citydreamer/extensions/grid_encoder/grid_encoder_ext.cu

/**
 * @File:   grid_encoder_ext.cu
 * @Author: Jiaxiang Tang (@ashawkey)
 * @Date:   2023-04-15 10:43:16
 * @Last Modified by: Haozhe Xie
 * @Last Modified at: 2023-04-29 11:47:54
 * @Email:  ashawkey1999@gmail.com
 * @Ref: https://github.com/ashawkey/torch-ngp
 */

#include <cuda.h>
#include <cuda_fp16.h>
#include <cuda_runtime.h>

#include <ATen/cuda/CUDAContext.h>
#include <torch/torch.h>

#include <algorithm>
#include <stdexcept>

#include <cstdio>
#include <stdint.h>

#define CHECK_CUDA(x)                                                          \
  TORCH_CHECK(x.device().is_cuda(), #x " must be a CUDA tensor")
#define CHECK_CONTIGUOUS(x)                                                    \
  TORCH_CHECK(x.is_contiguous(), #x " must be a contiguous tensor")
#define CHECK_IS_INT(x)                                                        \
  TORCH_CHECK(x.scalar_type() == at::ScalarType::Int,                          \
              #x " must be an int tensor")
#define CHECK_IS_FLOATING(x)                                                   \
  TORCH_CHECK(x.scalar_type() == at::ScalarType::Float ||                      \
                  x.scalar_type() == at::ScalarType::Half ||                   \
                  x.scalar_type() == at::ScalarType::Double,                   \
              #x " must be a floating tensor")

// just for compatability of half precision in
// AT_DISPATCH_FLOATING_TYPES_AND_HALF...
static inline __device__ at::Half atomicAdd(at::Half *address, at::Half val) {
  // requires CUDA >= 10 and ARCH >= 70
  // this is very slow compared to float or __half2, and never used.
  // return atomicAdd(reinterpret_cast<__half*>(address), val);
}

template <typename T>
static inline __host__ __device__ T div_round_up(T val, T divisor) {
  return (val + divisor - 1) / divisor;
}

template <uint32_t D>
__device__ uint32_t fast_hash(const uint32_t pos_grid[D]) {
  static_assert(D <= 7, "fast_hash can only hash up to 7 dimensions.");

  // While 1 is technically not a good prime for hashing (or a prime at all), it
  // helps memory coherence and is sufficient for our use case of obtaining a
  // uniformly colliding index from high-dimensional coordinates.
  constexpr uint32_t primes[7] = {1,          2654435761, 805459861, 3674653429,
                                  2097192037, 1434869437, 2165219737};

  uint32_t result = 0;
#pragma unroll
  for (uint32_t i = 0; i < D; ++i) {
    result ^= pos_grid[i] * primes[i];
  }

  return result;
}

template <uint32_t D, uint32_t C>
__device__ uint32_t get_grid_index(const uint32_t gridtype,
                                   const bool align_corners, const uint32_t ch,
                                   const uint32_t hashmap_size,
                                   const uint32_t resolution,
                                   const uint32_t pos_grid[D]) {
  uint32_t stride = 1;
  uint32_t index = 0;

#pragma unroll
  for (uint32_t d = 0; d < D && stride <= hashmap_size; d++) {
    index += pos_grid[d] * stride;
    stride *= align_corners ? resolution : (resolution + 1);
  }

  // NOTE: for NeRF, the hash is in fact not necessary. Check
  // https://github.com/NVlabs/instant-ngp/issues/97. gridtype: 0 == hash, 1 ==
  // tiled
  if (gridtype == 0 && stride > hashmap_size) {
    index = fast_hash<D>(pos_grid);
  }

  return (index % hashmap_size) * C + ch;
}

template <typename scalar_t, uint32_t D, uint32_t C>
__global__ void
kernel_grid(const float *__restrict__ inputs, const scalar_t *__restrict__ grid,
            const int *__restrict__ offsets, scalar_t *__restrict__ outputs,
            const uint32_t B, const uint32_t L, const float S, const uint32_t H,
            const bool calc_grad_inputs, scalar_t *__restrict__ dy_dx,
            const uint32_t gridtype, const bool align_corners) {
  const uint32_t b = blockIdx.x * blockDim.x + threadIdx.x;

  if (b >= B)
    return;

  const uint32_t level = blockIdx.y;

