test_ms_deformable_attn.py

# Copyright (c) OpenMMLab. All rights reserved.
import pytest
import torch

from mmcv.ops.multi_scale_deform_attn import (
    MultiScaleDeformableAttention, MultiScaleDeformableAttnFunction,
    multi_scale_deformable_attn_pytorch)
from mmcv.utils import IS_CUDA_AVAILABLE, IS_MLU_AVAILABLE, IS_NPU_AVAILABLE

_USING_PARROTS = True
_IS_AUTOCAST_AVAILABLE = True
try:
    from parrots.autograd import gradcheck
except ImportError:
    from torch.autograd import gradcheck
    _USING_PARROTS = False

try:
    # If PyTorch version >= 1.6.0 and fp16 is enabled, torch.cuda.amp.autocast
    # would be imported and used; we should test if our modules support it.
    from torch.cuda.amp import autocast
except ImportError:
    _IS_AUTOCAST_AVAILABLE = False
    pass


@pytest.mark.parametrize('device', [
    'cpu',
    pytest.param(
        'cuda:0',
        marks=pytest.mark.skipif(
            not IS_CUDA_AVAILABLE, reason='requires CUDA support')),
    pytest.param(
        'mlu',
        marks=pytest.mark.skipif(
            not IS_MLU_AVAILABLE, reason='requires MLU support'))
])
def test_multiscale_deformable_attention(device):
    with pytest.raises(ValueError):
        # embed_dims must be divisible by num_heads,
        MultiScaleDeformableAttention(
            embed_dims=256,
            num_heads=7,
        )
    device = torch.device(device)
    msda = MultiScaleDeformableAttention(
        embed_dims=3, num_levels=2, num_heads=3)
    msda.init_weights()
    num_query = 5
    bs = 1
    embed_dims = 3
    query = torch.rand(num_query, bs, embed_dims).to(device)
    key = torch.rand(num_query, bs, embed_dims).to(device)
    spatial_shapes = torch.Tensor([[2, 2], [1, 1]]).long().to(device)
    level_start_index = torch.Tensor([0, 4]).long().to(device)
    reference_points = torch.rand(bs, num_query, 2, 2).to(device)
    msda.to(device)
    msda(
        query,
        key,
        key,
        reference_points=reference_points,
        spatial_shapes=spatial_shapes,
        level_start_index=level_start_index)

    # test with value_proj_ratio
    embed_dims = 6
    value_proj_ratio = 0.5
    query = torch.rand(num_query, bs, embed_dims).to(device)
    key = torch.rand(num_query, bs, embed_dims).to(device)
    msda = MultiScaleDeformableAttention(
        embed_dims=embed_dims,
        num_levels=2,
        num_heads=3,
        value_proj_ratio=value_proj_ratio)
    msda.init_weights()
    msda.to(device)
    msda(
        query,
        key,
        key,
        reference_points=reference_points,
        spatial_shapes=spatial_shapes,
        level_start_index=level_start_index)


def test_forward_multi_scale_deformable_attn_pytorch():
    N, M, D = 1, 2, 2
    Lq, L, P = 2, 2, 2
    shapes = torch.as_tensor([(6, 4), (3, 2)], dtype=torch.long)
    S = sum((H * W).item() for H, W in shapes)

    torch.manual_seed(3)
    value = torch.rand(N, S, M, D) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2)
    attention_weights = torch.rand(N, Lq, M, L, P) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)

    multi_scale_deformable_attn_pytorch(value.double(), shapes,
                                        sampling_locations.double(),
                                        attention_weights.double()).detach()


