def run_shooting(xml_parameters): print('[ run_shooting function ]') print('') """ Create the template object """ t_list, t_name, t_name_extension, t_noise_variance, multi_object_attachment = \ create_template_metadata(xml_parameters.template_specifications) print("Object list:", t_list) template = DeformableMultiObject() template.object_list = t_list template.update() """ Reading Control points and momenta """ # if not (os.path.exists(Settings().output_dir)): Settings().output_dir if not xml_parameters.initial_control_points is None: control_points = read_2D_array(xml_parameters.initial_control_points) else: raise ArgumentError('Please specify a path to control points to perform a shooting') if not xml_parameters.initial_momenta is None: momenta = read_3D_array(xml_parameters.initial_momenta) else: raise ArgumentError('Please specify a path to momenta to perform a shooting') template_data_numpy = template.get_points() template_data_torch = Variable(torch.from_numpy(template_data_numpy)) momenta_torch = Variable(torch.from_numpy(momenta)) control_points_torch = Variable(torch.from_numpy(control_points)) exp = Exponential() exp.set_initial_control_points(control_points_torch) exp.set_initial_template_data(template_data_torch) exp.number_of_time_points = 10 exp.kernel = kernel_factory.factory(xml_parameters.deformation_kernel_type, xml_parameters.deformation_kernel_width) exp.set_use_rk2(xml_parameters.use_rk2) for i in range(len(momenta_torch)): exp.set_initial_momenta(momenta_torch[i]) exp.update() deformedPoints = exp.get_template_data() names = [elt + "_"+ str(i) for elt in t_name] exp.write_flow(names, t_name_extension, template) exp.write_control_points_and_momenta_flow("Shooting_"+str(i))
def compute_distance_squared(path_to_mesh_1, path_to_mesh_2, deformable_object_type, attachment_type, kernel_width=None): reader = DeformableObjectReader() object_1 = reader.create_object(path_to_mesh_1, deformable_object_type.lower()) object_2 = reader.create_object(path_to_mesh_2, deformable_object_type.lower()) multi_object_1 = DeformableMultiObject([object_1]) multi_object_2 = DeformableMultiObject([object_2]) multi_object_attachment = MultiObjectAttachment( [attachment_type], [kernel_factory.factory('torch', kernel_width)]) return multi_object_attachment.compute_distances( { key: torch.from_numpy(value) for key, value in multi_object_1.get_points().items() }, multi_object_1, multi_object_2).data.cpu().numpy()
class DeterministicAtlas(AbstractStatisticalModel): """ Deterministic atlas object class. """ #################################################################################################################### ### Constructor: #################################################################################################################### def __init__(self): AbstractStatisticalModel.__init__(self) self.template = DeformableMultiObject() self.objects_name = [] self.objects_name_extension = [] self.objects_noise_variance = [] self.multi_object_attachment = MultiObjectAttachment() self.exponential = Exponential() self.use_sobolev_gradient = True self.smoothing_kernel_width = None self.initial_cp_spacing = None self.number_of_subjects = None self.number_of_objects = None self.number_of_control_points = None self.bounding_box = None # Dictionary of numpy arrays. self.fixed_effects['template_data'] = None self.fixed_effects['control_points'] = None self.fixed_effects['momenta'] = None self.freeze_template = False self.freeze_control_points = False self.freeze_momenta = False #################################################################################################################### ### Encapsulation methods: #################################################################################################################### # Template data ---------------------------------------------------------------------------------------------------- def get_template_data(self): return self.fixed_effects['template_data'] def set_template_data(self, td): self.fixed_effects['template_data'] = td self.template.set_data(td) # Control points --------------------------------------------------------------------------------------------------- def get_control_points(self): return self.fixed_effects['control_points'] def set_control_points(self, cp): self.fixed_effects['control_points'] = cp self.number_of_control_points = len(cp) # Momenta ---------------------------------------------------------------------------------------------------------- def get_momenta(self): return self.fixed_effects['momenta'] def set_momenta(self, mom): self.fixed_effects['momenta'] = mom # Full