Multithread CPU naive mesh rasterization

Summary:
Threaded the for loop:
```
for (int yi = 0; yi < H; ++yi) {...}
```
in function `RasterizeMeshesNaiveCpu()`.
Chunk size is approx equal.

Reviewed By: bottler

Differential Revision: D40063604

fbshipit-source-id: 09150269405538119b0f1b029892179501421e68

Author: Gavin Peng

pytorch3d/csrc/rasterize_meshes/rasterize_meshes_cpu.cpp

@@ -10,7 +10,9 @@
 #include <algorithm>
 #include <list>
 #include <queue>
+#include <thread>
 #include <tuple>
+#include "ATen/core/TensorAccessor.h"
 #include "rasterize_points/rasterization_utils.h"
 #include "utils/geometry_utils.h"
 #include "utils/vec2.h"
@@ -117,54 +119,28 @@ struct IsNeighbor {
   int neighbor_idx;
 };
 
-std::tuple<torch::Tensor, torch::Tensor, torch::Tensor, torch::Tensor>
-RasterizeMeshesNaiveCpu(
-    const torch::Tensor& face_verts,
+namespace {
+void RasterizeMeshesNaiveCpu_worker(
+    const int start_yi,
+    const int end_yi,
     const torch::Tensor& mesh_to_face_first_idx,
     const torch::Tensor& num_faces_per_mesh,
-    const torch::Tensor& clipped_faces_neighbor_idx,
-    const std::tuple<int, int> image_size,
     const float blur_radius,
-    const int faces_per_pixel,
     const bool perspective_correct,
     const bool clip_barycentric_coords,
-    const bool cull_backfaces) {
-  if (face_verts.ndimension() != 3 || face_verts.size(1) != 3 ||
-      face_verts.size(2) != 3) {
-    AT_ERROR("face_verts must have dimensions (num_faces, 3, 3)");
-  }
-  if (num_faces_per_mesh.size(0) != mesh_to_face_first_idx.size(0)) {
-    AT_ERROR(
-        "num_faces_per_mesh must have save size first dimension as mesh_to_face_first_idx");
-  }
-
-  const int32_t N = mesh_to_face_first_idx.size(0); // batch_size.
-  const int H = std::get<0>(image_size);
-  const int W = std::get<1>(image_size);
-  const int K = faces_per_pixel;
-
-  auto long_opts = num_faces_per_mesh.options().dtype(torch::kInt64);
-  auto float_opts = face_verts.options().dtype(torch::kFloat32);
-
-  // Initialize output tensors.
-  torch::Tensor face_idxs = torch::full({N, H, W, K}, -1, long_opts);
-  torch::Tensor zbuf = torch::full({N, H, W, K}, -1, float_opts);
-  torch::Tensor pix_dists = torch::full({N, H, W, K}, -1, float_opts);
-  torch::Tensor barycentric_coords =
-      torch::full({N, H, W, K, 3}, -1, float_opts);
-
-  auto face_verts_a = face_verts.accessor<float, 3>();
-  auto face_idxs_a = face_idxs.accessor<int64_t, 4>();
-  auto zbuf_a = zbuf.accessor<float, 4>();
-  auto pix_dists_a = pix_dists.accessor<float, 4>();
-  auto barycentric_coords_a = barycentric_coords.accessor<float, 5>();
-  auto neighbor_idx_a = clipped_faces_neighbor_idx.accessor<int64_t, 1>();
-
-  auto face_bboxes = ComputeFaceBoundingBoxes(face_verts);
-  auto face_bboxes_a = face_bboxes.accessor<float, 2>();
-  auto face_areas = ComputeFaceAreas(face_verts);
-  auto face_areas_a = face_areas.accessor<float, 1>();
-
+    const bool cull_backfaces,
+    const int32_t N,
+    const int H,
+    const int W,
+    const int K,
+    at::TensorAccessor<float, 3>& face_verts_a,
+    at::TensorAccessor<float, 1>& face_areas_a,
+    at::TensorAccessor<float, 2>& face_bboxes_a,
+    at::TensorAccessor<int64_t, 1>& neighbor_idx_a,
+    at::TensorAccessor<float, 4>& zbuf_a,
+    at::TensorAccessor<int64_t, 4>& face_idxs_a,
+    at::TensorAccessor<float, 4>& pix_dists_a,
+    at::TensorAccessor<float, 5>& barycentric_coords_a) {
   for (int n = 0; n < N; ++n) {
     // Loop through each mesh in the batch.
     // Get the start index of the faces in faces_packed and the num faces
@@ -174,7 +150,7 @@ RasterizeMeshesNaiveCpu(
         (face_start_idx + num_faces_per_mesh[n].item().to<int32_t>());
 