@pytest.mark.skipif(not IS_CUDA_AVAILABLE, reason='requires CUDA support')
def test_forward_equal_with_pytorch_double():
    N, M, D = 1, 2, 2
    Lq, L, P = 2, 2, 2
    shapes = torch.as_tensor([(6, 4), (3, 2)], dtype=torch.long)
    level_start_index = torch.cat((shapes.new_zeros(
        (1, )), shapes.prod(1).cumsum(0)[:-1]))
    S = sum((H * W).item() for H, W in shapes)

    torch.manual_seed(3)
    value = torch.rand(N, S, M, D) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2)
    attention_weights = torch.rand(N, Lq, M, L, P) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)
    im2col_step = 2
    output_pytorch = multi_scale_deformable_attn_pytorch(
        value.double(), shapes, sampling_locations.double(),
        attention_weights.double()).detach().cpu()

    output_cuda = MultiScaleDeformableAttnFunction.apply(
        value.cuda().double(), shapes.cuda(), level_start_index.cuda(),
        sampling_locations.cuda().double(),
        attention_weights.cuda().double(), im2col_step).detach().cpu()
    assert torch.allclose(output_cuda, output_pytorch)
    max_abs_err = (output_cuda - output_pytorch).abs().max()
    max_rel_err = ((output_cuda - output_pytorch).abs() /
                   output_pytorch.abs()).max()
    assert max_abs_err < 1e-18
    assert max_rel_err < 1e-15


@pytest.mark.skipif(not IS_NPU_AVAILABLE, reason='requires NPU support')
def test_forward_equal_with_pytorch_npu():
    N, M, D = 6, 4, 8
    Lq, L, P = 10000, 4, 8
    shapes = torch.as_tensor([(60, 40), (30, 20), (16, 24), (53, 32)],
                             dtype=torch.int32)
    level_start_index = torch.cat((shapes.new_zeros(
        (1, )), shapes.prod(1).cumsum(0)[:-1]))
    S = sum((H * W).item() for H, W in shapes)

    torch.manual_seed(3)
    value = torch.rand(N, S, M, D) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2)
    attention_weights = torch.rand(N, Lq, M, L, P) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)
    im2col_step = 2
    output_pytorch = multi_scale_deformable_attn_pytorch(
        value.float(), shapes, sampling_locations.float(),
        attention_weights.float()).detach().cpu()

    output_npu = MultiScaleDeformableAttnFunction.apply(
        value.npu().float(), shapes.npu(), level_start_index.npu(),
        sampling_locations.npu().float(),
        attention_weights.npu().float(), im2col_step).detach().cpu()
    assert torch.allclose(output_npu, output_pytorch)
    max_abs_err = (output_npu - output_pytorch).abs().max()
    max_rel_err = ((output_npu - output_pytorch).abs() /
                   output_pytorch.abs()).max()
    assert max_abs_err < 1e-18
    assert max_rel_err < 1e-15


@pytest.mark.parametrize('device', [
    pytest.param(
        'cuda',
        marks=pytest.mark.skipif(
            not IS_CUDA_AVAILABLE, reason='requires CUDA support')),
    pytest.param(
        'mlu',
        marks=pytest.mark.skipif(
            not IS_MLU_AVAILABLE, reason='requires MLU support'))
])
def test_forward_equal_with_pytorch_float(device):
    N, M, D = 1, 2, 2
    Lq, L, P = 2, 2, 2
    shapes = torch.as_tensor([(6, 4), (3, 2)], dtype=torch.long)
    level_start_index = torch.cat((shapes.new_zeros(
        (1, )), shapes.prod(1).cumsum(0)[:-1]))
    S = sum((H * W).item() for H, W in shapes)

    torch.manual_seed(3)
    value = torch.rand(N, S, M, D) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2)
    attention_weights = torch.rand(N, Lq, M, L, P) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)
    im2col_step = 2
    output_pytorch = multi_scale_deformable_attn_pytorch(
        value, shapes, sampling_locations, attention_weights).detach().cpu()

    output_device = MultiScaleDeformableAttnFunction.apply(
        value.to(device), shapes.to(device), level_start_index.to(device),
        sampling_locations.to(device), attention_weights.to(device),
        im2col_step).detach().cpu()
    assert torch.allclose(output_device, output_pytorch, rtol=1e-2, atol=1e-3)
    max_abs_err = (output_device - output_pytorch).abs().max()
    max_rel_err = ((output_device - output_pytorch).abs() /
                   output_pytorch.abs()).max()
    assert max_abs_err < 1e-9
    assert max_rel_err < 1e-6


