SoImageRegistrationTransform image filter More...
#include <ImageViz/Engines/GeometryAndMatching/Registration/SoImageRegistrationTransform.h>
Classes | |
struct | RegistrationEvent |
This event describes the evolution of the registration process. More... | |
Public Types | |
enum | RangeMode { MIN_MAX = 0 , OTHER = 1 } |
enum | TransformationType { TRANSLATION = 4 , RIGID = 0 , RIGID_ISOTROPIC_SCALING = 1 , RIGID_ANISOTROPIC_SCALING = 2 , AFFINE = 3 } |
This enum defines the types of transforms that can be computed. More... | |
enum | MetricType { EUCLIDIAN = 0 , CORRELATION , NORMALIZED_MUTUAL_INFORMATION } |
This enum defines the different types of metric used to compute the similarity value. More... | |
Public Types inherited from SoImageVizEngine | |
enum | ComputeMode { MODE_2D = 0 , MODE_3D = 1 , MODE_AUTO = 2 } |
Compute Mode This enum specifies whether the main input will be interpreted as a 3D volume or a stack of 2D images for processing. More... | |
enum | Neighborhood3d { CONNECTIVITY_6 = 0 , CONNECTIVITY_18 = 1 , CONNECTIVITY_26 = 2 } |
Neighborhood Connectivity 3D. More... | |
Public Member Functions | |
SoImageRegistrationTransform () | |
Constructor. | |
SbMatrix | getOutputTransformation () |
return the output transform matrix that aligns the model image to the reference image. | |
Public Member Functions inherited from SoImageVizEngine | |
virtual SoType | getTypeId () const |
Returns the type identifier for this specific instance. | |
virtual void | startEvaluate () |
Evaluate engine and dependencies in another thread without blocking the current one. | |
virtual void | waitEvaluate () |
Wait for the end of engine evaluation. | |
virtual void | abortEvaluate () |
Abort current processing as soon as possible. | |
virtual bool | isEvaluating () |
Returns true if the engine evaluation is in progress. | |
Public Member Functions inherited from SoEngine | |
virtual int | getOutputs (SoEngineOutputList &list) const |
Returns a list of outputs in this engine. | |
SoEngineOutput * | getOutput (const SbName &outputName) const |
Returns a reference to the engine output with the given name. | |
SbBool | getOutputName (const SoEngineOutput *output, SbName &outputName) const |
Returns (in outputName) the name of the engine output (output). | |
SoEngine * | copy () const |
Creates and returns an exact copy of the engine. | |
Public Member Functions inherited from SoFieldContainer | |
void | setToDefaults () |
Sets all fields in this object to their default values. | |
SbBool | hasDefaultValues () const |
Returns TRUE if all of the object's fields have their default values. | |
SbBool | fieldsAreEqual (const SoFieldContainer *fc) const |
Returns TRUE if this object's fields are exactly equal to fc's fields. | |
void | copyFieldValues (const SoFieldContainer *fc, SbBool copyConnections=FALSE) |
Copies the contents of fc's fields into this object's fields. | |
SoNONUNICODE SbBool | set (const char *fieldDataString) |
Sets one or more fields in this object to the values specified in the given string, which should be a string in the Open Inventor file format. | |
SbBool | set (const SbString &fieldDataString) |
Sets one or more fields in this object to the values specified in the given string, which should be a string in the Open Inventor file format. | |
void | get (SbString &fieldDataString) |
Returns the values of the fields of this object in the Open Inventor ASCII file format in the given string. | |
virtual int | getFields (SoFieldList &list) const |
Appends references to all of this object's fields to resultList, and returns the number of fields appended. | |
virtual int | getAllFields (SoFieldList &list) const |
Returns a list of fields, including the eventIn's and eventOut's. | |
virtual SoField * | getField (const SbName &fieldName) const |
Returns a the field of this object whose name is fieldName. | |
virtual SoField * | getEventIn (const SbName &fieldName) const |
Returns a the eventIn with the given name. | |
virtual SoField * | getEventOut (const SbName &fieldName) const |
Returns the eventOut with the given name. | |
SbBool | getFieldName (const SoField *field, SbName &fieldName) const |
Returns the name of the given field in the fieldName argument. | |
SbBool | enableNotify (SbBool flag) |
Notification at this Field Container is enabled (if flag == TRUE) or disabled (if flag == FALSE). | |
SbBool | isNotifyEnabled () const |
Notification is the process of telling interested objects that this object has changed. | |
virtual void | setUserData (void *data) |
Sets application data. | |
void * | getUserData (void) const |
Gets user application data. | |
Public Member Functions inherited from SoBase | |
virtual void | touch () |
Marks an instance as modified, simulating a change to it. | |
virtual SbName | getName () const |
Returns the name of an instance. | |
virtual void | setName (const SbName &name) |
Sets the name of an instance. | |
void | setSynchronizable (const bool b) |
Sets this to be a ScaleViz synchronizable object. | |
