Improve the performance of convolve (and correlate)

[AngelEzquerra]

The exising implementation of convolve (which is also used for correlate) was pretty slow. The slowness was due to the fact that we were using regular tensor element access in the inner loop of the convolution, which was very expensive.

The solution was to ensure that the input tensors were contiguous (by cloning them if necessary) and then using unsafe_raw_buf for all the tensor element accesses, which is safe because we know that the indexes are all within the tensor boundaries.

On my system this change makes a large convolution go from ~1.5 seconds in release mode and ~0.25 seconds in danger mode down to ~65 usecs in both modes (i.e. a x23 reduction in release mode and a x3.8 reduction in danger mode)!

[mratsim]

Can you check the speed of cross-correlation vs im2colgemm_conv2d:

Arraymancer/src/arraymancer/nn_primitives/fallback/conv.nim

Lines 81 to 106 in 1448698

	proc im2colgemm_conv2d*[T](input, kernel, bias: Tensor[T],
	padding: Size2D = (0,0),
	stride: Size2D = (1,1)): Tensor[T] =
	## Compute cross-correlate for image with the given kernel weights
	# Implementation with ideas from http://cs231n.github.io/convolutional-networks/#conv
	let
	batch_size = input.shape[^4]
	output_channels = kernel.shape[^4]
	kernel_size = (height: kernel.nchw_height, width: kernel.nchw_width)
	output_height = (input.nchw_height + (2*padding.height) - kernel.nchw_height) div stride.height + 1
	output_width = (input.nchw_width + (2*padding.width) - kernel.nchw_width) div stride.width + 1
	channels_col = input.nchw_channels * kernel.nchw_height * kernel.nchw_width
	kernel_col = kernel.reshape(output_channels, channels_col)
	result = newTensorUninit[T](batch_size, output_channels, output_height, output_width)
	var input_col = newTensorUninit[T](channels_col, output_height * output_width)
	var output: Tensor[T]
	for i in 0..<batch_size: #TODO: batch matmul
	im2col(input.atAxisIndex(0, i).squeeze(0), kernel_size, padding, stride, input_col)
	# The following must be done without copy: GEMM will directly write in the result tensor
	output = result.atAxisIndex(0, i).reshape(kernel_col.shape[0], input_col.shape[1])
	gemm(1.T, kernel_col, input_col, 0.T, output)
	if bias.rank > 0:
	result +.= bias.unsqueeze(0)

You can put a batch size of 1 and number of color channel to 1, result should be the same then. Bias can be an empty Tensor.

I think it corresponds to "valid" for convolvemode

[AngelEzquerra]

Can you check the speed of cross-correlation vs im2colgemm_conv2d:

Arraymancer/src/arraymancer/nn_primitives/fallback/conv.nim

Lines 81 to 106 in 1448698

	proc im2colgemm_conv2d*[T](input, kernel, bias: Tensor[T],
	padding: Size2D = (0,0),
	stride: Size2D = (1,1)): Tensor[T] =
	## Compute cross-correlate for image with the given kernel weights
	# Implementation with ideas from http://cs231n.github.io/convolutional-networks/#conv
	let
	batch_size = input.shape[^4]
	output_channels = kernel.shape[^4]
	kernel_size = (height: kernel.nchw_height, width: kernel.nchw_width)
	output_height = (input.nchw_height + (2*padding.height) - kernel.nchw_height) div stride.height + 1
	output_width = (input.nchw_width + (2*padding.width) - kernel.nchw_width) div stride.width + 1
	channels_col = input.nchw_channels * kernel.nchw_height * kernel.nchw_width
	kernel_col = kernel.reshape(output_channels, channels_col)
	result = newTensorUninit[T](batch_size, output_channels, output_height, output_width)
	var input_col = newTensorUninit[T](channels_col, output_height * output_width)
	var output: Tensor[T]
	for i in 0..<batch_size: #TODO: batch matmul
	im2col(input.atAxisIndex(0, i).squeeze(0), kernel_size, padding, stride, input_col)
	# The following must be done without copy: GEMM will directly write in the result tensor
	output = result.atAxisIndex(0, i).reshape(kernel_col.shape[0], input_col.shape[1])
	gemm(1.T, kernel_col, input_col, 0.T, output)
	if bias.rank > 0:
	result +.= bias.unsqueeze(0)

You can put a batch size of 1 and number of color channel to 1, result should be the same then. Bias can be an empty Tensor.

