Merge pull request #20138 from YashasSamaga:cuda4dnn-runtime-matmul

modules/dnn/src/cuda4dnn/csl/cublas.hpp

@@ -247,6 +247,122 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl { namespace cu
         );
     }
 
+    /** @brief Strided batched GEMM for colummn-major matrices
+     *
+     * \f$ C_i = \alpha A_i B_i + \beta C_i \f$ for a stack of matrices A, B and C indexed by i
+     *
+     * @tparam          T           matrix element type (must be `half` or `float`)
+     *
+     * @param           handle      valid cuBLAS Handle
+     * @param           transa      use transposed matrix of A_i for computation
+     * @param           transb      use transposed matrix of B_i for computation
+     * @param           rows_c      number of rows in C_i
+     * @param           cols_c      number of columns in C_i
+     * @param           common_dim  common dimension of A_i (or trans A_i) and B_i (or trans B_i)
+     * @param           alpha       scale factor for A_i B_i
+     * @param[in]       A           pointer to stack of column-major matrices A in device memory
+     * @param           lda         leading dimension of matrix A_i
+     * @param           strideA     stride between matrices in A
+     * @param[in]       B           pointer to stack of column-major matrices B in device memory
+     * @param           ldb         leading dimension of matrix B_i
+     * @param           strideB     stride between matrices in B
+     * @param           beta        scale factor for C_i
+     * @param[in,out]   C           pointer to stack of column-major matrices C in device memory
+     * @param           ldc         leading dimension of matrix C_i
+     * @param           strideC     stride between matrices in C
+     * @param           batchCount  number of matrices in the batch
+     *
+     * Exception Guarantee: Basic
+     */
+    template <class T>
+    void gemmStridedBatched(const Handle& handle,
+        bool transa, bool transb,
+        std::size_t rows_c, std::size_t cols_c, std::size_t common_dim,
+        T alpha, const DevicePtr<const T> A, std::size_t lda, std::size_t strideA,
+        const DevicePtr<const T> B, std::size_t ldb, std::size_t strideB,
+        T beta, const DevicePtr<T> C, std::size_t ldc, std::size_t strideC,
+        std::size_t batchCount);
+
+    template <> inline
+    void gemmStridedBatched<half>(const Handle& handle,
+        bool transa, bool transb,
+        std::size_t rows_c, std::size_t cols_c, std::size_t common_dim,
+        half alpha, const DevicePtr<const half> A, std::size_t lda, std::size_t strideA,
+        const DevicePtr<const half> B, std::size_t ldb, std::size_t strideB,
+        half beta, const DevicePtr<half> C, std::size_t ldc, std::size_t strideC,
+        std::size_t batchCount)
+    {
+        CV_Assert(handle);
+
+        const auto opa = transa ? CUBLAS_OP_T : CUBLAS_OP_N,
+                   opb = transb ? CUBLAS_OP_T : CUBLAS_OP_N;
+        const auto irows_c = static_cast<int>(rows_c),
+                   icols_c = static_cast<int>(cols_c),
+                   icommon_dim = static_cast<int>(common_dim),
+                   ilda = static_cast<int>(lda),
+                   ildb = static_cast<int>(ldb),
+                   ildc = static_cast<int>(ldc);
+
+        const auto batch_count = static_cast<int>(batchCount);
+        const auto stride_a = static_cast<long long int>(strideA),
+                   stride_b = static_cast<long long int>(strideB),
+                   stride_c = static_cast<long long int>(strideC);
+
+        CV_Assert(stride_c >= irows_c * icols_c); // output matrices must not overlap
+
+        CUDA4DNN_CHECK_CUBLAS(
+            cublasHgemmStridedBatched(
+                handle.get(),
+                opa, opb,
+                irows_c, icols_c, icommon_dim,
+                &alpha, A.get(), ilda, stride_a,
+                B.get(), ildb, stride_b,
+                &beta, C.get(), ildc, stride_c,
+                batch_count
+            )
+        );
+    }
+
+    template <> inline
+    void gemmStridedBatched<float>(const Handle& handle,
+        bool transa, bool transb,
+        std::size_t rows_c, std::size_t cols_c, std::size_t common_dim,
+        float alpha, const DevicePtr<const float> A, std::size_t lda, std::size_t strideA,
+        const DevicePtr<const float> B, std::size_t ldb, std::size_t strideB,
+        float beta, const DevicePtr<float> C, std::size_t ldc, std::size_t strideC,
+        std::size_t batchCount)
+    {
+        CV_Assert(handle);
+
+        const auto opa = transa ? CUBLAS_OP_T : CUBLAS_OP_N,
+                   opb = transb ? CUBLAS_OP_T : CUBLAS_OP_N;
+        const auto irows_c = static_cast<int>(rows_c),
+                   icols_c = static_cast<int>(cols_c),
+                   icommon_dim = static_cast<int>(common_dim),
+                   ilda = static_cast<int>(lda),
+                   ildb = static_cast<int>(ldb),
+                   ildc = static_cast<int>(ldc);
+
+        const auto batch_count = static_cast<int>(batchCount);
+        const auto stride_a = static_cast<long long int>(strideA),
+                   stride_b = static_cast<long long int>(strideB),
+                   stride_c = static_cast<long long int>(strideC);
+
+        CV_Assert(stride_c >= irows_c * icols_c); // output matrices must not overlap
+
+        CUDA4DNN_CHECK_CUBLAS(
+            cublasSgemmStridedBatched(
+                handle.get(),
+                opa, opb,
+                irows_c, icols_c, icommon_dim,
+                &alpha, A.get(), ilda, stride_a,
+                B.get(), ildb, stride_b,
+                &beta, C.get(), ildc, stride_c,
+                batch_count
+            )
+        );
+    }
+
 }}}}} /* namespace cv::dnn::cuda4dnn::csl::cublas */
 