bool | isSynchronizable () const |
Gets the ScaleViz synchronizable state of this object. | |
Public Member Functions inherited from SoRefCounter | |
void | ref () const |
Adds a reference to an instance. | |
void | unref () const |
Removes a reference from an instance. | |
void | unrefNoDelete () const |
unrefNoDelete() should be called when it is desired to decrement the reference count, but not delete the instance if this brings the reference count to zero. | |
int | getRefCount () const |
Returns current reference count. | |
void | lock () const |
lock this instance. | |
void | unlock () const |
unlock this instance. | |
Public Member Functions inherited from SoTypedObject | |
SbBool | isOfType (const SoType &type) const |
Returns TRUE if this object is of the type specified in type or is derived from that type. | |
template<typename TypedObjectClass > | |
SbBool | isOfType () const |
Returns TRUE if this object is of the type of class TypedObjectClass or is derived from that class. | |
Public Attributes | |
SbEventHandler< RegistrationEvent & > | onProgressRegistration |
Specific event handler for registration. | |
SoSFEnum | computeMode |
Select the compute Mode (2D or 3D or AUTO) Use enum ComputeMode. | |
SoSFImageDataAdapter | inMovingImage |
The input model image. | |
SoSFImageDataAdapter | inFixedImage |
The input reference image. | |
SoSFMatrix | initialTransform |
The initial transformation that pre-aligns the model onto the reference. | |
SoSFBool | autoParameterMode |
The way to determine the coarsestResampling and optimizerStep parameters. | |
SoSFVec2f | optimizerStep |
The step sizes, in world coordinates, used by the optimizer at coarsest and finest scales. | |
SoSFVec2f | intensityRangeReference |
The range [a,b] of gray values for the reference data set. | |
SoSFVec2f | intensityRangeModel |
The range [a,b] of gray values for the model data set. | |
SoSFVec3i32 | coarsestResampling |
The sub-sampling factor along each axis. | |
SoSFEnum | rangeModeReference |
The way to define the intensity range to be considered by the algorithm in the reference (fixed) image. | |
SoSFEnum | rangeModeModel |
The way to define the intensity range to be considered by the algorithm in the model (moving) image. | |
SoSFEnum | transformType |
Select the type of transform. | |
SoSFBool | ignoreFinestLevel |
Skip the finest level of the pyramid. | |
SoSFEnum | metricType |
Select the metric type. | |
SoImageVizEngineOutput< SoSFFieldContainer, SoRegistrationResult * > | outTransform |
Output structure storing registration results. | |
Public Attributes inherited from SoImageVizEngine | |
SbEventHandler< EventArg & > | onBegin |
Event raised when the processing begins. | |
SbEventHandler< EventArg & > | onEnd |
Event raised when processing ends and the result is available. | |
SbEventHandler< EventArg & > | onProgress |
Event raised while processing is running. | |
Additional Inherited Members | |
Static Public Member Functions inherited from SoImageVizEngine | |
static SoType | getClassTypeId () |
Returns the type identifier for this class. | |
Static Public Member Functions inherited from SoEngine | |
static SoType | getClassTypeId () |
Returns the type identifier for the SoEngine class. | |
static SoEngine * | getByName (const SbName &name) |
Looks up engine(s) by name. | |
static int | getByName (const SbName &name, SoEngineList &list) |
Looks up engine(s) by name. | |
Static Public Member Functions inherited from SoFieldContainer | |
static SoType | getClassTypeId () |
Returns the type of this class. | |
Static Public Member Functions inherited from SoBase | |
static SoType | getClassTypeId () |
Returns type identifier for this class. | |
Static Public Member Functions inherited from SoTypedObject | |
static SoType | getClassTypeId () |
Returns the type identifier for this class. | |
SoImageRegistrationTransform image filter
SoImageRegistrationTransform computes the best transformation for the co-registration of two images, using an iterative optimization algorithm.
The goal of registration is to find a transformation aligning a model image, which is moving while being processed, with a reference image, which remains fixed, starting from an initial transformation and by optimizing a similarity criterion between both images.
The estimated transformation can be a single translation, rigid (translation and rotation only), rigid with scale factors (isotropic or anisotropic along axis directions) or affine (including shear transformation).
A hierarchical strategy is applied, starting at a coarse resampling of the data set, and proceeding to finer resolutions later on. Different similarity measurements like Euclidean distance, mutual information, and correlation can be selected. After each iteration a similarity score is computed, and the transformation is refined according to an optimizer algorithm. If this score cannot be computed, for instance when the resampling or step parameters are not adapted, it remains at its default value -1000.
