#include <ImFusion/CT/Gl2D3DRegistration.h>

OpenGL-accelerated 2D-3D registration for cone-beam projections. More...

Inheritance diagram for ImFusion::CT::Gl2D3DRegistration:

Detailed Description

OpenGL-accelerated 2D-3D registration for cone-beam projections.

GPU-based implementation of intensity-based 2D-3D registration.

Public Types
enum class	ParameterMode { Detector , Iso , Global }
enum class	DRRMode { Full , Masked }
Public Types inherited from ImFusion::Algorithm
enum	Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...

Public Member Functions
	Gl2D3DRegistration (SharedImageSet data, GlConeBeamForward fw)
	Constructor requiring cone-beam data and forward projector.
	Gl2D3DRegistration (SharedImageSet data, SharedImageSet vol)
	Constructor with cone-beam data and volume.
	~Gl2D3DRegistration () override
	Destructor deleting auxiliary data.
void	setDrrZeroMask (bool flag, int frame=-1)
	If true, zero intensities in the DRR will be ignored by the similarity measure.
void	setLocalSimilarityImage (bool flag)
	Specify whether a local similarity image shall be computed for the focus frame (LNCC mode only).
void	setPosePenalty (const std::function< double(int n, const double *x)> &penaltyFunction)
	Set an optional penalty function on the pose parameters.
const std::function< double(int n, const double *x)> &	posePenalty ()
	Retrieve the optional penalty function on the pose parameters.
void	setWeightImages (const std::vector< SharedImage * > &images)
	Set optional images to use as pixel-wise weighting of the similarity measure for each frame.
const std::vector< SharedImage * > &	weightImages ()
	Access weight images.
SimilarityMeasureWrapper &	similarityMeasure ()
	Access the similarity measure to set parameters.
void	similarityMeasureChanged () const
	Inform all AlgorithmListener that the similarityMeasure has changed.
void	reset ()
	Reset transformations to state before registration.
void	resetOrigParams ()
	Fetch current params from m_data and set m_origParams to a copy of m_data->geometry().
const ConeBeamGeometry &	origPars ()
	Retrieve saved copy of the original parameters.
std::shared_ptr< Optimizer >	createDefaultOptimizer () const override
	Create suited optimizer depending on parameter mode.
double	evaluate ()
	Directly evaluate selection without manipulating CBCT geometry.
double	evaluate (int n, const double x, double dx=0) override
	Evaluate the cost function.
SharedImageSet *	drr (int frame=-1)
	Return the rendered DRR (owned by this class).
int	numDRRs ()
	Return the number of DRR images managed by this class.
SharedImageSet *	similarityImage ()
	Return the last computed local similarity map if available (owned here, LNCC mode only).
SharedImageSet *	computeDrr (int frame)
	Compute DRR for chosen frame and return it The image returned is owned by this class, it is using the same instance for all frames.
SharedImageSet *	computeDrr (int frame, const mat4 &matrix, bool invert=false)
	Compute DRR for chosen frame using the given iso matrix and return it.
SharedImageSet *	data ()
	Return pointer to the used cone-beam data.
const std::vector< mat4 > &	relativeMatrices () const
	Access to the relative transformation matrices after optimization.
SequentialMotion &	seqMotion ()
	Access to the sequential motion class.
void	resetInternalSimilarityImage2 ()
	Resets the projection image of the internal similarity measure.
Public Member Functions inherited from ImFusion::CT::GeometryGeneratorOptimizingAlgorithm
	GeometryGeneratorOptimizingAlgorithm (SharedImageSet *data)
	Constructor.
Public Member Functions inherited from ImFusion::OptimizingAlgorithm
void	setOptimizer (std::shared_ptr< Optimizer > opt)
	Set an optimizer from outside.
std::shared_ptr< Optimizer >	optimizer ()
	Returns the current optimizer.
void	configure (const Properties *p) override
	Configures the optimizer from a sub-property if available.
void	configuration (Properties *p) const override
	Stores the optimizer configuration into a sub-property.
Public Member Functions inherited from ImFusion::Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from ImFusion::Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept
Public Member Functions inherited from ImFusion::SignalReceiver
	SignalReceiver ()=default
	Default constructor.
	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.
SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.
virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

