[GPU] Handle negative axis in concat op (openvinotoolkit#6839)

* [clDNN] Handle negative axis in concat op

That enables following models for onnx importer path:
yolact-resnet50-fpn-pytorch
yolact-resnet101-fpn-pytorch
yolact-darknet53-fpn-pytorch
swin-tiny-patch4-window7-224
action-recognition-mkinetics-res34-mhsa
driver-action-recognition-adas-0002-decoder
horizontal-text-detection-0001

* Add tests for negative axis in Concat op

inference-engine/src/cldnn_engine/ops/concat.cpp

@@ -12,14 +12,14 @@
 namespace CLDNNPlugin {
 
 static cldnn::concatenation::concatenation_axis GetConcatAxis(int32_t axis, size_t rank) {
-    if (axis >= rank)
+    unsigned cldnn_axis = axis >= 0 ? axis : axis + static_cast<int32_t>(rank);
+    if (cldnn_axis >= rank)
         IE_THROW() << "Concatenation axis exceeds number of dimensions";
 
     // Difference in dimension ordering between IE and clDNN,
     // reverse spatial dimensions after batch and feature.
-    unsigned cldnn_axis = axis;
-    if (axis >= 2) {
-        auto spatial_axis = axis - 2;
+    if (cldnn_axis >= 2) {
+        auto spatial_axis = cldnn_axis - 2;
         // Default and minimum number of dimensions is 4
         auto spatial_size = std::max<size_t>(rank, 4) - 2;
         cldnn_axis = spatial_size - spatial_axis - 1 + 2;

inference-engine/tests/functional/plugin/cpu/shared_tests_instances/single_layer_tests/concat.cpp

@@ -11,7 +11,7 @@ using namespace LayerTestsDefinitions;
 
 namespace {
 
-std::vector<size_t >axes = {0, 1, 2, 3};
+std::vector<int> axes = {-3, -2, -1, 0, 1, 2, 3};
 std::vector<std::vector<std::vector<size_t>>> inShapes = {
         {{10, 10, 10, 10}},
         {{10, 10, 10, 10}, {10, 10, 10, 10}},
@@ -36,4 +36,4 @@ INSTANTIATE_TEST_SUITE_P(smoke_NoReshape, ConcatLayerTest,
                                 ::testing::Values(CommonTestUtils::DEVICE_CPU)),
                         ConcatLayerTest::getTestCaseName);
 
-}  // namespace
+}  // namespace

inference-engine/tests/functional/plugin/gna/shared_tests_instances/single_layer_tests/concat.cpp

@@ -11,7 +11,7 @@ using namespace LayerTestsDefinitions;
 
 namespace {
 
-std::vector<size_t > axes = {1};
+std::vector<int> axes = {1};
 std::vector<std::vector<std::vector<size_t>>> inShapes = {
         {{10, 10, 10, 10}, {10, 10, 10, 10}},
         {{10, 10, 10, 10}, {10, 10, 10, 10}, {10, 10, 10, 10}},
@@ -34,4 +34,4 @@ INSTANTIATE_TEST_SUITE_P(smoke_NoReshape, ConcatLayerTest,
                                 ::testing::Values(CommonTestUtils::DEVICE_GNA)),
                         ConcatLayerTest::getTestCaseName);
 
-}  // namespace
+}  // namespace

inference-engine/tests/functional/plugin/gpu/shared_tests_instances/single_layer_tests/concat.cpp

@@ -11,7 +11,7 @@ using namespace LayerTestsDefinitions;
 
 namespace {
 
-std::vector<size_t > axes = {0, 1, 2, 3};
+std::vector<int> axes = {-3, -2, -1, 0, 1, 2, 3};
 std::vector<std::vector<std::vector<size_t>>> inShapes = {
         {{10, 10, 10, 10}},
         {{10, 10, 10, 10}, {10, 10, 10, 10}},

inference-engine/tests/functional/plugin/myriad/shared_tests_instances/single_layer_tests/concat.cpp

@@ -10,7 +10,7 @@
 using namespace LayerTestsDefinitions;
 
 namespace {
-std::vector<size_t> axes = {0, 1, 2, 3};
+std::vector<int> axes = {0, 1, 2, 3};
 std::vector<std::vector<std::vector<size_t>>> inShapes = {
         {{10, 10, 10, 10}, {10, 10, 10, 10}},
         {{10, 10, 10, 10}, {10, 10, 10, 10}, {10, 10, 10, 10}},

inference-engine/tests/functional/shared_test_classes/include/shared_test_classes/single_layer/concat.hpp

@@ -16,8 +16,7 @@
 namespace LayerTestsDefinitions {
 
 using concatParamsTuple = typename std::tuple<
-        //TODO: according to specification axis have to be int, negative values are allowed
-        size_t,                            // Concat axis
+        int,                               // Concat axis
         std::vector<std::vector<size_t>>,  // Input shapes
         InferenceEngine::Precision,        // Network precision
         InferenceEngine::Precision,        // Input precision