     // Iterate through the horizontal lines of the image from top to bottom.
-    for (int yi = 0; yi < H; ++yi) {
+    for (int yi = start_yi; yi < end_yi; ++yi) {
       // Reverse the order of yi so that +Y is pointing upwards in the image.
       const int yidx = H - 1 - yi;
 
@@ -324,6 +300,92 @@ RasterizeMeshesNaiveCpu(
       }
     }
   }
+}
+} // namespace
+
+std::tuple<torch::Tensor, torch::Tensor, torch::Tensor, torch::Tensor>
+RasterizeMeshesNaiveCpu(
+    const torch::Tensor& face_verts,
+    const torch::Tensor& mesh_to_face_first_idx,
+    const torch::Tensor& num_faces_per_mesh,
+    const torch::Tensor& clipped_faces_neighbor_idx,
+    const std::tuple<int, int> image_size,
+    const float blur_radius,
+    const int faces_per_pixel,
+    const bool perspective_correct,
+    const bool clip_barycentric_coords,
+    const bool cull_backfaces) {
+  if (face_verts.ndimension() != 3 || face_verts.size(1) != 3 ||
+      face_verts.size(2) != 3) {
+    AT_ERROR("face_verts must have dimensions (num_faces, 3, 3)");
+  }
+  if (num_faces_per_mesh.size(0) != mesh_to_face_first_idx.size(0)) {
+    AT_ERROR(
+        "num_faces_per_mesh must have save size first dimension as mesh_to_face_first_idx");
+  }
+
+  const int32_t N = mesh_to_face_first_idx.size(0); // batch_size.
+  const int H = std::get<0>(image_size);
+  const int W = std::get<1>(image_size);
+  const int K = faces_per_pixel;
+
+  auto long_opts = num_faces_per_mesh.options().dtype(torch::kInt64);
+  auto float_opts = face_verts.options().dtype(torch::kFloat32);
+
+  // Initialize output tensors.
+  torch::Tensor face_idxs = torch::full({N, H, W, K}, -1, long_opts);
+  torch::Tensor zbuf = torch::full({N, H, W, K}, -1, float_opts);
+  torch::Tensor pix_dists = torch::full({N, H, W, K}, -1, float_opts);
+  torch::Tensor barycentric_coords =
+      torch::full({N, H, W, K, 3}, -1, float_opts);
+
+  auto face_verts_a = face_verts.accessor<float, 3>();
+  auto face_idxs_a = face_idxs.accessor<int64_t, 4>();
+  auto zbuf_a = zbuf.accessor<float, 4>();
+  auto pix_dists_a = pix_dists.accessor<float, 4>();
+  auto barycentric_coords_a = barycentric_coords.accessor<float, 5>();
+  auto neighbor_idx_a = clipped_faces_neighbor_idx.accessor<int64_t, 1>();
+
+  auto face_bboxes = ComputeFaceBoundingBoxes(face_verts);
+  auto face_bboxes_a = face_bboxes.accessor<float, 2>();
+  auto face_areas = ComputeFaceAreas(face_verts);
+  auto face_areas_a = face_areas.accessor<float, 1>();
+
+  const int64_t n_threads = at::get_num_threads();
+  std::vector<std::thread> threads;
+  threads.reserve(n_threads);
+  const int chunk_size = 1 + (H - 1) / n_threads;
+  int start_yi = 0;
+  for (int iThread = 0; iThread < n_threads; ++iThread) {
+    const int64_t end_yi = std::min(start_yi + chunk_size, H);
+    threads.emplace_back(
+        RasterizeMeshesNaiveCpu_worker,
+        start_yi,
+        end_yi,
+        mesh_to_face_first_idx,
+        num_faces_per_mesh,
+        blur_radius,
+        perspective_correct,
+        clip_barycentric_coords,
+        cull_backfaces,
+        N,
+        H,
+        W,
+        K,
+        std::ref(face_verts_a),
+        std::ref(face_areas_a),
+        std::ref(face_bboxes_a),
+        std::ref(neighbor_idx_a),
+        std::ref(zbuf_a),
+        std::ref(face_idxs_a),
+        std::ref(pix_dists_a),
+        std::ref(barycentric_coords_a));
+    start_yi += chunk_size;
+  }
+  for (auto&& thread : threads) {
+    thread.join();
+  }
+
   return std::make_tuple(face_idxs, zbuf, barycentric_coords, pix_dists);
 }
 