  // locate
  grid += (uint32_t)offsets[level] * C;
  inputs += b * D;
  outputs += level * B * C + b * C;

  // check input range (should be in [0, 1])
  bool flag_oob = false;
#pragma unroll
  for (uint32_t d = 0; d < D; d++) {
    if (inputs[d] < 0 || inputs[d] > 1) {
      flag_oob = true;
    }
  }
  // if input out of bound, just set output to 0
  if (flag_oob) {
#pragma unroll
    for (uint32_t ch = 0; ch < C; ch++) {
      outputs[ch] = 0;
    }
    if (calc_grad_inputs) {
      dy_dx += b * D * L * C + level * D * C; // B L D C
#pragma unroll
      for (uint32_t d = 0; d < D; d++) {
#pragma unroll
        for (uint32_t ch = 0; ch < C; ch++) {
          dy_dx[d * C + ch] = 0;
        }
      }
    }
    return;
  }

  const uint32_t hashmap_size = offsets[level + 1] - offsets[level];
  const float scale = exp2f(level * S) * H - 1.0f;
  const uint32_t resolution = (uint32_t)ceil(scale) + 1;

  // calculate coordinate
  float pos[D];
  uint32_t pos_grid[D];

#pragma unroll
  for (uint32_t d = 0; d < D; d++) {
    pos[d] = inputs[d] * scale + (align_corners ? 0.0f : 0.5f);
    pos_grid[d] = floorf(pos[d]);
    pos[d] -= (float)pos_grid[d];
  }

  // printf("[b=%d, l=%d] pos=(%f, %f)+(%d, %d)\n", b, level, pos[0], pos[1],
  // pos_grid[0], pos_grid[1]);

  // interpolate
  scalar_t results[C] = {0}; // temp results in register

#pragma unroll
  for (uint32_t idx = 0; idx < (1 << D); idx++) {
    float w = 1;
    uint32_t pos_grid_local[D];

#pragma unroll
    for (uint32_t d = 0; d < D; d++) {
      if ((idx & (1 << d)) == 0) {
        w *= 1 - pos[d];
        pos_grid_local[d] = pos_grid[d];
      } else {
        w *= pos[d];
        pos_grid_local[d] = pos_grid[d] + 1;
      }
    }

    uint32_t index = get_grid_index<D, C>(
        gridtype, align_corners, 0, hashmap_size, resolution, pos_grid_local);

// writing to register (fast)
#pragma unroll
    for (uint32_t ch = 0; ch < C; ch++) {
      results[ch] += w * grid[index + ch];
    }

    // printf("[b=%d, l=%d] int %d, idx %d, w %f, val %f\n", b, level, idx,
    // index, w, grid[index]);
  }

// writing to global memory (slow)
#pragma unroll
  for (uint32_t ch = 0; ch < C; ch++) {
    outputs[ch] = results[ch];
  }

  // prepare dy_dx for calc_grad_inputs
  // differentiable (soft) indexing:
  // https://discuss.pytorch.org/t/differentiable-indexing/17647/9
  if (calc_grad_inputs) {

    dy_dx += b * D * L * C + level * D * C; // B L D C

#pragma unroll
    for (uint32_t gd = 0; gd < D; gd++) {

      scalar_t results_grad[C] = {0};

#pragma unroll
      for (uint32_t idx = 0; idx < (1 << (D - 1)); idx++) {
        float w = scale;
        uint32_t pos_grid_local[D];

#pragma unroll
        for (uint32_t nd = 0; nd < D - 1; nd++) {
          const uint32_t d = (nd >= gd) ? (nd + 1) : nd;

          if ((idx & (1 << nd)) == 0) {
            w *= 1 - pos[d];
            pos_grid_local[d] = pos_grid[d];
          } else {
            w *= pos[d];
            pos_grid_local[d] = pos_grid[d] + 1;
          }
        }

        pos_grid_local[gd] = pos_grid[gd];
        uint32_t index_left =
            get_grid_index<D, C>(gridtype, align_corners, 0, hashmap_size,
                                 resolution, pos_grid_local);
        pos_grid_local[gd] = pos_grid[gd] + 1;
        uint32_t index_right =
            get_grid_index<D, C>(gridtype, align_corners, 0, hashmap_size,
                                 resolution, pos_grid_local);

