Detailed Description

Algorithm for registering an ultrasound sweep to a volume using DISA.

This algorithm performs ultrasound-specific preprocessing and deformation handling, then registers the sweep to a reference volume using multimodal DISA descriptors. The registration leverages the DescriptorsRegistrationAlgorithm.

Reference paper: DISA: DIfferentiable Similarity Approximation for Universal Multimodal Registration (Ronchetti et al. 2023)

The algorithm workflow:

Ensures pixels outside the fan geometry are set to zero (for masking during registration).
Compounds the ultrasound sweep into a 3D volume.
(Optional) If WeightType is not Generic, uses a CNN to compute feature weights for specific anatomies.
Runs DescriptorsRegistrationAlgorithm to compute the registration and propagates the result to the sweep.

If p_probeDeformation is enabled, deformable registration is performed using a probe pressure deformation model.

Public Types
enum class	Mode { LocalReg = 0 , GlobalReg = 1 }
	Registration modes. More...
enum class	WeightType { Generic = 0 , Abdomen = 1 , Brain = 2 }
	Type of feature weighting to use during registration. More...
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
	UltrasoundDISARegistrationAlgorithm (UltrasoundSweep &sweep, SharedImageSet &volume, SharedImageSet *weight=nullptr)
	UltrasoundDISARegistrationAlgorithm (SharedImageSet &compoundedSweep, SharedImageSet &volume, SharedImageSet *weight=nullptr)
bool	prepare ()
	Performs preprocessing and feature extraction.
void	compute () override
	Runs the full registration pipeline (calls prepare and executes registration).
void	initializePose ()
	Moves the sweep to a default pose relative to the volume.
std::shared_ptr< DescriptorsRegistrationAlgorithm >	registrationAlgorithm ()
	Access the underlying DescriptorsRegistrationAlgorithm.
bool	setRegistration (const mat4 &R)
	Sets the registration matrix and updates DISA descriptors.
UltrasoundSweep *	sweep ()
	Returns the ultrasound sweep (if available).
UltrasoundSweep *	weight ()
	Returns the weighted sweep (if computed).
SharedImageSet *	customWeight ()
	Returns the custom weight (if available).
SharedImageSet *	volume ()
	Returns the reference volume.
void	setRegistrationResults (RegistrationResults *results)
	Sets the RegistrationResults instance where the results will be stored.
Public Member Functions inherited from ImFusion::Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual OwningDataList	takeOutput ()
	Return any new Data that was created by the Algorithm during the last call to compute().
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	configure (const Properties *p)
	Configure this object instance by de-serializing the given Properties.
virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.
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.

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
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.

Public Attributes
Parameter< double >	p_spacing = {"spacing", 1.0, this}
	Spacing (in mm) that the ultrasound and volume will be compounded/resampled to.
Parameter< Mode >	p_mode = {"mode", Mode::LocalReg, this}
	Registration mode.
Parameter< WeightType >	p_weighting = {"weighting", WeightType::Generic, this}
	Weighting type.
Parameter< bool >	p_probeDeformation = {"probeDeformation", false, this}
	Whether to enable the probe deformation model.
Parameter< bool >	p_considerPointCorrespondences = {"considerPointCorrespondences", false, this}
	Whether to use point correspondences penalty. If enabled, the algorithm will look for point correspondences on the data and penalize their distance being >10mm.
Parameter< std::string >	p_ultrasoundModelPath = {"ultrasoundModelPath", "", this}
	Path to custom ML model to compute the DISA features of the ultrasound (optional).
Parameter< std::string >	p_volumeModelPath = {"volumeModelPath", "", this}
	Path to custom ML model to compute the DISA features of the tomographic volume (optional).
Parameter< std::string >	p_weightModel = {"weightModel", "", this}
	Path to custom ML model to compute the weighting from the ultrasound volume (optional).
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.

Additional Inherited Members
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 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.

Member Enumeration Documentation

◆ Mode

enum class ImFusion::US::UltrasoundDISARegistrationAlgorithm::Mode

strong

Registration modes.

Enumerator
LocalReg	Local registration using the BFGS optimizer.
GlobalReg	Global registration, using multiple BFGS optimizers with different starting parameters.

◆ WeightType

enum class ImFusion::US::UltrasoundDISARegistrationAlgorithm::WeightType

strong

Type of feature weighting to use during registration.

Enumerator
Generic	Generic weight based on local variance of voxel intensities.
Abdomen	Uses a specialized CNN to compute the weight for abdominal ultrasound.
Brain	Uses a specialized CNN to compute the weight for brain ultrasound.

Member Function Documentation

◆ prepare()

bool ImFusion::US::UltrasoundDISARegistrationAlgorithm::prepare ( )

Performs preprocessing and feature extraction.

Returns: True if successful, false otherwise.

◆ compute()

void ImFusion::US::UltrasoundDISARegistrationAlgorithm::compute ( )

overridevirtual

Runs the full registration pipeline (calls prepare and executes registration).

Implements ImFusion::Algorithm.

◆ setRegistration()

bool ImFusion::US::UltrasoundDISARegistrationAlgorithm::setRegistration ( const mat4 & R )

Sets the registration matrix and updates DISA descriptors.

Requires a sweep to be provided as input, will fail if the algorithm was created with a compounded sweep.

Parameters

R	The registration matrix. UltrasoundSweep::setRegistration.

Returns: True if successful, false otherwise.

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

ImFusion/US/UltrasoundDISARegistrationAlgorithm.h

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes