.1; // compensate for linear movement
        expected_boxes[0].bbox.xmax += 0.1;
        expected_boxes[1].bbox.xmin += 0.1;
        expected_boxes[1].bbox.xmax += 0.1;

        assert!(predicted_boxes[0].equal_within_delta(&expected_boxes[0], 1e-3));
        assert!(predicted_boxes[1].equal_within_delta(&expected_boxes[1], 1e-3));

        // give the decoder a final frame with no detections to ensure tracks are properly predicting forward when detection is missing
        let mut scores_values = out.slice_mut(s![0, 4.., ..]);
        for score in scores_values.iter_mut() {
            *score = i8::MIN; // set all scores to minimum to simulate no detections
        }
        decoder
            .decode_tracked_quantized(
                &mut tracker,
                100_000_000 * 101 / 3,
                &[out.view().into()],
                &mut output_boxes,
                &mut output_masks,
                &mut output_tracks,
            )
            .unwrap();
        expected_boxes[0].bbox.xmin += 0.001; // compensate for expected movement
        expected_boxes[0].bbox.xmax += 0.001;
        expected_boxes[1].bbox.xmin += 0.001;
        expected_boxes[1].bbox.xmax += 0.001;

        assert!(output_boxes[0].equal_within_delta(&expected_boxes[0], 1e-3));
        assert!(output_boxes[1].equal_within_delta(&expected_boxes[1], 1e-3));
    }

    #[test]
    fn test_decoder_tracked_end_to_end_float() {
        let score_threshold = 0.45;
        let iou_threshold = 0.45;

        let mut boxes = Array2::zeros((10, 4));
        let mut scores = Array2::zeros((10, 1));
        let mut classes = Array2::zeros((10, 1));

        boxes
            .slice_mut(s![0, ..,])
            .assign(&array![0.1234, 0.1234, 0.2345, 0.2345]);
        scores.slice_mut(s![0, ..]).assign(&array![0.9876]);
        classes.slice_mut(s![0, ..]).assign(&array![2.0]);

        let detect = ndarray::concatenate![Axis(1), boxes.view(), scores.view(), classes.view(),];
        let mut detect = detect.insert_axis(Axis(0));
        assert_eq!(detect.shape(), &[1, 10, 6]);
        let config = "
decoder_version: yolo26
outputs:
 - type: detection
   decoder: ultralytics
   quantization: [0.00784313725490196, 0]
   shape: [1, 10, 6]
   dshape:
    - [batch, 1]
    - [num_boxes, 10]
    - [num_features, 6]
   normalized: true
";

        let decoder = DecoderBuilder::default()
            .with_config_yaml_str(config.to_string())
            .with_score_threshold(score_threshold)
            .with_iou_threshold(iou_threshold)
            .build()
            .unwrap();

        let expected_boxes = [DetectBox {
            bbox: BoundingBox {
                xmin: 0.1234,
                ymin: 0.1234,
                xmax: 0.2345,
                ymax: 0.2345,
            },
            score: 0.9876,
            label: 2,
        }];

        let mut tracker = ByteTrackBuilder::new()
            .track_update(0.1)
            .track_high_conf(0.7)
            .build();

        let mut output_boxes = Vec::with_capacity(50);
        let mut output_masks = Vec::with_capacity(50);
        let mut output_tracks = Vec::with_capacity(50);

        decoder
            .decode_tracked_float(
                &mut tracker,
                0,
                &[detect.view().into_dyn()],
                &mut output_boxes,
                &mut output_masks,
                &mut output_tracks,
            )
            .unwrap();

        assert_eq!(output_boxes.len(), 1);
        assert!(output_boxes[0].equal_within_delta(&expected_boxes[0], 1e-6));

        // give the decoder a final frame with no detections to ensure tracks are properly predicting forward when detection is missing

        for score in detect.slice_mut(s![.., .., 4]).iter_mut() {
            *score = 0.0; // set all scores to minimum to simulate no detections
        }

        decoder
            .decode_tracked_float(
                &mut tracker,
                100_000_000 / 3,
                &[detect.view().into_dyn()],
                &mut output_boxes,
                &mut output_masks,
                &mut output_tracks,
            )
            .unwrap();
        assert!(output_boxes[0].equal_within_delta(&expected_boxes[0], 1e-6));
    }
}