[Feature] Add support for Ascend devices with nms_rotated (#2550)

* [Feature]: add nms_rotated npu adaptater code

* [BugFix]: modify param in nms_rotated_npu.cpp

* [clean code]: nms_rotated_npu.cpp

* [clean code]: nms_rotated_npu.cpp

* [clean code]: nms_rotated_npu.cpp

* [clean code]: nms_rotated.cpp

* [Doc]: add nms_rotated op in supported op list at ops.md

* [Test]: add nms_rotated unit_test

* [Bug]: remove device parameter in test_batched_nms function

docs/en/understand_mmcv/ops.md

@@ -35,7 +35,7 @@ We implement common ops used in detection, segmentation, etc.
 | ModulatedDeformConv2d        | √   | √    | √   |     | √      |
 | MultiScaleDeformableAttn     |     | √    | √   |     |        |
 | NMS                          | √   | √    | √   |     | √      |
-| NMSRotated                   | √   | √    |     |     |        |
+| NMSRotated                   | √   | √    |     |     | √      |
 | NMSQuadri                    | √   | √    |     |     |        |
 | PixelGroup                   | √   |      |     |     |        |
 | PointsInBoxes                | √   | √    |     |     |        |

docs/zh_cn/understand_mmcv/ops.md

@@ -35,7 +35,7 @@ MMCV 提供了检测、分割等任务中常用的算子
 | ModulatedDeformConv2d        | √   | √    | √   |     | √      |
 | MultiScaleDeformableAttn     |     | √    | √   |     |        |
 | NMS                          | √   | √    | √   |     | √      |
-| NMSRotated                   | √   | √    |     |     |        |
+| NMSRotated                   | √   | √    |     |     | √      |
 | NMSQuadri                    | √   | √    |     |     |        |
 | PixelGroup                   | √   |      |     |     |        |
 | PointsInBoxes                | √   | √    |     |     |        |

mmcv/ops/csrc/pytorch/nms_rotated.cpp

@@ -12,12 +12,17 @@ Tensor nms_rotated_cuda(const Tensor dets, const Tensor scores,
                         const float iou_threshold, const int multi_label);
 #endif
 
+#ifdef MMCV_WITH_NPU
+Tensor nms_rotated_npu(const Tensor dets, const Tensor scores,
+                       const Tensor labels, const float iou_threshold);
+#endif
+
 // Interface for Python
 // inline is needed to prevent multiple function definitions when this header is
 // included by different cpps
 Tensor nms_rotated(const Tensor dets, const Tensor scores, const Tensor order,
-                   const Tensor dets_sorted, const float iou_threshold,
-                   const int multi_label) {
+                   const Tensor dets_sorted, const Tensor labels,
+                   const float iou_threshold, const int multi_label) {
   assert(dets.device().is_cuda() == scores.device().is_cuda());
   if (dets.device().is_cuda()) {
 #ifdef MMCV_WITH_CUDA
@@ -25,6 +30,12 @@ Tensor nms_rotated(const Tensor dets, const Tensor scores, const Tensor order,
                             multi_label);
 #else
     AT_ERROR("Not compiled with GPU support");
+#endif
+  } else if (dets.device().type() == at::kXLA) {
+#ifdef MMCV_WITH_NPU
+    return nms_rotated_npu(dets, scores, labels, iou_threshold);
+#else
+    AT_ERROR("Not compiled with NPU support");
 #endif
   }
 

mmcv/ops/csrc/pytorch/npu/nms_rotated_npu.cpp

@@ -0,0 +1,32 @@
+#include "pytorch_npu_helper.hpp"
+
+using namespace NPU_NAME_SPACE;
+
+Tensor nms_rotated_npu(const Tensor dets, const Tensor scores,
+                       const Tensor labels, const float iou_threshold) {
+  auto originDtype = dets.scalar_type();
+  at::Tensor detsCast = dets;
+  at::Tensor scoresCast = scores;
+  if (originDtype != at::ScalarType::Float) {
+    detsCast = NPUNativeFunctions::npu_dtype_cast(dets, at::kFloat);
+    scoresCast = NPUNativeFunctions::npu_dtype_cast(scores, at::kFloat);
+  }
+  c10::SmallVector<int64_t, SIZE> selectedIndexSize = {dets.size(0)};
+  at::Tensor selectedBox = OpPreparation::ApplyTensor(dets);
+  at::Tensor selectedIndex = OpPreparation::ApplyTensor(
+      selectedIndexSize, dets.options().dtype(at::kInt), dets);
+
+  c10::SmallVector<int64_t, N> output_sync_idx = {0, 1};
+  OpCommand cmd;
+  cmd.Sync(output_sync_idx)
+      .Name("RotatedNMS")
+      .Input(detsCast)
+      .Input(scoresCast)
+      .Input(labels)
+      .Output(selectedBox)
+      .Output(selectedIndex)
+      .Attr("iou_threshold", (float)iou_threshold)
+      .Run();
+  selectedIndex = NPUNativeFunctions::npu_dtype_cast(selectedIndex, at::kLong);
+  return selectedIndex;
+}

mmcv/ops/csrc/pytorch/pybind.cpp

@@ -309,8 +309,8 @@ void box_iou_rotated(const Tensor boxes1, const Tensor boxes2, Tensor ious,
                      const int mode_flag, const bool aligned);
 
 Tensor nms_rotated(const Tensor dets, const Tensor scores, const Tensor order,
-                   const Tensor dets_sorted, const float iou_threshold,
-                   const int multi_label);
+                   const Tensor dets_sorted, const Tensor labels,
+                   const float iou_threshold, const int multi_label);
 