fixed effects ----------------------------------------------------------------------------------------------- def get_fixed_effects(self): out = {} if not self.freeze_template: for key, value in self.fixed_effects['template_data'].items(): out[key] = value if not self.freeze_control_points: out['control_points'] = self.fixed_effects['control_points'] if not self.freeze_momenta: out['momenta'] = self.fixed_effects['momenta'] return out def set_fixed_effects(self, fixed_effects): if not self.freeze_template: template_data = { key: fixed_effects[key] for key in self.fixed_effects['template_data'].keys() } self.set_template_data(template_data) if not self.freeze_control_points: self.set_control_points(fixed_effects['control_points']) if not self.freeze_momenta: self.set_momenta(fixed_effects['momenta']) #################################################################################################################### ### Public methods: #################################################################################################################### def update(self): """ Final initialization steps. """ self.template.update() self.number_of_objects = len(self.template.object_list) self.bounding_box = self.template.bounding_box self.set_template_data(self.template.get_data()) if self.fixed_effects['control_points'] is None: self._initialize_control_points() else: self._initialize_bounding_box() if self.fixed_effects['momenta'] is None: self._initialize_momenta() # Compute the functional. Numpy input/outputs. def compute_log_likelihood(self, dataset, population_RER, individual_RER, mode='complete', with_grad=False): """ Compute the log-likelihood of the dataset, given parameters fixed_effects and random effects realizations population_RER and indRER. :param dataset: LongitudinalDataset instance :param fixed_effects: Dictionary of fixed effects. :param population_RER: Dictionary of population random effects realizations. :param individual_RER: Dictionary of individual random effects realizations. :param mode: Indicates which log_likelihood should be computed, between 'complete', 'model', and 'class2'. :param with_grad: Flag that indicates wether the gradient should be returned as well. :return: """ if False and Settings().number_of_threads > 1: targets = [target[0] for target in dataset.deformable_objects] args = [ (i, Settings().serialize(), self.template, self.fixed_effects['template_data'], self.fixed_effects['control_points'], self.fixed_effects['momenta'][i], self.freeze_template, self.freeze_control_points, self.freeze_momenta, targets[i], self.multi_object_attachment, self.objects_noise_variance, self.exponential.light_copy(), with_grad, self.use_sobolev_gradient, self.smoothing_kernel_width) for i in range(len(targets)) ] # Perform parallelized computations. with ThreadPoolExecutor( max_workers=Settings().number_of_threads) as pool: results = pool.map(_subject_attachment_and_regularity, args) # Sum and return. if with_grad: attachment = 0.0 regularity = 0.0 gradient = {} if not self.freeze_template: for key, value in self.fixed_effects[ 'template_data'].items(): gradient[key] = np.zeros(value.shape) if not self.freeze_control_points: gradient['control_points'] = np.zeros( self.fixed_effects['control_points'].shape) if not self.freeze_momenta: gradient['momenta'] = np.zeros( self.fixed_effects['momenta'].shape) for result in results: i, attachment_i, regularity_i, gradient_i = result attachment += attachment_i regularity += regularity_i for key, value in gradient_i.items(): if key == 'momenta': gradient[key][i] = value else: gradient[key] += value return attachment, regularity, gradient else: attachment = 0.0 regularity = 0.0 for result in results: i, attachment_i, regularity_i = result attachment += attachment_i regularity += regularity_i return attachment, regularity else: template_data, template_points, control_points, momenta = self._fixed_effects_to_torch_tensors( with_grad) return self._compute_attachment_and_regularity( dataset, template_data, template_points, control_points, momenta, with_grad) def initialize_template_attributes(self, template_specifications): """ Sets the Template, TemplateObjectsName, TemplateObjectsNameExtension, TemplateObjectsNorm, TemplateObjectsNormKernelType and TemplateObjectsNormKernelWidth attributes. """ t_list, t_name, t_name_extension, t_noise_variance, t_multi_object_attachment = \ create_template_metadata(template_specifications) self.template.object_list = t_list self.objects_name = t_name self.objects_name_extension = t_name_extension self.objects_noise_variance = t_noise_variance self.multi_object_attachment = t_multi_object_attachment self.template.update() #################################################################################################################### ### Private methods: #################################################################################################################### def _compute_attachment_and_regularity(self, dataset, template_data, template_points, control_points, momenta, with_grad=False): """ Core part of the ComputeLogLikelihood methods. Torch input, numpy output. Single-thread version. """ # Initialize. targets = [target[0] for target in dataset.deformable_objects] regularity = 0. attachment = 0. # Deform. self.exponential.set_initial_template_points(template_points) self.exponential.set_initial_control_points(control_points) for i, target in enumerate(targets): self.exponential.set_initial_momenta(momenta[i]) self.exponential.update() deformed_points = self.exponential.get_template_points() deformed_data = self.template.get_deformed_data( deformed_points, template_data) regularity -= self.exponential.get_norm_squared() attachment -= self.multi_object_attachment.compute_weighted_distance( deformed_data, self.template, target, self.objects_noise_variance) # Compute gradient. if with_grad: total = attachment + regularity total = attachment total.backward() gradient = {} if not self.freeze_template: if 'landmark_points' in template_data.keys(): if self.use_sobolev_gradient: gradient['landmark_points'] = compute_sobolev_gradient( template_points['landmark_points'].grad.detach(), self.smoothing_kernel_width, self.template).cpu().numpy() else: gradient['landmark_points'] = template_points[ 'landmark_points'].grad.detach().cpu().numpy() if 'image_intensities' in template_data.keys(): gradient['image_intensities'] = template_data[ 'image_intensities'].grad.detach().cpu().numpy() if not self.freeze_control_points: gradient['control_points'] = control_points.grad.detach().cpu( ).numpy() if not self.freeze_momenta: gradient['momenta'] = momenta.grad.detach().cpu().numpy() return attachment.detach().cpu().numpy(), regularity.detach().cpu( ).numpy(), gradient else: return attachment.detach().cpu().numpy(), regularity.detach().cpu( ).numpy() def _initialize_control_points(self): """ Initialize the control points fixed effect. """ if not Settings().dense_mode: control_points = create_regular_grid_of_points( self.bounding_box, self.initial_cp_spacing) for elt in self.template.object_list: if elt.type.lower() == 'image': control_points = remove_useless_control_points( control_points, elt, self.exponential.get_kernel_width()) break else: control_points = self.template.get_points() # FILTERING TOO CLOSE POINTS: DISABLED FOR NOW # indices_to_remove = [] # for i in range(len(control_points)): # for j in range(len(control_points)): # if i != j: # d = np.linalg.norm(control_points[i] - control_points[j]) # if d < 0.1 * self.exponential.kernel.kernel_width: # indices_to_remove.append(i) # # print(len(indices_to_remove)) # # indices_to_remove = list(set(indices_to_remove)) # indices_to_keep = [elt for elt in range(len(control_points)) if elt not in indices_to_remove] # control_points = np.array([control_points[i] for i in indices_to_keep]) self.set_control_points(control_points) self.number_of_control_points = control_points.shape[0] logger.info('Set of ' + str(self.number_of_control_points) + ' control points defined.') def _initialize_momenta(self): """ Initialize the momenta fixed effect. """ assert (self.number_of_subjects > 0) momenta = np.zeros( (self.number_of_subjects, self.number_of_control_points, Settings().dimension)) self.set_momenta(momenta) logger.info('Momenta initialized to zero, for ' + str(self.number_of_subjects) + ' subjects.') def _initialize_bounding_box(self): """ Initialize the bounding box. which tightly encloses all template objects and the atlas control points. Relevant when the control points are given by the user. """ assert (self.number_of_control_points > 0) dimension = Settings().dimension control_points = self.get_control_points() for k in range(self.number_of_control_points): for d in range(dimension): if control_points[k, d] < self.bounding_box[d, 0]: self.bounding_box[d, 0] = control_points[k, d] elif control_points[k, d] > self.bounding_box[d, 1]: self.bounding_box[d, 1] = control_points[k, d] #################################################################################################################### ### Private utility methods: #################################################################################################################### def _fixed_effects_to_torch_tensors(self, with_grad): """ Convert the fixed_effects into torch tensors. """ # Template data. template_data = self.fixed_effects['template_data'] template_data = { key: Variable( torch.from_numpy(value).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_data.items() } # Template points. template_points = self.template.get_points() template_points = { key: Variable( torch.from_numpy(value).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_points.items() } # Control points. if Settings().dense_mode: assert 'image_intensities' not in template_data.keys() and 'image_points' not in template_points.keys(), \ 'Dense mode not available with image data.' control_points = template_data else: control_points = self.fixed_effects['control_points'] control_points = Variable( torch.from_numpy(control_points).type( Settings().tensor_scalar_type), requires_grad=((not self.freeze_control_points and with_grad) or self.exponential.get_kernel_type() == 'keops')) # Momenta. momenta = self.fixed_effects['momenta'] momenta = Variable( torch.from_numpy(momenta).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_momenta and with_grad)) return template_data, template_points, control_points, momenta #################################################################################################################### ### Writing methods: #################################################################################################################### def write(self, dataset, population_RER, individual_RER, write_residuals=True): # Write the model predictions, and compute the residuals at the same time. residuals = self._write_model_predictions( dataset, individual_RER, compute_residuals=write_residuals) # Write residuals. if write_residuals: residuals_list = [[ residuals_i_k.data.cpu().numpy() for residuals_i_k in residuals_i ] for residuals_i in residuals] write_2D_list(residuals_list, self.name + "__EstimatedParameters__Residuals.txt") # Write the model parameters. self._write_model_parameters() def _write_model_predictions(self, dataset, individual_RER, compute_residuals=True): # Initialize. template_data, template_points, control_points, momenta = self._fixed_effects_to_torch_tensors( False) # Deform, write reconstructions and compute residuals. self.exponential.set_initial_template_points(template_points) self.exponential.set_initial_control_points(control_points) residuals = [] # List of torch 1D tensors. Individuals, objects. for i, subject_id in enumerate(dataset.subject_ids): self.exponential.set_initial_momenta(momenta[i]) self.exponential.update() deformed_points = self.exponential.get_template_points() deformed_data = self.template.get_deformed_data( deformed_points, template_data) if compute_residuals: residuals.append( self.multi_object_attachment.compute_distances( deformed_data, self.template, dataset.deformable_objects[i][0])) names = [] for k, (object_name, object_extension) \ in enumerate(zip(self.objects_name, self.objects_name_extension)): name = self.name + '__Reconstruction__' + object_name + '__subject_' + subject_id + object_extension names.append(name) self.template.write( names, { key: value.data.cpu().numpy() for key, value in deformed_data.items() }) return residuals def _write_model_parameters(self): # Template. template_names = [] for i in range(len(self.objects_name)): aux = self.name + "__EstimatedParameters__Template_" + self.objects_name[ i] + self.objects_name_extension[i] template_names.append(aux) self.template.write(template_names) # Control points. write_2D_array(self.get_control_points(), self.name + "__EstimatedParameters__ControlPoints.txt") # Momenta. write_3D_array(self.get_momenta(), self.name + "__EstimatedParameters__Momenta.txt")
class AccelerationGompertzRegression(AbstractStatisticalModel): """ Acceleration regression object class with gompertz intensity model change """ #################################################################################################################### ### Constructor: #################################################################################################################### def __init__(self, template_specifications, dimension=default.dimension, tensor_scalar_type=default.tensor_scalar_type, tensor_integer_type=default.tensor_integer_type, number_of_threads=default.number_of_threads, deformation_kernel_type=default.deformation_kernel_type, deformation_kernel_width=default.deformation_kernel_width, deformation_kernel_device=default.deformation_kernel_device, shoot_kernel_type=default.shoot_kernel_type, number_of_time_points=default.number_of_time_points, freeze_template=default.freeze_template, use_sobolev_gradient=default.use_sobolev_gradient, smoothing_kernel_width=default.smoothing_kernel_width, estimate_initial_velocity=default.estimate_initial_velocity, initial_velocity_weight=default.initial_velocity_weight, initial_control_points=default.initial_control_points, freeze_control_points=default.freeze_control_points, initial_cp_spacing=default.initial_cp_spacing, initial_impulse_t=None, initial_velocity=None, **kwargs): AbstractStatisticalModel.