#pragma unroll
        for (uint32_t ch = 0; ch < C; ch++) {
          results_grad[ch] +=
              w * (grid[index_right + ch] - grid[index_left + ch]);
        }
      }

#pragma unroll
      for (uint32_t ch = 0; ch < C; ch++) {
        dy_dx[gd * C + ch] = results_grad[ch];
      }
    }
  }
}

template <typename scalar_t, uint32_t D, uint32_t C, uint32_t N_C>
__global__ void kernel_grid_backward(
    const scalar_t *__restrict__ grad, const float *__restrict__ inputs,
    const scalar_t *__restrict__ grid, const int *__restrict__ offsets,
    scalar_t *__restrict__ grad_grid, const uint32_t B, const uint32_t L,
    const float S, const uint32_t H, const uint32_t gridtype,
    const bool align_corners) {
  const uint32_t b = (blockIdx.x * blockDim.x + threadIdx.x) * N_C / C;
  if (b >= B)
    return;

  const uint32_t level = blockIdx.y;
  const uint32_t ch = (blockIdx.x * blockDim.x + threadIdx.x) * N_C - b * C;

  // locate
  grad_grid += offsets[level] * C;
  inputs += b * D;
  grad += level * B * C + b * C + ch; // L, B, C

  const uint32_t hashmap_size = offsets[level + 1] - offsets[level];
  const float scale = exp2f(level * S) * H - 1.0f;
  const uint32_t resolution = (uint32_t)ceil(scale) + 1;

// check input range (should be in [0, 1])
#pragma unroll
  for (uint32_t d = 0; d < D; d++) {
    if (inputs[d] < 0 || inputs[d] > 1) {
      return; // grad is init as 0, so we simply return.
    }
  }

  // calculate coordinate
  float pos[D];
  uint32_t pos_grid[D];

#pragma unroll
  for (uint32_t d = 0; d < D; d++) {
    pos[d] = inputs[d] * scale + (align_corners ? 0.0f : 0.5f);
    pos_grid[d] = floorf(pos[d]);
    pos[d] -= (float)pos_grid[d];
  }

  scalar_t grad_cur[N_C] = {0}; // fetch to register
#pragma unroll
  for (uint32_t c = 0; c < N_C; c++) {
    grad_cur[c] = grad[c];
  }

// interpolate
#pragma unroll
  for (uint32_t idx = 0; idx < (1 << D); idx++) {
    float w = 1;
    uint32_t pos_grid_local[D];

#pragma unroll
    for (uint32_t d = 0; d < D; d++) {
      if ((idx & (1 << d)) == 0) {
        w *= 1 - pos[d];
        pos_grid_local[d] = pos_grid[d];
      } else {
        w *= pos[d];
        pos_grid_local[d] = pos_grid[d] + 1;
      }
    }

    uint32_t index = get_grid_index<D, C>(
        gridtype, align_corners, ch, hashmap_size, resolution, pos_grid_local);

    // atomicAdd for __half is slow (especially for large values), so we use
    // __half2 if N_C % 2 == 0
    // TODO: use float which is better than __half, if N_C % 2 != 0
    if (std::is_same<scalar_t, at::Half>::value && N_C % 2 == 0) {
#pragma unroll
      for (uint32_t c = 0; c < N_C; c += 2) {
        // process two __half at once (by interpreting as a __half2)
        __half2 v = {(__half)(w * grad_cur[c]), (__half)(w * grad_cur[c + 1])};
        atomicAdd((__half2 *)&grad_grid[index + c], v);
      }
      // float, or __half when N_C % 2 != 0 (which means C == 1)
    } else {
#pragma unroll
      for (uint32_t c = 0; c < N_C; c++) {
        atomicAdd(&grad_grid[index + c], w * grad_cur[c]);
      }
    }
  }
}

template <typename scalar_t, uint32_t D, uint32_t C>
__global__ void kernel_input_backward(const scalar_t *__restrict__ grad,
                                      const scalar_t *__restrict__ dy_dx,
                                      scalar_t *__restrict__ grad_inputs,
                                      uint32_t B, uint32_t L) {
  const uint32_t t = threadIdx.x + blockIdx.x * blockDim.x;
  if (t >= B * D)
    return;

  const uint32_t b = t / D;
  const uint32_t d = t - b * D;

  dy_dx += b * L * D * C;

  scalar_t result = 0;