 Tensor upfirdn2d(const Tensor &input, const Tensor &kernel, int up_x, int up_y,
                  int down_x, int down_y, int pad_x0, int pad_x1, int pad_y0,
@@ -748,7 +748,7 @@ PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
         py::arg("mode_flag"), py::arg("aligned"));
   m.def("nms_rotated", &nms_rotated, "NMS for rotated boxes", py::arg("dets"),
         py::arg("scores"), py::arg("order"), py::arg("dets_sorted"),
-        py::arg("iou_threshold"), py::arg("multi_label"));
+        py::arg("labels"), py::arg("iou_threshold"), py::arg("multi_label"));
   m.def("ball_query_forward", &ball_query_forward, "ball_query_forward",
         py::arg("new_xyz_tensor"), py::arg("xyz_tensor"), py::arg("idx_tensor"),
         py::arg("b"), py::arg("n"), py::arg("m"), py::arg("min_radius"),

mmcv/ops/nms.py

@@ -454,6 +454,19 @@ def nms_rotated(dets: Tensor,
     else:
         dets_cw = dets
     multi_label = labels is not None
+    if labels is None:
+        input_labels = scores.new_empty(0, dtype=torch.int)
+    else:
+        input_labels = labels
+    if dets.device.type == 'npu':
+        order = scores.new_empty(0, dtype=torch.long)
+        keep_inds = ext_module.nms_rotated(dets_cw, scores, order, dets_cw,
+                                           input_labels, iou_threshold,
+                                           multi_label)
+        dets = torch.cat((dets[keep_inds], scores[keep_inds].reshape(-1, 1)),
+                         dim=1)
+        return dets, keep_inds
+
     if multi_label:
         dets_wl = torch.cat((dets_cw, labels.unsqueeze(1)), 1)  # type: ignore
     else:
@@ -467,11 +480,13 @@ def nms_rotated(dets: Tensor,
             scores,
             order,
             dets_sorted,
+            input_labels,
             iou_threshold=iou_threshold,
             multi_label=multi_label)
     else:
         keep_inds = ext_module.nms_rotated(dets_wl, scores, order, dets_sorted,
-                                           iou_threshold, multi_label)
+                                           input_labels, iou_threshold,
+                                           multi_label)
     dets = torch.cat((dets[keep_inds], scores[keep_inds].reshape(-1, 1)),
                      dim=1)
     return dets, keep_inds

tests/test_ops/test_nms_rotated.py

@@ -3,13 +3,22 @@ import numpy as np
 import pytest
 import torch
 
+from mmcv.utils import IS_CUDA_AVAILABLE, IS_NPU_AVAILABLE
+
 
-@pytest.mark.skipif(
-    not torch.cuda.is_available(),
-    reason='GPU is required to test NMSRotated op')
 class TestNmsRotated:
 
-    def test_ml_nms_rotated(self):
+    @pytest.mark.parametrize('device', [
+        pytest.param(
+            'npu',
+            marks=pytest.mark.skipif(
+                not IS_NPU_AVAILABLE, reason='requires NPU support')),
+        pytest.param(
+            'cuda',
+            marks=pytest.mark.skipif(
+                not IS_CUDA_AVAILABLE, reason='requires CUDA support'))
+    ])
+    def test_ml_nms_rotated(self, device):
         from mmcv.ops import nms_rotated
         np_boxes = np.array(
             [[6.0, 3.0, 8.0, 7.0, 0.5, 0.7], [3.0, 6.0, 9.0, 11.0, 0.6, 0.8],
@@ -24,8 +33,8 @@ class TestNmsRotated:
             dtype=np.float32)
         np_expect_keep_inds = np.array([3, 1, 0], dtype=np.int64)
 
-        boxes = torch.from_numpy(np_boxes).cuda()
-        labels = torch.from_numpy(np_labels).cuda()
+        boxes = torch.from_numpy(np_boxes).to(device)
+        labels = torch.from_numpy(np_labels).to(device)
 
         # test cw angle definition
         dets, keep_inds = nms_rotated(boxes[:, :5], boxes[:, -1], 0.5, labels)
@@ -41,7 +50,17 @@ class TestNmsRotated:
         assert np.allclose(dets.cpu().numpy()[:, :5], np_expect_dets)
         assert np.allclose(keep_inds.cpu().numpy(), np_expect_keep_inds)
 
-    def test_nms_rotated(self):
+    @pytest.mark.parametrize('device', [
+        pytest.param(
+            'npu',
+            marks=pytest.mark.skipif(
+                not IS_NPU_AVAILABLE, reason='requires NPU support')),
+        pytest.param(
+            'cuda',
+            marks=pytest.mark.skipif(
+                not IS_CUDA_AVAILABLE, reason='requires CUDA support'))
+    ])
+    def test_nms_rotated(self, device):
         from mmcv.ops import nms_rotated
         np_boxes = np.array(
             [[6.0, 3.0, 8.0, 7.0, 0.5, 0.7], [3.0, 6.0, 9.0, 11.0, 0.6, 0.8],
@@ -55,7 +74,7 @@ class TestNmsRotated:
             dtype=np.float32)
         np_expect_keep_inds = np.array([3, 1, 0], dtype=np.int64)
 
-        boxes = torch.from_numpy(np_boxes).cuda()
+        boxes = torch.from_numpy(np_boxes).to(device)
 
         # test cw angle definition
         dets, keep_inds = nms_rotated(boxes[:, :5], boxes[:, -1], 0.5)