@pytest.mark.skipif(
    not _IS_AUTOCAST_AVAILABLE, reason='requires autocast support')
@pytest.mark.skipif(not IS_CUDA_AVAILABLE, reason='requires CUDA support')
def test_forward_equal_with_autocast():
    N, M, D = 1, 2, 2
    Lq, L, P = 2, 2, 2
    shapes = torch.as_tensor([(6, 4), (3, 2)], dtype=torch.long)
    level_start_index = torch.cat((shapes.new_zeros(
        (1, )), shapes.prod(1).cumsum(0)[:-1]))
    S = sum((H * W).item() for H, W in shapes)

    torch.manual_seed(3)
    value = torch.rand(N, S, M, D) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2)
    attention_weights = torch.rand(N, Lq, M, L, P) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)
    im2col_step = 2
    output_pytorch = multi_scale_deformable_attn_pytorch(
        value, shapes, sampling_locations, attention_weights).detach().cpu()

    # float test
    dtype = torch.float
    with autocast(enabled=True):
        output_device = MultiScaleDeformableAttnFunction.apply(
            value.cuda().type(dtype), shapes.cuda(), level_start_index.cuda(),
            sampling_locations.cuda(), attention_weights.cuda(),
            im2col_step).detach().cpu()
    assert torch.allclose(output_device, output_pytorch, rtol=1e-2, atol=1e-3)
    max_abs_err = (output_device - output_pytorch).abs().max()
    max_rel_err = ((output_device - output_pytorch).abs() /
                   output_pytorch.abs()).max()
    assert max_abs_err < 1e-9
    assert max_rel_err < 1e-6

    # half test
    dtype = torch.half
    with autocast(enabled=True):
        output_device = MultiScaleDeformableAttnFunction.apply(
            value.cuda().type(dtype), shapes.cuda(), level_start_index.cuda(),
            sampling_locations.cuda(), attention_weights.cuda(),
            im2col_step).detach().cpu()
    assert torch.allclose(
        output_device, output_pytorch.half(), rtol=1e-2, atol=1e-3)
    max_abs_err = (output_device - output_pytorch).abs().max()
    max_rel_err = ((output_device - output_pytorch).abs() /
                   output_pytorch.abs()).max()
    assert max_abs_err < 1e-5
    assert max_rel_err < 1e-2


@pytest.mark.parametrize('device', [
    pytest.param(
        'cuda',
        marks=pytest.mark.skipif(
            not IS_CUDA_AVAILABLE, reason='requires CUDA support')),
    pytest.param(
        'mlu',
        marks=pytest.mark.skipif(
            not IS_MLU_AVAILABLE, reason='requires MLU support'))
])
@pytest.mark.parametrize('dtype', [
    torch.float,
    pytest.param(
        torch.double,
        marks=pytest.mark.skipif(
            IS_MLU_AVAILABLE,
            reason='MLU does not support for 64-bit floating point')),
    torch.half
])
@pytest.mark.parametrize('channels', [
    4,
    30,
    32,
    64,
    71,
    1025,
])
def test_gradient_numerical(channels,
                            device,
                            dtype,
                            grad_value=True,
                            grad_sampling_loc=True,
                            grad_attn_weight=True):

    N, M, _ = 1, 2, 2
    Lq, L, P = 2, 2, 2
    shapes = torch.as_tensor([(3, 2), (2, 1)], dtype=torch.long).to(device)
    level_start_index = torch.cat((shapes.new_zeros(
        (1, )), shapes.prod(1).cumsum(0)[:-1]))
    S = sum((H * W).item() for H, W in shapes)

    value = torch.rand(N, S, M, channels).to(device) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2).to(device)
    attention_weights = torch.rand(N, Lq, M, L, P).to(device) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)
    im2col_step = 2