#pragma unroll
  for (int l = 0; l < L; l++) {
#pragma unroll
    for (int ch = 0; ch < C; ch++) {
      result += grad[l * B * C + b * C + ch] * dy_dx[l * D * C + d * C + ch];
    }
  }

  grad_inputs[t] = result;
}

template <typename scalar_t, uint32_t D>
void kernel_grid_wrapper(const float *inputs, const scalar_t *embeddings,
                         const int *offsets, scalar_t *outputs,
                         const uint32_t B, const uint32_t C, const uint32_t L,
                         const float S, const uint32_t H,
                         const bool calc_grad_inputs, scalar_t *dy_dx,
                         const uint32_t gridtype, const bool align_corners) {
  static constexpr uint32_t N_THREAD = 512;
  const dim3 blocks_hashgrid = {div_round_up(B, N_THREAD), L, 1};
  switch (C) {
  case 1:
    kernel_grid<scalar_t, D, 1><<<blocks_hashgrid, N_THREAD>>>(
        inputs, embeddings, offsets, outputs, B, L, S, H, calc_grad_inputs,
        dy_dx, gridtype, align_corners);
    break;
  case 2:
    kernel_grid<scalar_t, D, 2><<<blocks_hashgrid, N_THREAD>>>(
        inputs, embeddings, offsets, outputs, B, L, S, H, calc_grad_inputs,
        dy_dx, gridtype, align_corners);
    break;
  case 4:
    kernel_grid<scalar_t, D, 4><<<blocks_hashgrid, N_THREAD>>>(
        inputs, embeddings, offsets, outputs, B, L, S, H, calc_grad_inputs,
        dy_dx, gridtype, align_corners);
    break;
  case 8:
    kernel_grid<scalar_t, D, 8><<<blocks_hashgrid, N_THREAD>>>(
        inputs, embeddings, offsets, outputs, B, L, S, H, calc_grad_inputs,
        dy_dx, gridtype, align_corners);
    break;
  default:
    throw std::runtime_error{"GridEncoding: C must be 1, 2, 4, or 8."};
  }
}

// inputs: [B, D], float, in [0, 1]
// embeddings: [sO, C], float
// offsets: [L + 1], uint32_t
// outputs: [L, B, C], float (L first, so only one level of hashmap needs to fit
// into cache at a time.) H: base resolution dy_dx: [B, L * D * C]
template <typename scalar_t>
void grid_encode_forward_cuda(const float *inputs, const scalar_t *embeddings,
                              const int *offsets, scalar_t *outputs,
                              const uint32_t B, const uint32_t D,
                              const uint32_t C, const uint32_t L, const float S,
                              const uint32_t H, const bool calc_grad_inputs,
                              scalar_t *dy_dx, const uint32_t gridtype,
                              const bool align_corners) {
  switch (D) {
  case 2:
    kernel_grid_wrapper<scalar_t, 2>(inputs, embeddings, offsets, outputs, B, C,
                                     L, S, H, calc_grad_inputs, dy_dx, gridtype,
                                     align_corners);
    break;
  case 3:
    kernel_grid_wrapper<scalar_t, 3>(inputs, embeddings, offsets, outputs, B, C,
                                     L, S, H, calc_grad_inputs, dy_dx, gridtype,
                                     align_corners);
    break;
  case 4:
    kernel_grid_wrapper<scalar_t, 4>(inputs, embeddings, offsets, outputs, B, C,
                                     L, S, H, calc_grad_inputs, dy_dx, gridtype,
                                     align_corners);
    break;
  case 5:
    kernel_grid_wrapper<scalar_t, 5>(inputs, embeddings, offsets, outputs, B, C,
                                     L, S, H, calc_grad_inputs, dy_dx, gridtype,
                                     align_corners);
    break;
  default:
    throw std::runtime_error{"GridEncoding: C must be 1, 2, 4, or 8."};
  }
}