tests/benchmarks/bm_rasterize_meshes.py

@@ -4,13 +4,15 @@
 # This source code is licensed under the BSD-style license found in the
 # LICENSE file in the root directory of this source tree.
 
-
+import os
 from itertools import product
 
 import torch
 from fvcore.common.benchmark import benchmark
 from tests.test_rasterize_meshes import TestRasterizeMeshes
 
+BM_RASTERIZE_MESHES_N_THREADS = os.getenv("BM_RASTERIZE_MESHES_N_THREADS", 1)
+torch.set_num_threads(int(BM_RASTERIZE_MESHES_N_THREADS))
 
 # ico levels:
 # 0: (12 verts, 20 faces)
@@ -41,7 +43,7 @@ def bm_rasterize_meshes() -> None:
     kwargs_list = []
     num_meshes = [1]
     ico_level = [1]
-    image_size = [64, 128]
+    image_size = [64, 128, 512]
     blur = [1e-6]
     faces_per_pixel = [3, 50]
     test_cases = product(num_meshes, ico_level, image_size, blur, faces_per_pixel)

tests/test_rasterize_meshes.py

@@ -35,14 +35,24 @@ def test_simple_python(self):
         self._test_barycentric_clipping(rasterize_meshes_python, device, bin_size=-1)
         self._test_back_face_culling(rasterize_meshes_python, device, bin_size=-1)
 
-    def test_simple_cpu_naive(self):
+    def _test_simple_cpu_naive_instance(self):
         device = torch.device("cpu")
         self._simple_triangle_raster(rasterize_meshes, device, bin_size=0)
         self._simple_blurry_raster(rasterize_meshes, device, bin_size=0)
         self._test_behind_camera(rasterize_meshes, device, bin_size=0)
         self._test_perspective_correct(rasterize_meshes, device, bin_size=0)
         self._test_back_face_culling(rasterize_meshes, device, bin_size=0)
 
+    def test_simple_cpu_naive(self):
+        n_threads = torch.get_num_threads()
+        torch.set_num_threads(1)  # single threaded
+        self._test_simple_cpu_naive_instance()
+        torch.set_num_threads(4)  # even (divisible) number of threads
+        self._test_simple_cpu_naive_instance()
+        torch.set_num_threads(5)  # odd (nondivisible) number of threads
+        self._test_simple_cpu_naive_instance()
+        torch.set_num_threads(n_threads)
+
     def test_simple_cuda_naive(self):
         device = get_random_cuda_device()
         self._simple_triangle_raster(rasterize_meshes, device, bin_size=0)