 #endif /* OPENCV_DNN_SRC_CUDA4DNN_CSL_CUBLAS_HPP */

modules/dnn/src/cuda4dnn/csl/tensor.hpp

@@ -369,6 +369,26 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
             shape.erase(std::begin(shape) + axis);
         }
 
+        /** @brief squeezes the tensor
+         *
+         * removes leading singleton axes until the tensor's rank is equal to the requested rank
+         *
+         * Pre-conditions:
+         * - the tensor must be non-empty
+         * - the tensor's rank must be at least two
+         * - the tensor's rank must be at least the requested rank
+         * - the tensor must be squeezable up to the requested rank
+         *
+         * Exception Guarantee: Strong
+         */
+        void squeeze_to(int r) {
+            CV_Assert(!empty());
+            CV_Assert(rank() >= r);
+            CV_Assert(std::all_of(std::begin(shape), std::end(shape) - r, [](size_type x){ return x == 1; }));
+            std::copy(std::end(shape) - r, std::end(shape), std::begin(shape));
+            shape.resize(r);
+        }
+
         /** @brief unsqueezes the tensor
          *
          * adds a axis of unit size at the requested before the specified axis
@@ -665,6 +685,26 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
             shape.erase(std::begin(shape) + axis);
         }
 
+        /** @brief squeezes the tensor
+         *
+         * removes leading singleton axes until the tensor's rank is equal to the requested rank
+         *
+         * Pre-conditions:
+         * - the tensor must be non-empty
+         * - the tensor's rank must be at least two
+         * - the tensor's rank must be at least the requested rank
+         * - the tensor must be squeezable up to the requested rank
+         *
+         * Exception Guarantee: Strong
+         */
+        void squeeze_to(int r) {
+            CV_Assert(!empty());
+            CV_Assert(rank() >= r);
+            CV_Assert(std::all_of(std::begin(shape), std::end(shape) - r, [](size_type x){ return x == 1; }));
+            std::copy(std::end(shape) - r, std::end(shape), std::begin(shape));
+            shape.resize(r);
+        }
+
         /** @brief unsqueezes the tensor
          *
          * adds a axis of unit size at the requested before the specified axis
@@ -1010,6 +1050,26 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
             shape.erase(std::begin(shape) + axis);
         }
 