template <typename scalar_t, uint32_t D>
void kernel_grid_backward_wrapper(
    const scalar_t *grad, const float *inputs, const scalar_t *embeddings,
    const int *offsets, scalar_t *grad_embeddings, const uint32_t B,
    const uint32_t C, const uint32_t L, const float S, const uint32_t H,
    const bool calc_grad_inputs, scalar_t *dy_dx, scalar_t *grad_inputs,
    const uint32_t gridtype, const bool align_corners) {
  static constexpr uint32_t N_THREAD = 256;
  const uint32_t N_C = std::min(2u, C); // n_features_per_thread
  const dim3 blocks_hashgrid = {div_round_up(B * C / N_C, N_THREAD), L, 1};
  switch (C) {
  case 1:
    kernel_grid_backward<scalar_t, D, 1, 1><<<blocks_hashgrid, N_THREAD>>>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, L, S, H,
        gridtype, align_corners);
    if (calc_grad_inputs)
      kernel_input_backward<scalar_t, D, 1>
          <<<div_round_up(B * D, N_THREAD), N_THREAD>>>(grad, dy_dx,
                                                        grad_inputs, B, L);
    break;
  case 2:
    kernel_grid_backward<scalar_t, D, 2, 2><<<blocks_hashgrid, N_THREAD>>>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, L, S, H,
        gridtype, align_corners);
    if (calc_grad_inputs)
      kernel_input_backward<scalar_t, D, 2>
          <<<div_round_up(B * D, N_THREAD), N_THREAD>>>(grad, dy_dx,
                                                        grad_inputs, B, L);
    break;
  case 4:
    kernel_grid_backward<scalar_t, D, 4, 2><<<blocks_hashgrid, N_THREAD>>>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, L, S, H,
        gridtype, align_corners);
    if (calc_grad_inputs)
      kernel_input_backward<scalar_t, D, 4>
          <<<div_round_up(B * D, N_THREAD), N_THREAD>>>(grad, dy_dx,
                                                        grad_inputs, B, L);
    break;
  case 8:
    kernel_grid_backward<scalar_t, D, 8, 2><<<blocks_hashgrid, N_THREAD>>>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, L, S, H,
        gridtype, align_corners);
    if (calc_grad_inputs)
      kernel_input_backward<scalar_t, D, 8>
          <<<div_round_up(B * D, N_THREAD), N_THREAD>>>(grad, dy_dx,
                                                        grad_inputs, B, L);
    break;
  default:
    throw std::runtime_error{"GridEncoding: C must be 1, 2, 4, or 8."};
  }
}

// grad: [L, B, C], float
// inputs: [B, D], float, in [0, 1]
// embeddings: [sO, C], float
// offsets: [L + 1], uint32_t
// grad_embeddings: [sO, C]
// H: base resolution
template <typename scalar_t>
void grid_encode_backward_cuda(
    const scalar_t *grad, const float *inputs, const scalar_t *embeddings,
    const int *offsets, scalar_t *grad_embeddings, const uint32_t B,
    const uint32_t D, const uint32_t C, const uint32_t L, const float S,
    const uint32_t H, const bool calc_grad_inputs, scalar_t *dy_dx,
    scalar_t *grad_inputs, const uint32_t gridtype, const bool align_corners) {
  switch (D) {
  case 2:
    kernel_grid_backward_wrapper<scalar_t, 2>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, C, L, S, H,
        calc_grad_inputs, dy_dx, grad_inputs, gridtype, align_corners);
    break;
  case 3:
    kernel_grid_backward_wrapper<scalar_t, 3>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, C, L, S, H,
        calc_grad_inputs, dy_dx, grad_inputs, gridtype, align_corners);
    break;
  case 4:
    kernel_grid_backward_wrapper<scalar_t, 4>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, C, L, S, H,
        calc_grad_inputs, dy_dx, grad_inputs, gridtype, align_corners);
    break;
  case 5:
    kernel_grid_backward_wrapper<scalar_t, 5>(
        grad, inputs, embeddings, offsets, grad_embeddings, B, C, L, S, H,
        calc_grad_inputs, dy_dx, grad_inputs, gridtype, align_corners);
    break;
  default:
    throw std::runtime_error{"GridEncoding: C must be 1, 2, 4, or 8."};
  }
}