    func = MultiScaleDeformableAttnFunction.apply

    value.requires_grad = grad_value
    sampling_locations.requires_grad = grad_sampling_loc
    attention_weights.requires_grad = grad_attn_weight
    if device == 'cuda':
        dtype = torch.double
        eps = 1e-6
    elif device == 'mlu':
        dtype = torch.float
        eps = 1e-4
    if _USING_PARROTS:
        assert gradcheck(
            func, (value.to(dtype), shapes, level_start_index,
                   sampling_locations.to(dtype), attention_weights.to(dtype),
                   im2col_step),
            no_grads=[shapes, level_start_index],
            eps=eps)
    else:
        assert gradcheck(
            func, (value.to(dtype), shapes, level_start_index,
                   sampling_locations.to(dtype), attention_weights.to(dtype),
                   im2col_step),
            eps=eps,
            atol=1e-2)


@pytest.mark.skipif(not IS_NPU_AVAILABLE, reason='requires NPU support')
def test_backward_equal_with_pytorch_npu():
    N, M, D = 6, 4, 8
    Lq, L, P = 10000, 4, 8
    shapes = torch.as_tensor([(60, 40), (30, 20), (16, 24), (53, 32)],
                             dtype=torch.int32)
    level_start_index = torch.cat((shapes.new_zeros(
        (1, )), shapes.prod(1).cumsum(0)[:-1]))
    S = sum((H * W).item() for H, W in shapes)

    torch.manual_seed(3)
    value = torch.rand(N, S, M, D) * 0.01
    sampling_locations = torch.rand(N, Lq, M, L, P, 2)
    attention_weights = torch.rand(N, Lq, M, L, P) + 1e-5
    attention_weights /= attention_weights.sum(
        -1, keepdim=True).sum(
            -2, keepdim=True)
    im2col_step = 2
    value.requires_grad = True
    sampling_locations.requires_grad = True
    attention_weights.requires_grad = True
    output_pytorch = multi_scale_deformable_attn_pytorch(
        value.float(), shapes, sampling_locations.float(),
        attention_weights.float())
    grad_output_pytorch = torch.ones_like(output_pytorch)
    output_pytorch.backward(grad_output_pytorch)
    grad_value = value.grad.detach().cpu()
    grad_location = sampling_locations.grad.detach().cpu()
    grad_attn_weight = attention_weights.grad.detach().cpu()

    value_npu = value.npu()
    shapes_npu = shapes.npu()
    level_start_index_npu = level_start_index.npu()
    sampling_locations_npu = sampling_locations.npu()
    attention_weights_npu = attention_weights.npu()
    output_npu = MultiScaleDeformableAttnFunction.apply(
        value_npu.float(), shapes_npu, level_start_index_npu,
        sampling_locations_npu.float(), attention_weights_npu.float(),
        im2col_step)
    grad_output_npu = torch.ones_like(output_npu)
    output_npu.backward(grad_output_npu)
    grad_value_npu = value_npu.grad.detach().cpu()
    grad_location_npu = sampling_locations_npu.grad.detach().cpu()
    grad_attn_weight_npu = attention_weights_npu.grad.detach().cpu()
    assert torch.allclose(grad_value_npu, grad_value)
    max_abs_err_1 = (grad_value_npu - grad_value).abs().max()
    max_rel_err_1 = ((grad_value_npu - grad_value).abs() /
                     grad_value.abs()).max()
    assert max_abs_err_1 < 1e-5
    assert max_rel_err_1 < 1e-4
    assert torch.allclose(grad_location_npu, grad_location)
    max_abs_err_2 = (grad_location_npu - grad_location).abs().max()
    max_rel_err_2 = ((grad_location_npu - grad_location).abs() /
                     grad_location.abs()).max()
    assert max_abs_err_2 < 1e-5
    assert max_rel_err_2 < 1e-4
    assert torch.allclose(grad_attn_weight_npu, grad_attn_weight)
    max_abs_err_3 = (grad_attn_weight_npu - grad_attn_weight).abs().max()
    max_rel_err_3 = ((grad_attn_weight_npu - grad_attn_weight).abs() /
                     grad_attn_weight.abs()).max()
    assert max_abs_err_3 < 1e-5
    assert max_rel_err_3 < 1e-4