+        /** @brief squeezes the tensor
+         *
+         * removes leading singleton axes until the tensor's rank is equal to the requested rank
+         *
+         * Pre-conditions:
+         * - the tensor must be non-empty
+         * - the tensor's rank must be at least two
+         * - the tensor's rank must be at least the requested rank
+         * - the tensor must be squeezable up to the requested rank
+         *
+         * Exception Guarantee: Strong
+         */
+        void squeeze_to(int r) {
+            CV_Assert(!empty());
+            CV_Assert(rank() >= r);
+            CV_Assert(std::all_of(std::begin(shape), std::end(shape) - r, [](size_type x){ return x == 1; }));
+            std::copy(std::end(shape) - r, std::end(shape), std::begin(shape));
+            shape.resize(r);
+        }
+
         /** @brief unsqueezes the tensor
          *
          * adds a axis of unit size at the requested before the specified axis

modules/dnn/src/cuda4dnn/csl/tensor_ops.hpp

@@ -44,6 +44,30 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
                 memcpy(dest.get(), src.get(), dest.size(), stream);
         }
 
+        namespace detail {
+            template <class T>
+            void assertGEMMCompatiblity(const TensorSpan<T>& result, bool transa, const TensorView<T>& A, bool transb, const TensorView<T>& B) {
+                /* check dimension requirements for matrix multiplication */
+                if (!transa && !transb) {
+                    CV_Assert(A.get_axis_size(-2) == result.get_axis_size(-2));
+                    CV_Assert(A.get_axis_size(-1) == B.get_axis_size(-2));
+                    CV_Assert(B.get_axis_size(-1) == result.get_axis_size(-1));
+                } else if (!transa && transb) {
+                    CV_Assert(A.get_axis_size(-2) == result.get_axis_size(-2));
+                    CV_Assert(A.get_axis_size(-1) == B.get_axis_size(-1));
+                    CV_Assert(B.get_axis_size(-2) == result.get_axis_size(-1));
+                } else if (transa && !transb) {
+                    CV_Assert(A.get_axis_size(-1) == result.get_axis_size(-2));
+                    CV_Assert(A.get_axis_size(-2) == B.get_axis_size(-2));
+                    CV_Assert(B.get_axis_size(-1) == result.get_axis_size(-1));
+                } else {
+                    CV_Assert(A.get_axis_size(-1) == result.get_axis_size(-2));
+                    CV_Assert(A.get_axis_size(-2) == B.get_axis_size(-1));
+                    CV_Assert(B.get_axis_size(-2) == result.get_axis_size(-1));
+                }
+            }
+        }
+
         /** @brief performs generalized matrix-multiplication
          *
          * Pre-conditions:
@@ -54,29 +78,10 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
          */
         template <class T> inline
         void gemm(const cublas::Handle& handle, T beta, TensorSpan<T> result, T alpha, bool transa, TensorView<T> A, bool transb, TensorView<T> B) {
-            /* matrix operations can be performed only on rank two or less tensors */
-            CV_Assert(get_effective_rank(A) <= 2 &&
-                get_effective_rank(B) <= 2 &&
-                get_effective_rank(result) <= 2);
-
-            /* check dimension requirements for matrix multiplication */
-            if (!transa && !transb) {
-                CV_Assert(A.get_axis_size(-2) == result.get_axis_size(-2));
-                CV_Assert(A.get_axis_size(-1) == B.get_axis_size(-2));
-                CV_Assert(B.get_axis_size(-1) == result.get_axis_size(-1));
-            } else if (!transa && transb) {
-                CV_Assert(A.get_axis_size(-2) == result.get_axis_size(-2));
-                CV_Assert(A.get_axis_size(-1) == B.get_axis_size(-1));
-                CV_Assert(B.get_axis_size(-2) == result.get_axis_size(-1));
-            } else if (transa && !transb) {
-                CV_Assert(A.get_axis_size(-1) == result.get_axis_size(-2));
-                CV_Assert(A.get_axis_size(-2) == B.get_axis_size(-2));
-                CV_Assert(B.get_axis_size(-1) == result.get_axis_size(-1));
-            } else {
-                CV_Assert(A.get_axis_size(-1) == result.get_axis_size(-2));
-                CV_Assert(A.get_axis_size(-2) == B.get_axis_size(-1));
-                CV_Assert(B.get_axis_size(-2) == result.get_axis_size(-1));
-            }
+            /* matrix operations can be performed only on tensors with rank two or below */
+            CV_Assert(get_effective_rank(A) <= 2);
+            CV_Assert(get_effective_rank(B) <= 2);
+            CV_Assert(get_effective_rank(result) <= 2);
 
             const auto result_nr = result.get_axis_size(-2);
             const auto result_nc = result.get_axis_size(-1);
@@ -84,6 +89,8 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
             const auto A_nc = A.get_axis_size(-1);
             const auto B_nc = B.get_axis_size(-1);
 
