def conjugate_gradient_tv(K, Kadj, data, Lambda, n_it, mu=1e-4, return_energy=True):
'''
Conjugate Gradient algorithm to minimize the objective function
0.5*||K*x - d||_2^2 + Lambda*TV_mu (x)
where TV_mu is the Moreau-Yosida regularization of the Total Variation.
K : forward operator
Kadj : backward operator, adjoint of K
data: acquired data
Lambda : parameter weighting the TV regularization
mu : parameter of Moreau-Yosida approximation of TV (small positive value)
n_it : number of iterations
'''
x = 0*Kadj(data) # start from 0
grad_f = -Kadj(data)
grad_F = grad_f + Lambda*grad_tv_smoothed(x, mu)
d = -np.copy(grad_F)
if return_energy: en = np.zeros(n_it)
for k in range(0, n_it):
grad_f_old = grad_f
grad_F_old = grad_F
ATAd = Kadj(K(d))
# Calculate step size
alpha = dot(d, -grad_F_old)/dot(d, ATAd)
# Update variables
x = x + alpha*d
grad_f = grad_f_old + alpha*ATAd # TODO: re-compute gradient every K iterations to avoid error accumulation
grad_F = grad_f + Lambda*grad_tv_smoothed(x,mu)
beta = dot(grad_F, grad_F - grad_F_old)/norm2sq(grad_F_old) # Polak-Ribiere
if beta < 0:
beta = 0
d = -grad_F + beta*d
# Energy
if return_energy:
fid = norm2sq(K(x)-data)
tv = tv_smoothed(x,mu)
eng = fid+Lambda*tv
en[k] = eng
if (k % 10 == 0): # TODO: more flexible
print("%d : Energy = %e \t Fid = %e\t TV = %e" %(k, eng, fid, tv))
# Stoping criterion
if np.abs(alpha) < 1e-15: # TODO : try other bounds
print("Warning : minimum step reached, interrupting at iteration %d" %k)
break;
if return_energy: return en, x
else: return x
def fista_wavelets(data, W, K, Kadj, Lambda, Lip=None, n_it=100, return_all=True, normalize=False):
"""
Algorithm for solving the regularized inverse problem
||K x - data||_2^2 + Lambda*||W x||_1
Where K is some forward operator, and W is a Wavelet transform.
FISTA is used to solve this algorithm provided that the Wavelet transform is semi-orthogonal:
W^T W = alpha* Id
which is the case for DWT/SWT with orthogonal filters.
Parameters
----------
data: numpy.ndarray
data to reconstruct from
W: Wavelets instance
Wavelet instance (from pypwt import Wavelets; W = Wavelets(img, "wname", levels, ...)
K: function
Operator of the forward model
Kadj: function
Adjoint operator of K. We should have ||Kadj K x||_2^2 = < x | Kadj K x >
Lambda: float
Regularization parameter.
Lip: float (Optional, default is None)
Largest eigenvalue of (Kadj K). If None, it is automatically computed.
n_it: integer
Number of iterations
return_all: bool
If True, two arrays are returned: the objective function and the result.
normalize: bool (Optional, default is False)
If True, the thresholding is normalized (the threshold is smaller for the coefficients in finer scales).
Mind that the threshold should be adapted (should be ~ twice bigger than for normalize=False).
"""
if Lip is None:
print("Warn: Lipschitz constant not provided, computing it with 20 iterations")
Lip = power_method(K, Kadj, data, 20)**2 * 1.2
print("Lip = %e" % Lip)
if return_all: en = np.zeros(n_it)
x = np.zeros_like(Kadj(data))
y = np.zeros_like(x)
for k in range(0, n_it):
grad_y = Kadj(K(y) - data)
x_old = x
W.set_image((y - (1.0/Lip)*grad_y).astype(np.float32))
W.forward()
W.soft_threshold(Lambda/Lip, normalize=normalize)
W.inverse()
x = W.image
y = x + ((k-1.0)/(k+10.1))*(x - x_old) # TODO : see what would be the best parameter "a"
# Calculate norms
if return_all:
fidelity = 0.5*norm2sq(K(x)-data)
l1 = W.norm1()
energy = fidelity + Lambda*l1
en[k] = energy
if (k%10 == 0): # TODO: more flexible
print("[%d] : energy %e \t fidelity %e \t L1 %e" % (k, energy, fidelity, l1))
if return_all: return en, x
else: return x
def fista_l1_operator(data, K, Kadj, Lambda, H, Hinv, soft_thresh, Lip=None, n_it=100, return_all=True):
'''
Beck-Teboulle's forward-backward algorithm to minimize the objective function
||K*x - d||_2^2 + Lambda*||H*x||_1
When K and H are linear operators, and H is invertible.
K : forward operator
Kadj : backward operator
Lambda : weight of the regularization (the higher Lambda, the more sparse is the solution in the H domain)
H : *invertible* linear operator (eg. sparsifying transform, like Wavelet transform).
