benchmark.py

# Copyright 2021 Yan Yan
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import time
from pathlib import Path

import numpy as np
import torch
from torch import nn
from cumm import tensorview as tv
from spconv.core import ConvAlgo

import spconv.pytorch as spconv
from spconv.utils import Point2VoxelCPU3d, Point2VoxelGPU3d

# torch.backends.cudnn.enabled = False
def waymo_data(batch_size=1, num_features=-1):
    gen = Point2VoxelCPU3d([0.1, 0.1, 0.1], [-80, -80, -2, 80, 80, 6], 3,
                           150000, 1)
    # gen = VoxelGeneratorV2([0.1, 0.1, 0.1], [-80, -80, -2, 80, 80, 6], 1,
    #                        150000)
    data = np.load(Path(__file__).parent / "data" / "benchmark-pc.npz")
    pc = np.ascontiguousarray(data["pc"])
    voxels_tv, indices_tv, _ = gen.point_to_voxel(tv.from_numpy(pc))
    voxels = voxels_tv.numpy().reshape(-1, 3)

    if num_features > 0:
        voxels = np.zeros((voxels.shape[0], num_features), dtype=voxels.dtype)
    print(voxels.shape)
    coors = indices_tv.numpy()
    N = coors.shape[0]
    coors = np.concatenate([np.full([N, 1], 0, coors.dtype), coors], axis=1)
    return voxels, coors, gen.grid_size

def waymo_data_large(batch_size=1):
    gen = Point2VoxelGPU3d([0.1, 0.1, 0.1], [-80, -80, -2, 8000, 8000, 6], 3,
                           1600000, 1)
    # gen = VoxelGeneratorV2([0.1, 0.1, 0.1], [-80, -80, -2, 80, 80, 6], 1,
    #                        150000)
    data = np.load(Path(__file__).parent / "data" / "benchmark-pc.npz")
    pc = np.ascontiguousarray(data["pc"])
    pcs = [pc]
    # for i in range(7):
    #     pc2 = pc.copy()
    #     pc2[:, 1] += i + 1
    #     pcs.append(pc2)

    pc = np.concatenate(pcs)
    print(pc.shape)
    voxels_tv, indices_tv, _ = gen.point_to_voxel_hash(tv.from_numpy(pc).cuda())
    voxels = voxels_tv.cpu().numpy().reshape(-1, 3)
    coors = indices_tv.cpu().numpy()
    N = coors.shape[0]
    print("num voxels", N, gen.grid_size)
    # breakpoint()
    coors = np.concatenate([np.full([N, 1], 0, coors.dtype), coors], axis=1)
    return voxels, coors, gen.grid_size


class Net(nn.Module):
    def __init__(self, shape, algo):
        super().__init__()
        pool_algo = algo
        # pool_algo = ConvAlgo.Native
        self.net = spconv.SparseSequential(
            spconv.SubMConv3d(3, 64, 3, bias=False, indice_key="c0",
                              algo=algo),
            # spconv.SubMConv3d(32,
            #                   32,
            #                   3,
            #                   bias=False,
            #                   indice_key="c0",
            #                   algo=algo),
            # # nn.BatchNorm1d(32),
            # # nn.ReLU(),
            # # spconv.SparseConv3d(64, 64, 2, 2, bias=False,
            # #                   algo=algo),
            # spconv.SubMConv3d(32, 64, 3, bias=False, indice_key="c0",
            #                   algo=algo),