Public Attributes
Signal< const SharedImageSet * >	signalDrrDeleted
	This gets called before a stored DRR image is deleted. The argument is the DRR image.
Signal	signalWeightsChanged
	This signal is emitted whenever the weights are changed.
Parameter< ParameterMode >	p_parameterMode = {"parameterMode", ParameterMode::Detector, this}
	Mode of parameters to use.
Parameter< DRRMode >	p_drrMode = {"drrMode", DRRMode::Masked, this}
	Whether to compute DRR only in masked regions.
Parameter< bool >	p_useVolumeMatrix = {"useVolumeMatrix", false, this}
	If true, the volume transformation will be considered.
Parameter< bool >	p_projMask = {"projMask", false, this}
	Speeds up DRR rendering by considering projection mask.
Parameter< bool >	p_drrMask = {"drrMask", false, this}
	Flag for using a zero-intensity mask on the DRR.
Parameter< bool >	p_halfResolution = {"halfResolution", false, this}
	Use DRR with half resolution of reference.
Parameter< bool >	p_singleFrame = {"singleFrame", false, this}
	Only register a single frame at a time.
Parameter< bool >	p_multipleDRRs = {"multipleDRRs", false, this}
	Whether to use individual DRRs per frame.
Public Attributes inherited from ImFusion::CT::GeometryGeneratorOptimizingAlgorithm
Parameter< std::string >	p_generatorId = {"generatorId", "none", this}
	Id of the generator to install.
Parameter< bool >	p_sequentialMode = {"sequentialMode", false, this}
	Whether to optimize the parameters of frames sequentially.
Public Attributes inherited from ImFusion::Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.

Protected Member Functions
	Gl2D3DRegistration (SharedImageSet *data)
void	initDrr ()
	Creates or re-creates the DRR texture(s) if necessary.
Protected Member Functions inherited from ImFusion::Algorithm
void	loadDefaults ()
void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.
template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.
void	registerAction (const Action &action)
	Register an action.
Protected Member Functions inherited from ImFusion::SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.

Protected Attributes
SharedImageSet *	m_data = nullptr
	The set of cone-beam projections.
SharedImageSet *	m_volume = nullptr
	The CT volume if explicitly available.
std::unique_ptr< GlConeBeamForward >	m_ownFw
	Owned forward projector, set in the case none was provided at construction.
GlConeBeamForward *	m_fw = nullptr
	Forward projector, either set to m_ownFw or a projector provided at construction.
ConeBeamGeometry	m_origPars
	Original CBCT parameters for reset.
std::vector< std::unique_ptr< SimilarityMeasureWrapper > >	m_sm
	Similarity measure instances.
std::vector< std::unique_ptr< SharedImageSet > >	m_drrs
	The DRR computed during evaluation. If m_multipleDRRs is set, saves one per focus frame, otherwise only a single drr;.
std::unique_ptr< SharedImageSet >	m_simImg
	LNCC similarity image if used.
std::vector< SharedImage * >	m_weightImgs
	Optional similarity measure weighting images.
bool	m_dataNew = false
	Was the CBCT data newly created.
std::vector< mat4 >	m_relMat
	Relative motion matrices for all frames.
std::unique_ptr< SequentialMotion >	m_seqMot
	Class for thresholding & analysis of sequential motion.
std::function< double(int n, const double *x)>	m_penaltyFunc
	Optional penalty function.
bool	m_inDestructor = false
Protected Attributes inherited from ImFusion::CT::GeometryGeneratorOptimizingAlgorithm
std::unique_ptr< ParameterWrapperBase >	m_paramWrapper
	Parameter wrapper for the optimization.
SharedImageSet *	m_data
	The set of cone-beam projections.
std::string	m_lastGeneratorId
	The last generator id.
Protected Attributes inherited from ImFusion::OptimizingAlgorithm
std::shared_ptr< Optimizer >	m_opt
	The optimizer instance.
Protected Attributes inherited from ImFusion::Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute().
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Algorithm interface methods
void	compute () override
	Execute the algorithm.
OwningDataList	takeOutput () override
	Return any new Data that was created by the Algorithm during the last call to compute().
static bool	createCompatible (const DataList &data, Algorithm **a=0)

Configurable interface methods
void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.
void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.