Hinv : inverse operator of H
soft_thresh : *in-place* function doing the soft thresholding (proximal operator of L1 norm) of the coefficients H(image)
Lip : largest eigenvalue of Kadj*K
n_it : number of iterations
return_all: if True, an array containing the values of the objective function will be returned
'''
# Check if H, Hinv and soft_thresh are callable
if not callable(H) or not callable(Hinv) or not callable(soft_thresh): raise ValueError('fista_l1() : the H, Hinv and soft_thresh parameters be callable')
# Check if H and Hinv are inverse of eachother
u = np.random.rand(512, 512)
Hu = H(u)
if np.max(np.abs(u - Hinv(Hu))) > 1e-3: # FIXME: not sure what tolerance I should take
raise ValueError('fista_l1() : the H operator inverse does not seem reliable')
# Check that soft_thresh is an in-place operator
thr = soft_thresh(Hu, 1.0)
if thr is not None: raise ValueError('fista_l1(): the soft_thresh parameter must be an in-place modification of the coefficients')
# Check if the coefficients H(u) have a method "norm1"
can_compute_l1 = True if callable(getattr(Hu, "norm1", None)) else False
if Lip is None:
print("Warn: fista_l1(): Lipschitz constant not provided, computing it with 20 iterations")
Lip = power_method(K, Kadj, data, 20)**2 * 1.2
print("Lip = %e" % Lip)
if return_all: en = np.zeros(n_it)
x = np.zeros_like(Kadj(data))
y = np.zeros_like(x)
for k in range(0, n_it):
grad_y = Kadj(K(y) - data)
x_old = x
w = H(y - (1.0/Lip)*grad_y)
soft_thresh(w, Lambda/Lip)
x = Hinv(w)
y = x + ((k-1.0)/(k+10.1))*(x - x_old) # TODO : see what would be the best parameter "a"
# Calculate norms
if return_all:
fidelity = 0.5*norm2sq(K(x)-data)
l1 = w.norm1() if can_compute_l1 else 0.
energy = fidelity + Lambda*l1
en[k] = energy
if (k%10 == 0): # TODO: more flexible
print("[%d] : energy %e \t fidelity %e \t L1 %e" % (k, energy, fidelity, l1))
elif (k%10 == 0): print("Iteration %d" % k)
if return_all: return en, x
else: return x
def conjugate_gradient(K, Kadj, data, n_it, return_energy=True):
'''
Conjugate Gradient algorithm for least squares fitting :
0.5*||K*x - d||_2^2
K : forward operator
Kadj : backward operator, adjoint of K
data: acquired data
n_it : number of iterations
'''
x = 0*Kadj(data) # start from 0
grad_f = -Kadj(data)
d = -np.copy(grad_f)
if return_energy: en = np.zeros(n_it)
for k in range(0, n_it):
grad_f_old = grad_f
ATAd = Kadj(K(d))
# Calculate step size
alpha = dot(d, -grad_f_old)/dot(d, ATAd)
# Update variables
x = x + alpha*d
grad_f = grad_f_old + alpha*ATAd # TODO: re-compute gradient every K iterations to avoid error accumulation
beta = dot(grad_f, grad_f - grad_f_old)/norm2sq(grad_f_old) # Polak-Ribiere
if beta < 0:
beta = 0
d = -grad_f + beta*d
# Energy
if return_energy:
eng = norm2sq(K(x)-data)
en[k] = eng
if (k % 10 == 0): # TODO: more flexible
print("%d : Energy = %e" %(k, eng))
# Stoping criterion
if np.abs(alpha) < 1e-15: # TODO : try other bounds
print("Warning : minimum step reached, interrupting at iteration %d" %k)
break;
if return_energy: return en, x
else: return x
def power_method(K, Kadj, data, n_it=10):
'''
Calculates the norm of operator K
i.e the sqrt of the largest eigenvalue of K^T*K
||K|| = sqrt(lambda_max(K^T*K))
K : forward operator
Kadj : backward operator (adjoint of K)
data : initial data
'''
x = np.copy(Kadj(data)) # Copy in case of Kadj = Id
for k in range(0, n_it):
x = Kadj(K(x))
s = sqrt(norm2sq(x))
x /= s
return sqrt(s)
def fista_l1(data, K, Kadj, Lambda, Lip=None, n_it=100, return_all=True):
'''
Beck-Teboulle's forward-backward algorithm to minimize the objective function
||K*x - d||_2^2 + Lambda*||x||_1
When K is a linear operators.
K : forward operator
Kadj : backward operator
Lambda : weight of the regularization (the higher Lambda, the more sparse is the solution in the H domain)
Lip : largest eigenvalue of Kadj*K
n_it : number of iterations
return_all: if True, an array containing the values of the objective function will be returned
'''
if Lip is None:
print("Warn: fista_l1(): Lipschitz constant not provided, computing it with 20 iterations")
Lip = power_method(K, Kadj, data, 20)**2 * 1.2
print("Lip = %e" % Lip)
if return_all: en = np.zeros(n_it)
x = np.zeros_like(Kadj(data))
y = np.zeros_like(x)
for k in range(0, n_it):
grad_y = Kadj(K(y) - data)
x_old = x
w = y - (1.0/Lip)*grad_y
w = _soft_thresh(w, Lambda/Lip)
x = w
y = x + ((k-1.0)/(k+10.1))*(x - x_old) # TODO : see what would be the best parameter "a"
# Calculate norms
if return_all:
fidelity = 0.5*norm2sq(K(x)-data)
l1 = norm1(w)
energy = fidelity + Lambda*l1
en[k] = energy
if (k%10 == 0): # TODO: more flexible
print("[%d] : energy %e \t fidelity %e \t L1 %e" % (k, energy, fidelity, l1))
#~ elif (k%10 == 0): print("Iteration %d" % k)
if return_all: return en, x
else: return x