The optimizer behavior depends on the optimizerStep parameter which affects the search extent, precision and computation time. A small optimizerStep is recommended when a pre-alignment has been performed in order to be more precise and avoid sending the transformation at a wrong location.
Two different optimization strategies are used for coarsest and finest resolution levels. The Extensive Direction optimizer is used at coarse levels. This optimizer is well suited for coarse resolution levels and potentially search registration further. A Quasi Newton optimizer is used on the finest level computed excepted if there is only one level. This optimizer is more suited for finer resolution levels in order to refine the transformation.
By default, the coarsestResampling and optimizerStep parameters are automatically estimated from the reference image properties. If the model and reference have different resolution or size, for instance in multi-modality case, these settings may be inappropriate and lead the registration to fail. In this case, the autoParameterMode parameter should be set to false and both parameters should be manually set to relevant values so that the coarsest resolution level generates a representative volume (i.e., not made of too few voxels) the displacement step is precise enough to not skip the searched transformation.
The SoImagePreAlignmentTransform3d engine can be used beforehand to estimate a rough initial transformation.
If the two input images have been carefully pre-aligned, it is not recommended to perform the registration at a too low sub-resolution level. It would not only perform useless computations but could also send the transformation at a wrong location and thus miss the right transformation. Consequently, the following recommendations can be applied in this case:
This engine can notify some information during the processing (progression, similarity) and can be interrupted. Intercepting these events slows down the algorithm execution.
References
The Correlation Ratio metric is explained in the following publication:
The Normalized Mutual Information metric is based on the following publication:
Further references include:
inMovingImage | NULL |
inFixedImage | NULL |
initialTransform | SbMatrix::identity() |
autoParameterMode | TRUE |
optimizerStep | SbVec2f( 4.0f, 1.0f / 2.0f ) |
intensityRangeReference | SbVec2f( 0.0f, 65535.0f ) |
intensityRangeModel | SbVec2f( 0.0f, 65535.0f ) |
rangeModeReference | MIN_MAX |
rangeModeModel | MIN_MAX |
coarsestResampling | SbVec3i32( 8, 8, 8 ) |
transformType | RIGID |
ignoreFinestLevel | FALSE |
metricType | CORRELATION |
Notice: This engine requires to preliminarily load the whole input data sets into memory to be computed. As a consequence, the maximum memory parameter must be either set to 0 or greater than the data set memory size:
If this condition is not respected an exception will be raised when launching the execution of this engine: "engine cannot be computed because inputs are not in memory images." If the input data sets cannot fit in memory, this engine will fail during its computation. |
SoImagePreAlignmentTransform3d
Definition at line 146 of file SoImageRegistrationTransform.h.
This enum defines the different types of metric used to compute the similarity value.
Definition at line 384 of file SoImageRegistrationTransform.h.
Enumerator | |
---|---|
MIN_MAX | The reference intensity range is between the minimum and the maximum of the image intensities. |
OTHER | The reference intensity range is between user-defined bounds [a,b]. |
Definition at line 314 of file SoImageRegistrationTransform.h.
This enum defines the types of transforms that can be computed.
Default value is RIGID.
Definition at line 344 of file SoImageRegistrationTransform.h.
SoImageRegistrationTransform::SoImageRegistrationTransform | ( | ) |
Constructor.
|
inline |
return the output transform matrix that aligns the model image to the reference image.
Definition at line 429 of file SoImageRegistrationTransform.h.
SoSFBool SoImageRegistrationTransform::autoParameterMode |
The way to determine the coarsestResampling and optimizerStep parameters.
If true, these parameters are automatically computed.
In this case the optimizerStep, for the coarsest resolution is 1/5 of the size of the reference image bounding box and for the finest resolution it is 1/6 of the reference image voxel size.
For the coarsestResampling, if the voxels of the reference image are anisotropic, i.e., have a different size in X, Y, and Z directions, the default resampling rates are around 8 and adapted in order to achieve isotropic voxels on the coarsest level.
If the voxels of the reference image are isotropic, i.e., have a the same size in X, Y, and Z directions, the default resampling rate is computed in order to get at least 30 voxels along each direction.
Default value is true.
Definition at line 245 of file SoImageRegistrationTransform.h.
SoSFVec3i32 SoImageRegistrationTransform::coarsestResampling |
The sub-sampling factor along each axis.
This parameter defines the resampling rate for the coarsest resolution level where registration starts. The resampling rate refers to the reference data set.
If the voxel sizes of model and reference differ, the resampling rates for the model are adapted in order to achieve similar voxel sizes as for the reference on the same level.
A coarsest resampling factor of 8 means that one voxel at the coarsest level is equal to 8 voxels at the finest level for the related dimension.
This resampling factor is specified for each dimension of the input volume.
This parameter is ignored if autoParameterMode is set to true.