__init__(self, name='AccelerationRegression') # Global-like attributes. self.dimension = dimension self.tensor_scalar_type = tensor_scalar_type self.tensor_integer_type = tensor_integer_type self.number_of_threads = number_of_threads # Declare model structure. self.fixed_effects['template_data'] = None self.fixed_effects['control_points'] = None self.freeze_template = freeze_template self.freeze_control_points = freeze_control_points # Deformation. self.acceleration_path = AccelerationPath( kernel=kernel_factory.factory(deformation_kernel_type, deformation_kernel_width, device=deformation_kernel_device), shoot_kernel_type=shoot_kernel_type, number_of_time_points=number_of_time_points) # Template. (object_list, self.objects_name, self.objects_name_extension, self.objects_noise_variance, self.multi_object_attachment) = create_template_metadata( template_specifications, self.dimension) self.template = DeformableMultiObject(object_list) self.template.update() template_data = self.template.get_data() # Set up the gompertz images A, B, and C intensities = template_data['image_intensities'] self.fixed_effects['A'] = np.zeros(intensities.shape) self.fixed_effects['B'] = np.zeros(intensities.shape) self.fixed_effects['C'] = np.zeros(intensities.shape) self.number_of_objects = len(self.template.object_list) self.use_sobolev_gradient = use_sobolev_gradient self.smoothing_kernel_width = smoothing_kernel_width if self.use_sobolev_gradient: self.sobolev_kernel = kernel_factory.factory( deformation_kernel_type, smoothing_kernel_width, device=deformation_kernel_device) # Template data. self.fixed_effects['template_data'] = self.template.get_data() # Control points. self.fixed_effects['control_points'] = initialize_control_points( initial_control_points, self.template, initial_cp_spacing, deformation_kernel_width, self.dimension, False) self.estimate_initial_velocity = estimate_initial_velocity self.initial_velocity_weight = initial_velocity_weight self.number_of_control_points = len( self.fixed_effects['control_points']) self.number_of_time_points = number_of_time_points # Impulse self.fixed_effects['impulse_t'] = initialize_impulse( initial_impulse_t, self.number_of_time_points, self.number_of_control_points, self.dimension) if (self.estimate_initial_velocity): self.fixed_effects[ 'initial_velocity'] = initialize_initial_velocity( initial_velocity, self.number_of_control_points, self.dimension) def initialize_noise_variance(self, dataset): if np.min(self.objects_noise_variance) < 0: template_data, template_points, control_points, impulse_t, initial_velocity = self._fixed_effects_to_torch_tensors( False) target_times = dataset.times[0] target_objects = dataset.deformable_objects[0] self.acceleration_path.set_tmin(min(target_times)) self.acceleration_path.set_tmax(max(target_times)) self.acceleration_path.set_template_points_tmin(template_points) self.acceleration_path.set_control_points_tmin(control_points) self.acceleration_path.set_impulse_t(impulse_t) self.acceleration_path.set_initial_velocity(initial_velocity) self.acceleration_path.update() residuals = np.zeros((self.number_of_objects, )) for (time, target) in zip(target_times, target_objects): deformed_points = self.acceleration_path.get_template_points( time) deformed_data = self.template.get_deformed_data( deformed_points, template_data) residuals += self.multi_object_attachment.compute_distances( deformed_data, self.template, target).data.numpy() # Initialize the noise variance hyper-parameter as a 1/100th of the initial residual. for k, obj in enumerate(self.objects_name): if self.objects_noise_variance[k] < 0: nv = 0.01 * residuals[k] / float(len(target_times)) self.objects_noise_variance[k] = nv print('>> Automatically chosen noise std: %.4f [ %s ]' % (math.sqrt(nv), obj)) def set_asymptote_image(self, A): print("SETTING ASYMPTOTE IMAGE") self.A = A #################################################################################################################### ### Encapsulation methods: #################################################################################################################### # Template data ---------------------------------------------------------------------------------------------------- def get_template_data(self): return self.fixed_effects['template_data'] def set_template_data(self, td): self.fixed_effects['template_data'] = td self.template.set_data(td) # Control points --------------------------------------------------------------------------------------------------- def get_control_points(self): return self.fixed_effects['control_points'] def set_control_points(self, cp): self.fixed_effects['control_points'] = cp # self.number_of_control_points = len(cp) # Impulse ---------------------------------------------------------------------------------------------------------- def get_impulse_t(self): return self.fixed_effects['impulse_t'] def set_impulse_t(self, impulse_t): self.fixed_effects['impulse_t'] = impulse_t def get_A(self): return self.fixed_effects['A'] def set_A(self, A): self.fixed_effects['A'] = A def get_B(self): return self.fixed_effects['B'] def set_B(self, B): self.fixed_effects['B'] = B def get_C(self): return self.fixed_effects['C'] def set_C(self, C): self.fixed_effects['C'] = C def get_initial_velocity(self): if (self.estimate_initial_velocity): return self.fixed_effects['initial_velocity'] else: return np.zeros((self.number_of_control_points, self.dimension)) def set_initial_velocity(self, initial_velocity): self.fixed_effects['initial_velocity'] = initial_velocity # Full fixed effects ----------------------------------------------------------------------------------------------- def get_fixed_effects(self): out = {} if not self.freeze_template: for key, value in self.fixed_effects['template_data'].items(): out[key] = value if not self.freeze_control_points: out['control_points'] = self.fixed_effects['control_points'] out['impulse_t'] = self.fixed_effects['impulse_t'] if self.estimate_initial_velocity: out['initial_velocity'] = self.fixed_effects['initial_velocity'] out['A'] = self.fixed_effects['A'] out['B'] = self.fixed_effects['B'] out['C'] = self.fixed_effects['C'] return out def set_fixed_effects(self, fixed_effects): if not self.freeze_template: template_data = { key: fixed_effects[key] for key in self.fixed_effects['template_data'].keys() } self.set_template_data(template_data) if not self.freeze_control_points: self.set_control_points(fixed_effects['control_points']) self.set_impulse_t(fixed_effects['impulse_t']) if self.estimate_initial_velocity: self.set_initial_velocity(fixed_effects['initial_velocity']) #if self.use_intensity_model: # self.set_slope_image(fixed_effects['slope_image']) self.set_A(fixed_effects['A']) self.set_B(fixed_effects['B']) self.set_C(fixed_effects['C']) #################################################################################################################### ### Public methods: #################################################################################################################### # Compute the functional. Numpy input/outputs. def compute_log_likelihood(self, dataset, population_RER, individual_RER, mode='complete', with_grad=False, cur_iter=None): """ Compute the log-likelihood of the dataset, given parameters fixed_effects and random effects realizations population_RER and indRER. :param dataset: LongitudinalDataset instance :param fixed_effects: Dictionary of fixed effects. :param population_RER: Dictionary of population random effects realizations. :param indRER: Dictionary of individual random effects realizations. :param with_grad: Flag that indicates wether the gradient should be returned as well. :return: """ # Initialize: conversion from numpy to torch ------------------------------------------------------------------- template_data, template_points, control_points, impulse_t, initial_velocity, A, B, C = self._fixed_effects_to_torch_tensors( with_grad) # Deform ------------------------------------------------------------------------------------------------------- deformation_attachment, intensity_attachment, regularity, velocity_regularity, total_variation = self._compute_attachment_and_regularity( dataset, template_data, template_points, control_points, impulse_t, initial_velocity, A, B, C) # Compute gradient if needed ----------------------------------------------------------------------------------- if with_grad: total = self.initial_velocity_weight * velocity_regularity + regularity + total_variation + intensity_attachment + deformation_attachment #total = self.initial_velocity_weight * velocity_regularity + regularity + intensity_attachment + deformation_attachment total.backward() gradient = {} # Template data. if not self.freeze_template: if 'landmark_points' in