I think it corresponds to "valid" for convolvemode

I have this a try and as you said im2colgemm_conv2d with the right arguments is equivalent to correlate called with valid mode. I made some measurements and the results are a little surprising. When working with some relatively large integer tensors (arange(50000) as the input tensor and arange(200) as the "filter" tensor) the performance of the version of convolve in this PR and im2colgemm_conv2d is basically the same (around 70 ms). However the same test with the same inputs converted to float gave very different results. This PR's convolve's performance worsened to ~100 ms, while im2colgemm_conv2d improved to just below 30 ms.

For reference scipy's upfirdn's performance is still much better in many cases but seems a little inconsistent (depending on the order of the inputs it can be worse). I'll need to do more tests to fully confirm this point and provide actual comparison measurements.

In any case it seems worth looking into using im2colgemm_conv2d's method. However, it is not clear to me if it'd be easy to extend its result to "full mode". Any thoughts on that @mratsim? And any ideas about how scipy might be so much faster?

[AngelEzquerra]

Can you check the speed of cross-correlation vs im2colgemm_conv2d:

Arraymancer/src/arraymancer/nn_primitives/fallback/conv.nim

Lines 81 to 106 in 1448698

	proc im2colgemm_conv2d*[T](input, kernel, bias: Tensor[T],
	padding: Size2D = (0,0),
	stride: Size2D = (1,1)): Tensor[T] =
	## Compute cross-correlate for image with the given kernel weights
	# Implementation with ideas from http://cs231n.github.io/convolutional-networks/#conv
	let
	batch_size = input.shape[^4]
	output_channels = kernel.shape[^4]
	kernel_size = (height: kernel.nchw_height, width: kernel.nchw_width)
	output_height = (input.nchw_height + (2*padding.height) - kernel.nchw_height) div stride.height + 1
	output_width = (input.nchw_width + (2*padding.width) - kernel.nchw_width) div stride.width + 1
	channels_col = input.nchw_channels * kernel.nchw_height * kernel.nchw_width
	kernel_col = kernel.reshape(output_channels, channels_col)
	result = newTensorUninit[T](batch_size, output_channels, output_height, output_width)
	var input_col = newTensorUninit[T](channels_col, output_height * output_width)
	var output: Tensor[T]
	for i in 0..<batch_size: #TODO: batch matmul
	im2col(input.atAxisIndex(0, i).squeeze(0), kernel_size, padding, stride, input_col)
	# The following must be done without copy: GEMM will directly write in the result tensor
	output = result.atAxisIndex(0, i).reshape(kernel_col.shape[0], input_col.shape[1])
	gemm(1.T, kernel_col, input_col, 0.T, output)
	if bias.rank > 0:
	result +.= bias.unsqueeze(0)

You can put a batch size of 1 and number of color channel to 1, result should be the same then. Bias can be an empty Tensor.
I think it corresponds to "valid" for convolvemode

I have this a try and as you said im2colgemm_conv2d with the right arguments is equivalent to correlate called with valid mode. I made some measurements and the results are a little surprising. When working with some relatively large integer tensors (arange(50000) as the input tensor and arange(200) as the "filter" tensor) the performance of the version of convolve in this PR and im2colgemm_conv2d is basically the same (around 70 ms). However the same test with the same inputs converted to float gave very different results. This PR's convolve's performance worsened to ~100 ms, while im2colgemm_conv2d improved to just below 30 ms.