            # spconv.SubMConv3d(64, 64, 3, bias=False, indice_key="c0",
            #                   algo=algo),
            # spconv.SubMConv3d(32,
            #                   32,
            #                   3,
            #                   bias=False,
            #                   indice_key="c0",
            #                   algo=algo),
            # # nn.BatchNorm1d(32),
            # # nn.ReLU(),
            # # spconv.SparseConv3d(64, 64, 2, 2, bias=False,
            # #                   algo=algo),
            # spconv.SubMConv3d(32, 64, 3, bias=False, indice_key="c0",
            #                   algo=algo),
            spconv.SubMConv3d(64,
                              64,
                              3,
                              bias=False,
                              indice_key="c0",
                              algo=algo),
            # nn.BatchNorm1d(32),
            # nn.ReLU(),
            # spconv.SparseConv3d(64, 64, 2, 2, bias=False, indice_key="m0"),
            spconv.SparseMaxPool3d(2, 2, algo=pool_algo),
            spconv.SubMConv3d(64,
                              96,
                              3,
                              bias=False,
                              indice_key="c1",
                              algo=algo),
            spconv.SubMConv3d(96,
                              96,
                              3,
                              bias=False,
                              indice_key="c1",
                              algo=algo),
            # nn.BatchNorm1d(64),
            # nn.ReLU(),
            # spconv.SparseConv3d(96, 96, 2, 2, bias=False, indice_key="m1"),
            spconv.SparseMaxPool3d(2, 2, algo=pool_algo),
            spconv.SubMConv3d(96,
                              128,
                              3,
                              bias=False,
                              indice_key="c2",
                              algo=algo),
            spconv.SubMConv3d(128,
                              128,
                              3,
                              bias=False,
                              indice_key="c2",
                              algo=algo),
            # nn.BatchNorm1d(128),
            # nn.ReLU(),
            # spconv.SparseConv3d(128, 128, 2, 2, bias=False, indice_key="m2"),
            spconv.SparseMaxPool3d(2, 2, algo=pool_algo),
            spconv.SubMConv3d(128,
                              160,
                              3,
                              bias=False,
                              indice_key="c3",
                              algo=algo),
            spconv.SubMConv3d(160,
                              160,
                              3,
                              bias=False,
                              indice_key="c3",
                              algo=algo),
            # nn.BatchNorm1d(128),
            # nn.ReLU(),
            # spconv.SparseConv3d(160, 160, 2, 2, bias=False, indice_key="m3"),
            spconv.SparseMaxPool3d(2, 2, algo=pool_algo),
            spconv.SubMConv3d(160,
                              192,
                              3,
                              bias=False,
                              indice_key="c4",
                              algo=algo),
            spconv.SubMConv3d(192,
                              192,
                              3,
                              bias=False,
                              indice_key="c4",
                              algo=algo),
            # nn.BatchNorm1d(128),
            # nn.ReLU(),
            spconv.SparseMaxPool3d(2, 2, indice_key="m4", algo=pool_algo),
            # spconv.SparseConv3d(192, 192, 2, 2, bias=False, indice_key="m4"),
            spconv.SubMConv3d(192,
                              224,
                              3,
                              bias=False,
                              indice_key="c5",
                              algo=algo),
            spconv.SubMConv3d(224,
                              224,
                              3,
                              bias=False,
                              indice_key="c5",
                              algo=algo),
            # nn.BatchNorm1d(224),
            # nn.ReLU(),
            # spconv.SparseConv3d(224, 224, 2, 2, bias=False, indice_key="m5"),
            spconv.SparseMaxPool3d(2, 2, indice_key="m5", algo=pool_algo),
            spconv.SubMConv3d(224,
                              256,
                              3,
                              bias=False,
                              indice_key="c6",
                              algo=algo),
            spconv.SubMConv3d(256,
                              256,
                              3,
                              bias=False,
                              indice_key="c6",
                              algo=algo),

            # nn.BatchNorm1d(256),
            # nn.ReLU(),

            # spconv.SparseInverseConv3d(256, 128, 2, indice_key="m5", bias=False, algo=algo),
            # # # nn.BatchNorm1d(128),
            # # # nn.ReLU(),

            # spconv.SparseInverseConv3d(128, 64, 2, indice_key="m4", bias=False, algo=algo),
        )
        max_batch_size = 1
        # grid (dense map) is used for indice generation. use pre-allocated grid can run faster.
        # self.grid = torch.full([max_batch_size, *shape], -1,
        #                        dtype=torch.int32).cuda()
        # self.grid = None
        self.shape = shape

    def forward(self, features, coors, batch_size, enable_timer: bool = False):
        x = spconv.SparseConvTensor(features,
                                    coors,
                                    self.shape,
                                    batch_size,
                                    # self.grid,
                                    enable_timer=enable_timer)
        return self.net(x)


class Net2(nn.Module):
    def __init__(self, shape, algo):
        super().__init__()
        self.net = spconv.SparseSequential(
            spconv.SubMConv3d(3,
                              128,
                              3,
                              bias=False,
                              indice_key="c0",
                              algo=algo),
            # spconv.SubMConv3d(32,
            #                   32,
            #                   3,
            #                   bias=False,
            #                   indice_key="c0",
            #                   algo=algo),
            # # nn.BatchNorm1d(32),
            # # nn.ReLU(),
            # # spconv.SparseConv3d(64, 64, 2, 2, bias=False,
            # #                   algo=algo),
            # spconv.SubMConv3d(32, 64, 3, bias=False, indice_key="c0",
            #                   algo=algo),
            spconv.SubMConv3d(128,
                              128,
                              3,
                              bias=False,
                              indice_key="c0",
                              algo=algo),
            # nn.BatchNorm1d(32),
            # nn.ReLU(),
            # spconv.SparseMaxPool3d(2, 2),
            # spconv.SubMConv3d(256,
            #                   512,
            #                   3,
            #                   bias=False,
            #                   indice_key="c1",
            #                   algo=algo),
            # spconv.SubMConv3d(512,
            #                   512,
            #                   3,
            #                   bias=False,
            #                   indice_key="c1",
            #                   algo=algo),
        )
        max_batch_size = 1
        # grid (dense map) is used for indice generation. use pre-allocated grid can run faster.
        self.grid = torch.full([max_batch_size, *shape], -1,
                               dtype=torch.int32).cuda()
        # self.grid = None
        self.shape = shape

