Add tests for NMS / Issue with NMS on GPU 1. (#1603)

* Add tests for NMS

* Fix linting errors

* Add DeviceGaurd to nms_cuda

mmdet/ops/nms/nms_wrapper.py

@@ -21,6 +21,18 @@ def nms(dets, iou_thr, device_id=None):
     Returns:
         tuple: kept bboxes and indice, which is always the same data type as
             the input.
+
+    Example:
+        >>> dets = np.array([[49.1, 32.4, 51.0, 35.9, 0.9],
+        >>>                  [49.3, 32.9, 51.0, 35.3, 0.9],
+        >>>                  [49.2, 31.8, 51.0, 35.4, 0.5],
+        >>>                  [35.1, 11.5, 39.1, 15.7, 0.5],
+        >>>                  [35.6, 11.8, 39.3, 14.2, 0.5],
+        >>>                  [35.3, 11.5, 39.9, 14.5, 0.4],
+        >>>                  [35.2, 11.7, 39.7, 15.7, 0.3]], dtype=np.float32)
+        >>> iou_thr = 0.7
+        >>> supressed, inds = nms(dets, iou_thr)
+        >>> assert len(inds) == len(supressed) == 3
     """
     # convert dets (tensor or numpy array) to tensor
     if isinstance(dets, torch.Tensor):
@@ -50,6 +62,18 @@ def nms(dets, iou_thr, device_id=None):
 
 
 def soft_nms(dets, iou_thr, method='linear', sigma=0.5, min_score=1e-3):
+    """
+    Example:
+        >>> dets = np.array([[4., 3., 5., 3., 0.9],
+        >>>                  [4., 3., 5., 4., 0.9],
+        >>>                  [3., 1., 3., 1., 0.5],
+        >>>                  [3., 1., 3., 1., 0.5],
+        >>>                  [3., 1., 3., 1., 0.4],
+        >>>                  [3., 1., 3., 1., 0.0]], dtype=np.float32)
+        >>> iou_thr = 0.7
+        >>> supressed, inds = soft_nms(dets, iou_thr, sigma=0.5)
+        >>> assert len(inds) == len(supressed) == 3
+    """
     if isinstance(dets, torch.Tensor):
         is_tensor = True
         dets_np = dets.detach().cpu().numpy()

mmdet/ops/nms/src/nms_kernel.cu

 // Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved.
 #include <ATen/ATen.h>
 #include <ATen/cuda/CUDAContext.h>
+#include <ATen/DeviceGuard.h>
 
 #include <THC/THC.h>
 #include <THC/THCDeviceUtils.cuh>
@@ -68,6 +69,10 @@ __global__ void nms_kernel(const int n_boxes, const float nms_overlap_thresh,
 
 // boxes is a N x 5 tensor
 at::Tensor nms_cuda(const at::Tensor boxes, float nms_overlap_thresh) {
+
+  // Ensure CUDA uses the input tensor device.
+  at::DeviceGuard guard(boxes.device());
+
   using scalar_t = float;
   AT_ASSERTM(boxes.type().is_cuda(), "boxes must be a CUDA tensor");
   auto scores = boxes.select(1, 4);
@@ -128,4 +133,4 @@ at::Tensor nms_cuda(const at::Tensor boxes, float nms_overlap_thresh) {
                        keep.narrow(/*dim=*/0, /*start=*/0, /*length=*/num_to_keep).to(
                          order_t.device(), keep.scalar_type())
                      }).sort(0, false));
-}
\ No newline at end of file
+}

tests/test_nms.py

+"""
+CommandLine:
+    pytest tests/test_nms.py
+"""
+import numpy as np
+import torch
+
+from mmdet.ops.nms.nms_wrapper import nms
+
+
+def test_nms_device_and_dtypes_cpu():
+    """
+    CommandLine:
+        xdoctest -m tests/test_nms.py test_nms_device_and_dtypes_cpu
+    """
+    iou_thr = 0.7
+    base_dets = np.array([[49.1, 32.4, 51.0, 35.9, 0.9],
+                          [49.3, 32.9, 51.0, 35.3, 0.9],
+                          [35.3, 11.5, 39.9, 14.5, 0.4],
+                          [35.2, 11.7, 39.7, 15.7, 0.3]])
+
+    # CPU can handle float32 and float64
+    dets = base_dets.astype(np.float32)
+    supressed, inds = nms(dets, iou_thr)
+    assert dets.dtype == supressed.dtype
+    assert len(inds) == len(supressed) == 3
+
+    dets = torch.FloatTensor(base_dets)
+    surpressed, inds = nms(dets, iou_thr)
+    assert dets.dtype == surpressed.dtype
+    assert len(inds) == len(surpressed) == 3
+
+    dets = base_dets.astype(np.float64)
+    supressed, inds = nms(dets, iou_thr)
+    assert dets.dtype == supressed.dtype
+    assert len(inds) == len(supressed) == 3
+
+    dets = torch.DoubleTensor(base_dets)
+    surpressed, inds = nms(dets, iou_thr)
+    assert dets.dtype == surpressed.dtype
+    assert len(inds) == len(surpressed) == 3
+
+
+def test_nms_device_and_dtypes_gpu():
+    """
+    CommandLine:
+        xdoctest -m tests/test_nms.py test_nms_device_and_dtypes_gpu
+    """
+    if not torch.cuda.is_available():
+        import pytest
+        pytest.skip('test requires GPU and torch+cuda')
+
+    iou_thr = 0.7
+    base_dets = np.array([[49.1, 32.4, 51.0, 35.9, 0.9],
+                          [49.3, 32.9, 51.0, 35.3, 0.9],
+                          [35.3, 11.5, 39.9, 14.5, 0.4],
+                          [35.2, 11.7, 39.7, 15.7, 0.3]])
+
+    for device_id in range(torch.cuda.device_count()):
+        print('Run NMS on device_id = {!r}'.format(device_id))
+        # GPU can handle float32 but not float64
+        dets = base_dets.astype(np.float32)
+        supressed, inds = nms(dets, iou_thr, device_id)
+        assert dets.dtype == supressed.dtype
+        assert len(inds) == len(supressed) == 3
+
+        dets = torch.FloatTensor(base_dets).to(device_id)
+        surpressed, inds = nms(dets, iou_thr)
+        assert dets.dtype == surpressed.dtype
+        assert len(inds) == len(surpressed) == 3