For reference scipy's upfirdn's performance is still much better in many cases but seems a little inconsistent (depending on the order of the inputs it can be worse). I'll need to do more tests to fully confirm this point and provide actual comparison measurements.

In any case it seems worth looking into using im2colgemm_conv2d's method. However, it is not clear to me if it'd be easy to extend its result to "full mode". Any thoughts on that @mratsim? And any ideas about how scipy might be so much faster?

I saw that is is possible to replicate convolution's full and valid modes using the padding argument of im2colgemm_conv2d. It should also be possible to use the stride argument to efficiently replicate the down argument of scipy's upfirdn function.

I still don't know why upfirdn is sometimes much faster than im2colgemm_conv2d though.

[Vindaar]

When working with some relatively large integer tensors (arange(50000) as the input tensor and arange(200) as the "filter" tensor) the performance of the version of convolve in this PR and im2colgemm_conv2d is basically the same (around 70 ms). However the same test with the same inputs converted to float gave very different results. This PR's convolve's performance worsened to ~100 ms, while im2colgemm_conv2d improved to just below 30 ms.

Possibly related to the fact that it uses gemm and for integer types it uses Mamy's laser backend, while for float it falls back to BLAS? iirc the laser gemm implementation only exists for integers.

Regarding the scipy implementation: you are compiling with OpenMP explicitly (-d:openmp), no? Easy to forget and I assume scipy will do so.

edit: The code for upfirdn doesn't look very complicated: https://github.com/scipy/scipy/blob/main/scipy/signal/_upfirdn.py

[AngelEzquerra]

When working with some relatively large integer tensors (arange(50000) as the input tensor and arange(200) as the "filter" tensor) the performance of the version of convolve in this PR and im2colgemm_conv2d is basically the same (around 70 ms). However the same test with the same inputs converted to float gave very different results. This PR's convolve's performance worsened to ~100 ms, while im2colgemm_conv2d improved to just below 30 ms.

Possibly related to the fact that it uses gemm and for integer types it uses Mamy's laser backend, while for float it falls back to BLAS? iirc the laser gemm implementation only exists for integers.

Regarding the scipy implementation: you are compiling with OpenMP explicitly (-d:openmp), no? Easy to forget and I assume scipy will do so.

That seems a plausible explanation, thanks. Actually, I wasn't using that option. Unfortunatelly when I compile with -d:openmp (on windows) I get the following error:

initialization.nim: In function 'copyFromRaw__upfirdn_u348':
initialization.nim:287:63: error: invalid branch to/from OpenMP structured block
initialization.nim:287:213: error: invalid branch to/from OpenMP structured block
initialization.nim:289:63: error: invalid branch to/from OpenMP structured block
compilation terminated due to -fmax-errors=3.

edit: The code for upfirdn doesn't look very complicated: https://github.com/scipy/scipy/blob/main/scipy/signal/_upfirdn.py

The key is that to implement it efficiently you must do the downsampling as part of the convolution. You cannot do it after the convolution step because it's much less efficient (you'd calculate "down" times more samples than needed). I was originally planning to add an upfirdn function to impulse, but because of this problem I think it makes more sense to add it to arraymancer. We can add the filter window creation (e.g. kaiser, etc) to impulse, and use them to add a resample function (akin to Matlab and scipy's resample functions) to impulse.

[AngelEzquerra]

@mratsim, I am having trouble to get the gems based correlation work for integers. I'm sure it can be fixed but perhaps it could make sense to merge this improvement in (which makes the performance significantly better) and switch to a gemm based solution on a separate PR?

[AngelEzquerra]

@mratsim, I am having trouble to get the gems based correlation work for integers. I'm sure it can be fixed but perhaps it could make sense to merge this improvement in (which makes the performance significantly better) and switch to a gemm based solution on a separate PR?

Thanks to @Vindaar 's help I was able to make the gemm based convolution algorithm work. I just updated the PR with the changes.

[Vindaar]

Can be removed, as it's now further up. :)

[Vindaar]

Great work!