Default value is SbVec3i32( 8, 8, 8 ).
Definition at line 312 of file SoImageRegistrationTransform.h.
SoSFEnum SoImageRegistrationTransform::computeMode |
Select the compute Mode (2D or 3D or AUTO) Use enum ComputeMode.
Default is MODE_AUTO
Definition at line 217 of file SoImageRegistrationTransform.h.
SoSFBool SoImageRegistrationTransform::ignoreFinestLevel |
Skip the finest level of the pyramid.
Default value is false.
Definition at line 379 of file SoImageRegistrationTransform.h.
SoSFImageDataAdapter SoImageRegistrationTransform::inFixedImage |
The input reference image.
Default value is NULL. Supported types include: grayscale binary label.
Definition at line 223 of file SoImageRegistrationTransform.h.
SoSFMatrix SoImageRegistrationTransform::initialTransform |
The initial transformation that pre-aligns the model onto the reference.
Default value is SbMatrix::identity(). The SoImagePreAlignmentTransform3d engine can be used to compute an initial transform.
Definition at line 227 of file SoImageRegistrationTransform.h.
SoSFImageDataAdapter SoImageRegistrationTransform::inMovingImage |
The input model image.
Default value is NULL. Supported types include: grayscale binary label.
Definition at line 220 of file SoImageRegistrationTransform.h.
SoSFVec2f SoImageRegistrationTransform::intensityRangeModel |
The range [a,b] of gray values for the model data set.
It works similarly to its reference data set counterpart parameter. This parameter is ignored if the rangeModeModel parameter is set to MIN_MAX
Default value is SbVec2f( 0.0f, 65535.0f ).
NOTE: field available since Open Inventor 10.9
Definition at line 293 of file SoImageRegistrationTransform.h.
SoSFVec2f SoImageRegistrationTransform::intensityRangeReference |
The range [a,b] of gray values for the reference data set.
With the Mutual information metrics, gray values outside the range are sorted into the first or last histogram bin, respectively. With the Correlation metric, voxels with gray values outside the range are ignored. This parameter is ignored with the Euclidean metric or if the rangeModeReference parameter is set to MIN_MAX.
Default value is SbVec2f( 0.0f, 65535.0f ).
NOTE: field available since Open Inventor 10.9
Definition at line 281 of file SoImageRegistrationTransform.h.
SoSFEnum SoImageRegistrationTransform::metricType |
Select the metric type.
Use enum MetricType. Default is CORRELATION
Definition at line 421 of file SoImageRegistrationTransform.h.
SbEventHandler<RegistrationEvent&> SoImageRegistrationTransform::onProgressRegistration |
Specific event handler for registration.
Definition at line 209 of file SoImageRegistrationTransform.h.
SoSFVec2f SoImageRegistrationTransform::optimizerStep |
The step sizes, in world coordinates, used by the optimizer at coarsest and finest scales.
These step sizes refer to translations. For rotations, scalings, and shearings appropriate values are chosen accordingly. The first parameter is applied to the coarsest resolution level, the second to the finest level. Steps at intermediate levels are deduced from them. High step values cover a larger registration area but increase the risk of failure.
If the input transformation already provides a reasonable alignment, the steps can be set smaller than the values given by the automatic mode in order to reduce computation time and risk of failure.
Assuming a voxel size of (1,1,1) and a coarsestResampling of SbVec3i32(8,8,8), these parameters correspond to a displacement of half a voxel for the coarsest and finest level. As it is rarely the case, it is essential to set this parameter in relation with the reference image voxel size if the automatic mode is disabled.
This parameter is ignored if autoParameterMode is set to true.
Default value is SbVec2f( 4.0f, 1.0f / 2.0f ) ).
Definition at line 268 of file SoImageRegistrationTransform.h.
SoImageVizEngineOutput<SoSFFieldContainer, SoRegistrationResult*> SoImageRegistrationTransform::outTransform |
Output structure storing registration results.
Definition at line 426 of file SoImageRegistrationTransform.h.
SoSFEnum SoImageRegistrationTransform::rangeModeModel |
The way to define the intensity range to be considered by the algorithm in the model (moving) image.
Default is MIN_MAX
NOTE: field available since Open Inventor 10.9
Definition at line 339 of file SoImageRegistrationTransform.h.
SoSFEnum SoImageRegistrationTransform::rangeModeReference |
The way to define the intensity range to be considered by the algorithm in the reference (fixed) image.
Default is MIN_MAX
NOTE: field available since Open Inventor 10.9
Definition at line 331 of file SoImageRegistrationTransform.h.
SoSFEnum SoImageRegistrationTransform::transformType |
Select the type of transform.
Use enum TransformationType. Default is RIGID
Definition at line 373 of file SoImageRegistrationTransform.h.