Additional Inherited Members
Static Public Member Functions inherited from ImFusion::Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Member Enumeration Documentation

◆ ParameterMode

enum class ImFusion::CT::Gl2D3DRegistration::ParameterMode

strong

Enumerator
Detector	Detector motion.
Iso	Iso-center motion per frame.
Global	Global geometry.

◆ DRRMode

enum class ImFusion::CT::Gl2D3DRegistration::DRRMode

strong

Enumerator
Full	Compute the DRR everywhere (slower).
Masked	Compute the DRR only in masked regions (faster, but worse for visualisation).

Member Function Documentation

◆ setDrrZeroMask()

void ImFusion::CT::Gl2D3DRegistration::setDrrZeroMask	(	bool	flag,
		int	frame = -1 )

If true, zero intensities in the DRR will be ignored by the similarity measure.

If

Parameters

frame is not -1 and m_multipleDRRs is set, the intensity mask is only set for the specified frame.

◆ compute()

void ImFusion::CT::Gl2D3DRegistration::compute ( )

overridevirtual

Execute the algorithm.

Reimplemented from ImFusion::CT::GeometryGeneratorOptimizingAlgorithm.

◆ takeOutput()

OwningDataList ImFusion::CT::Gl2D3DRegistration::takeOutput ( )

overridevirtual

Return any new Data that was created by the Algorithm during the last call to compute().

The default implementation will return an empty list.

Note: Since ownership of the data is transferred, you can call this method only once between calls to compute().

Reimplemented from ImFusion::Algorithm.

◆ configure()

void ImFusion::CT::Gl2D3DRegistration::configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configuration() for the inverse functionality

Reimplemented from ImFusion::Configurable.

◆ configuration()

void ImFusion::CT::Gl2D3DRegistration::configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configure() for the inverse functionality

Reimplemented from ImFusion::Configurable.

◆ createDefaultOptimizer()

std::shared_ptr< Optimizer > ImFusion::CT::Gl2D3DRegistration::createDefaultOptimizer ( ) const

overridevirtual

Create suited optimizer depending on parameter mode.

Reimplemented from ImFusion::CT::GeometryGeneratorOptimizingAlgorithm.

◆ evaluate()

double ImFusion::CT::Gl2D3DRegistration::evaluate	(	int	n,
		const double *	x,
		double *	dx = 0 )

overridevirtual

Evaluate the cost function.

Implements ImFusion::CostFunction.

◆ drr()

SharedImageSet * ImFusion::CT::Gl2D3DRegistration::drr ( int frame = -1 )

Return the rendered DRR (owned by this class).

Warning:

Parameters

frame is ignored unless m_multipleDRRs is true.

◆ computeDrr() [1/2]

SharedImageSet * ImFusion::CT::Gl2D3DRegistration::computeDrr ( int frame )

Compute DRR for chosen frame and return it The image returned is owned by this class, it is using the same instance for all frames.

*‍/

◆ computeDrr() [2/2]

SharedImageSet * ImFusion::CT::Gl2D3DRegistration::computeDrr	(	int	frame,
		const mat4 &	matrix,
		bool	invert = false )

Compute DRR for chosen frame using the given iso matrix and return it.

The image returned is owned by this class, it is using the same instance for all frames. If the optional invert flag is enabled, a DRR is rendered with the inverse log-conversion setting than the projection data has. *‍/

◆ resetInternalSimilarityImage2()

void ImFusion::CT::Gl2D3DRegistration::resetInternalSimilarityImage2 ( )

Resets the projection image of the internal similarity measure.

This should be called after masks have been added/removed to members of m_data.

The documentation for this class was generated from the following file:

ImFusion/CT/Gl2D3DRegistration.h

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Algorithm interface methods

Configurable interface methods

Additional Inherited Members

Member Enumeration Documentation

◆ ParameterMode

◆ DRRMode

Member Function Documentation

◆ setDrrZeroMask()

◆ compute()

◆ takeOutput()

◆ configure()

◆ configuration()

◆ createDefaultOptimizer()

◆ evaluate()

◆ drr()

◆ computeDrr() [1/2]

◆ computeDrr() [2/2]

◆ resetInternalSimilarityImage2()