    def forward(self, features, coors, batch_size):
        x = spconv.SparseConvTensor(features, coors, self.shape, batch_size,
                                    self.grid)
        return self.net(x)


import numpy as np
from cumm import tensorview as tv
from spconv.core_cc.csrc.sparse.all import SpconvOps
import pickle
import torch

from spconv.pytorch.cppcore import torch_tensor_to_tv


def sort_bench():
    with open("/home/yy/asd.pkl", "rb") as f:
        a_th = pickle.load(f)
    mask_argsort = torch.empty((1, a_th.shape[1]),
                               dtype=torch.int32,
                               device=a_th.device)

    a = a_th.cpu().numpy()[0]
    a_tv = torch_tensor_to_tv(a_th)
    mask_argsort_tv = torch_tensor_to_tv(mask_argsort)
    for i in range(10):
        a_tv_1 = a_tv.clone()
        SpconvOps.sort_1d_by_key(a_tv_1[0], mask_argsort_tv[0])
import json

def main():
    import pickle

    np.random.seed(50051)
    torch.manual_seed(50051)
    # voxels, coors, spatial_shape = waymo_data(num_features=3)
    # with open(Path(__file__).parent / "data" / "test_spconv.pkl", "rb") as f:
    #     (voxels, coors, spatial_shape) = pickle.load(f)
    voxels, coors, spatial_shape = waymo_data_large()
    # breakpoint()

    print(spatial_shape)
    print(voxels.shape)
    # voxels = voxels[:100]
    # coors = coors[:100]
    dtype = torch.float16
    device = torch.device("cuda:0")
    voxels_th = torch.from_numpy(voxels).to(device).to(dtype)
    coors_th = torch.from_numpy(coors).to(device).int()
    voxels_th.requires_grad = True
    algo = spconv.ConvAlgo.MaskImplicitGemm
    print("ALGO")
    # 3080 Laptop
    # MaskImpGemm: 11.2ms
    # MaskSplitImpGemm: 12.2ms
    # Native: 13.7ms
    # F32
    # MaskSplitImpGemm: 22ms
    # MaskImplicitGemm: 23.5ms
    # Native: 21.7ms
    # Pure Gemm
    # Native: 6.6ms
    # MaskImpGemm: 4.3ms
    # MaskSplitImpGemm: 4.0ms
    # F16 Bwd
    # MaskSplitImpGemm: 12.2ms
    # MaskImpGemm: 13.8ms
    # Native: 25.2ms

    # F32 Bwd
    # Native: 41.9ms
    # MaskImpGemm: 51.0ms
    # MaskSplitImpGemm: 41.1ms
    # algo = None
    net = Net(spatial_shape, algo).to(device).eval().to(dtype)# .train()
    # net.load_state_dict(net.state_dict())
    spconv.assign_name_for_sparse_modules(net)
    print(coors_th.shape)
    out = net(voxels_th, coors_th, 1)
    print(out.spatial_shape)
    print(voxels.mean(), voxels.max(), voxels.min())
    dout = np.random.uniform(-0.2, 0.2, out.features.shape).astype(np.float32)
    dout_t = torch.from_numpy(dout).to(device).to(dtype)

    print(out.spatial_shape, out.features.sum(1).mean(), out.features.max(),
          out.features.min())
    times = []
    show_metrics = False
    with torch.no_grad():
        for i in range(100):
            # print("------------")
            with tv.measure_duration() as measure:
                out_nograd = net(voxels_th, coors_th, 1, show_metrics)
            times.append(measure.duration)
            if show_metrics:
                timer = out_nograd._timer
                items = list(timer.get_all_pair_time().items())
                items.sort(key=lambda x: x[0])
                print("SUM TIME:",  sum([x[1] for x in items]))
                print(json.dumps(dict(items), indent=2))
                inds_sum = 0
                for k, v in items:
                    if "gen_pairs" in k:
                        inds_sum += v 
                print("SUM GEN INDS:",  inds_sum)

    # state = net.state_dict()
    # state.pop("net.2.max_num_voxels_during_training")
    # net.load_state_dict(state)
    # breakpoint()
    print("spconv time", np.mean(times[10:]))
    # times = []

    # for i in range(10):
    #     out = net(voxels_th, coors_th, 1)
    #     print("------------")
    #     torch.cuda.synchronize()
    #     t = time.time()
    #     out.features.backward(dout_t)
    #     torch.cuda.synchronize()
    #     times.append(time.time() - t)

    # # # print((net.grid == -1).float().sum(), net.grid.numel())
    # # # print("spconv time", time.time() - t)
    # print("spconv bw time", np.mean(times[5:]))


if __name__ == "__main__":
    main()