void grid_encode_forward(const at::Tensor inputs, const at::Tensor embeddings,
                         const at::Tensor offsets, at::Tensor outputs,
                         const uint32_t B, const uint32_t D, const uint32_t C,
                         const uint32_t L, const float S, const uint32_t H,
                         const bool calc_grad_inputs, at::Tensor dy_dx,
                         const uint32_t gridtype, const bool align_corners) {
  CHECK_CUDA(inputs);
  CHECK_CUDA(embeddings);
  CHECK_CUDA(offsets);
  CHECK_CUDA(outputs);
  CHECK_CUDA(dy_dx);

  CHECK_CONTIGUOUS(inputs);
  CHECK_CONTIGUOUS(embeddings);
  CHECK_CONTIGUOUS(offsets);
  CHECK_CONTIGUOUS(outputs);
  CHECK_CONTIGUOUS(dy_dx);

  CHECK_IS_FLOATING(inputs);
  CHECK_IS_FLOATING(embeddings);
  CHECK_IS_INT(offsets);
  CHECK_IS_FLOATING(outputs);
  CHECK_IS_FLOATING(dy_dx);

  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
      embeddings.scalar_type(), "grid_encode_forward", ([&] {
        grid_encode_forward_cuda<scalar_t>(
            inputs.data_ptr<float>(), embeddings.data_ptr<scalar_t>(),
            offsets.data_ptr<int>(), outputs.data_ptr<scalar_t>(), B, D, C, L,
            S, H, calc_grad_inputs, dy_dx.data_ptr<scalar_t>(), gridtype,
            align_corners);
      }));
}

void grid_encode_backward(const at::Tensor grad, const at::Tensor inputs,
                          const at::Tensor embeddings, const at::Tensor offsets,
                          at::Tensor grad_embeddings, const uint32_t B,
                          const uint32_t D, const uint32_t C, const uint32_t L,
                          const float S, const uint32_t H,
                          const bool calc_grad_inputs, const at::Tensor dy_dx,
                          at::Tensor grad_inputs, const uint32_t gridtype,
                          const bool align_corners) {
  CHECK_CUDA(grad);
  CHECK_CUDA(inputs);
  CHECK_CUDA(embeddings);
  CHECK_CUDA(offsets);
  CHECK_CUDA(grad_embeddings);
  CHECK_CUDA(dy_dx);
  CHECK_CUDA(grad_inputs);

  CHECK_CONTIGUOUS(grad);
  CHECK_CONTIGUOUS(inputs);
  CHECK_CONTIGUOUS(embeddings);
  CHECK_CONTIGUOUS(offsets);
  CHECK_CONTIGUOUS(grad_embeddings);
  CHECK_CONTIGUOUS(dy_dx);
  CHECK_CONTIGUOUS(grad_inputs);

  CHECK_IS_FLOATING(grad);
  CHECK_IS_FLOATING(inputs);
  CHECK_IS_FLOATING(embeddings);
  CHECK_IS_INT(offsets);
  CHECK_IS_FLOATING(grad_embeddings);
  CHECK_IS_FLOATING(dy_dx);
  CHECK_IS_FLOATING(grad_inputs);

  AT_DISPATCH_FLOATING_TYPES_AND_HALF(
      grad.scalar_type(), "grid_encode_backward", ([&] {
        grid_encode_backward_cuda<scalar_t>(
            grad.data_ptr<scalar_t>(), inputs.data_ptr<float>(),
            embeddings.data_ptr<scalar_t>(), offsets.data_ptr<int>(),
            grad_embeddings.data_ptr<scalar_t>(), B, D, C, L, S, H,
            calc_grad_inputs, dy_dx.data_ptr<scalar_t>(),
            grad_inputs.data_ptr<scalar_t>(), gridtype, align_corners);
      }));
}