+            detail::assertGEMMCompatiblity(result, transa, A, transb, B);
+
             /* tensors are stored in row-major but cublas::gemm operates on column-major matrices
              * a row-major matrix when read as column-major matrix gives the transpose of the intended matrix
              *
@@ -103,6 +110,47 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl {
                 beta, result.get(), result_nc);
         }
 
+        /** @brief performs generalized matrix-multiplication for a strided batch of matrices
+         *
+         * Pre-conditions:
+         * - A, B and C must be rank three tensors with dimensions (batch, rows, cols)
+         * - the last two axes of \p A and \p B must meet the mathematical requirements for matrix multiplication
+         * - \p result must be large enough to hold the result and the matrices must not overlap in memory
+         * - batch dimension should be same in \p A, \p B and \p result
+         *
+         * Exception Guarantee: Basic
+         */
+        template <class T> inline
+        void gemmStridedBatched(const cublas::Handle& handle, T beta, TensorSpan<T> result, T alpha, bool transa, TensorView<T> A, bool transb, TensorView<T> B) {
+            CV_Assert(A.rank() == 3);
+            CV_Assert(B.rank() == 3);
+            CV_Assert(result.rank() == 3);
+
+            const auto batch_size = result.get_axis_size(0);
+            CV_Assert(batch_size == A.get_axis_size(0));
+            CV_Assert(batch_size == B.get_axis_size(0));
+
+            detail::assertGEMMCompatiblity(result, transa, A, transb, B);
+
+            const auto result_nr = result.get_axis_size(-2);
+            const auto result_nc = result.get_axis_size(-1);
+            const auto common_dim = A.get_axis_size(transa ? -2 : -1);
+            const auto A_nc = A.get_axis_size(-1);
+            const auto B_nc = B.get_axis_size(-1);
+
+            std::size_t strideA = (A.size() / batch_size),
+                        strideB = (B.size() / batch_size),
+                        strideC = (result.size() / batch_size);
+
+            cublas::gemmStridedBatched<T>(handle,
+                transb, transa,
+                result_nc, result_nr, common_dim,
+                alpha, B.get(), B_nc, strideB,
+                A.get(), A_nc, strideA,
+                beta, result.get(), result_nc, strideC,
+                batch_size);
+        }
+
         /** @brief performs element-wise addition with broadcasting
          *
          * Pre-conditions:

modules/dnn/src/cuda4dnn/primitives/matmul.hpp

@@ -0,0 +1,95 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef OPENCV_DNN_SRC_CUDA4DNN_PRIMITIVES_MATMUL_HPP
+#define OPENCV_DNN_SRC_CUDA4DNN_PRIMITIVES_MATMUL_HPP
+
+#include "../../op_cuda.hpp"
+
+#include "../csl/stream.hpp"
+#include "../csl/cublas.hpp"
+#include "../csl/tensor.hpp"
+#include "../csl/tensor_ops.hpp"
+
+#include <opencv2/core.hpp>
+
+#include <utility>
+
+namespace cv { namespace dnn { namespace cuda4dnn {
+
+    template <class T>
+    class MatMulOp final : public CUDABackendNode {
+    public:
+        using wrapper_type = GetCUDABackendWrapperType<T>;
+
+        MatMulOp(csl::Stream stream_, csl::cublas::Handle handle)
+            : stream(std::move(stream_)), cublasHandle(std::move(handle))
+        {
+        }
+
+        void forward(
+            const std::vector<cv::Ptr<BackendWrapper>>& inputs,
+            const std::vector<cv::Ptr<BackendWrapper>>& outputs,
+            csl::Workspace& workspace) override
+        {
+            CV_Assert(inputs.size() == 2 && outputs.size() == 1);
+
+            auto input1_wrapper = inputs[0].dynamicCast<wrapper_type>();
+            auto input1 = input1_wrapper->getView();
+
+            auto input2_wrapper = inputs[1].dynamicCast<wrapper_type>();
+            auto input2 = input2_wrapper->getView();
+
+            auto output_wrapper = outputs[0].dynamicCast<wrapper_type>();
+            auto output = output_wrapper->getSpan();
+
+            auto rank = output.rank();
+            CV_Assert(rank == input1.rank());
+            CV_Assert(rank == input2.rank());
+            CV_Assert(rank >= 2); // 1D MatMul not supported
+
+            for (int i = 0; i < rank - 2; i++)
+            {
+                // broadcasting not supported
+                auto size = output.get_axis_size(i);
+                CV_Assert(input1.get_axis_size(i) == size);
+                CV_Assert(input2.get_axis_size(i) == size);
+            }
+
+            auto m = input1.get_axis_size(-2);
+            auto n = input1.get_axis_size(-1);
+            auto k = input2.get_axis_size(-1);
+            auto b = input1.size() / m / n;
+            CV_Assert(input2.get_axis_size(-2) == n);
+            CV_Assert(output.get_axis_size(-2) == m);
+            CV_Assert(output.get_axis_size(-1) == k);
+
+            if (get_effective_rank(output) <= 2)
+            {
+                CV_Assert(b == 1);
+                CV_Assert(get_effective_rank(input1) <= 2);
+                CV_Assert(get_effective_rank(input2) <= 2);
+                csl::tensor_ops::gemm<T>(cublasHandle, 0.0, output, 1.0, false, input1, false, input2);
+            }
+            else
+            {
+                CV_Assert(rank >= 3);
+                input1.reshape(b, m, n);
+                input2.reshape(b, n, k);
+                output.reshape(b, m, k);
+                input1.squeeze_to(3);
+                input2.squeeze_to(3);
+                output.squeeze_to(3);
+                csl::tensor_ops::gemmStridedBatched<T>(cublasHandle, 0.0, output, 1.0, false, input1, false, input2);
+            }
+        }
+
+    private:
+        csl::Stream stream;
+        csl::cublas::Handle cublasHandle;
+    };
+
+}}} /* namespace cv::dnn::cuda4dnn */
+
+#endif /* OPENCV_DNN_SRC_CUDA4DNN_PRIMITIVES_MATMUL_HPP */

modules/dnn/src/layers/fully_connected_layer.cpp

@@ -55,6 +55,7 @@ using namespace cv::dnn::ocl4dnn;
 #endif
 
 #ifdef HAVE_CUDA
+#include "../cuda4dnn/primitives/matmul.hpp"
 #include "../cuda4dnn/primitives/inner_product.hpp"
 using namespace cv::dnn::cuda4dnn;
 #endif
@@ -523,10 +524,14 @@ public:
     {
         auto context = reinterpret_cast<csl::CSLContext*>(context_);
 
-        auto input_wrapper = inputs[0].dynamicCast<CUDABackendWrapper>();
+        if (weightsMat.empty())
+        {
+            CV_Assert(!bias);
+            return make_cuda_node<cuda4dnn::MatMulOp>(preferableTarget, std::move(context->stream), std::move(context->cublas_handle));
+        }
 
+        auto input_wrapper = inputs[0].dynamicCast<CUDABackendWrapper>();
         auto flatten_start_axis = normalize_axis(axis, input_wrapper->getRank());
-
         auto biasMat_ = bias ? biasMat : Mat();
         return make_cuda_node<cuda4dnn::InnerProductOp>(preferableTarget, std::move(context->stream), std::move(context->cublas_handle), flatten_start_axis, weightsMat, biasMat_);
     }

modules/dnn/test/test_onnx_importer.cpp

@@ -485,8 +485,6 @@ TEST_P(Test_ONNX_layers, MatMul)
 {
     if (backend == DNN_BACKEND_INFERENCE_ENGINE_NN_BUILDER_2019)
         applyTestTag(CV_TEST_TAG_DNN_SKIP_IE_NN_BUILDER);
-    if (backend == DNN_BACKEND_CUDA)
-        applyTestTag(CV_TEST_TAG_DNN_SKIP_CUDA); // not supported
 
     testONNXModels("matmul_2d");
     testONNXModels("matmul_3d");
@@ -735,8 +733,6 @@ TEST_P(Test_ONNX_layers, MatmulWithTwoInputs)
 #if defined(INF_ENGINE_RELEASE) && INF_ENGINE_VER_MAJOR_LT(2020040000)
     applyTestTag(CV_TEST_TAG_DNN_SKIP_IE);
 #endif
-    if (backend == DNN_BACKEND_CUDA)
-        applyTestTag(CV_TEST_TAG_DNN_SKIP_CUDA);
     testONNXModels("matmul_with_two_inputs");
 }