template_data.keys(): gradient['landmark_points'] = template_points[ 'landmark_points'].grad if 'image_intensities' in template_data.keys(): gradient['image_intensities'] = template_data[ 'image_intensities'].grad if self.use_sobolev_gradient and 'landmark_points' in gradient.keys( ): gradient['landmark_points'] = self.sobolev_kernel.convolve( template_data['landmark_points'].detach(), template_data['landmark_points'].detach(), gradient['landmark_points'].detach()) # Control points if not self.freeze_control_points: gradient['control_points'] = control_points.grad # Initial velocity if self.estimate_initial_velocity: gradient['initial_velocity'] = initial_velocity.grad # print(initial_velocity) # Impulse t gradient['impulse_t'] = impulse_t.grad gradient['A'] = A.grad gradient['B'] = B.grad gradient['C'] = C.grad # Convert the gradient back to numpy. gradient = { key: value.data.cpu().numpy() for key, value in gradient.items() } #return deformation_attachment.detach().cpu().numpy() + intensity_attachment.detach().cpu().numpy(), \ # total_variation.detach().cpu().numpy() + regularity.detach().cpu().numpy() + self.initial_velocity_weight * velocity_regularity.detach().cpu().numpy(), gradient return deformation_attachment.detach().cpu().numpy() + intensity_attachment.detach().cpu().numpy(), \ regularity.detach().cpu().numpy() + self.initial_velocity_weight * velocity_regularity.detach().cpu().numpy(), gradient else: #eturn deformation_attachment.detach().cpu().numpy() + intensity_attachment.detach().cpu().numpy(), \ # total_variation.detach().cpu().numpy() + regularity.detach().cpu().numpy() + self.initial_velocity_weight * velocity_regularity.detach().cpu().numpy() return deformation_attachment.detach().cpu().numpy() + intensity_attachment.detach().cpu().numpy(), \ regularity.detach().cpu().numpy() + self.initial_velocity_weight * velocity_regularity.detach().cpu().numpy() #################################################################################################################### ### Private methods: #################################################################################################################### def _compute_attachment_and_regularity(self, dataset, template_data, template_points, control_points, impulse_t, initial_velocity, A, B, C): """ Core part of the ComputeLogLikelihood methods. Fully torch. """ # Initialize: cross-sectional dataset -------------------------------------------------------------------------- target_times = dataset.times[0] target_objects = dataset.deformable_objects[0] # Deform ------------------------------------------------------------------------------------------------------- self.acceleration_path.set_tmin(min(target_times)) self.acceleration_path.set_tmax(max(target_times)) self.acceleration_path.set_template_points_tmin(template_points) self.acceleration_path.set_control_points_tmin(control_points) self.acceleration_path.set_impulse_t(impulse_t) self.acceleration_path.set_initial_velocity(initial_velocity) self.acceleration_path.update() deformation_noise_variance = np.zeros(len(self.objects_noise_variance)) for i in range(0, len(deformation_noise_variance)): deformation_noise_variance[ i] = 1 #self.objects_noise_variance[i]*10 #cuda0 = torch.device('cuda:0') #total_variation = torch.zeros([1], dtype=torch.float, requires_grad=True, device=cuda0) #total_variation_np = np.array([0]) #total_variation = Variable(torch.from_numpy(total_variation_np).type(self.tensor_scalar_type), requires_grad=True) intensity_weight = 100 deformation_weight = 1 regularity_weight = 10000 total_variation = 0. deformation_attachment = 0. intensity_attachment = 0. for j, (time, obj) in enumerate(zip(target_times, target_objects)): deformed_points = self.acceleration_path.get_template_points(time) linear_image_model = {} linear_image_model['image_intensities'] = A * torch.exp( -B * torch.exp(-C * time)) deformed_data_withitensity = self.template.get_deformed_data( deformed_points, linear_image_model) #print(deformed_data_withitensity) #quit() intensity_attachment -= self.multi_object_attachment.compute_weighted_distance( deformed_data_withitensity, self.template, obj, self.objects_noise_variance) nointensity_model = {} nointensity_model['image_intensities'] = A * torch.exp( -B * torch.exp(-C * min(target_times))) deformed_data_noitensity = self.template.get_deformed_data( deformed_points, nointensity_model) deformation_attachment -= self.multi_object_attachment.compute_weighted_distance( deformed_data_noitensity, self.template, obj, deformation_noise_variance) if (self.dimension == 2): total_var_weight = 0.1 # Compute total variation norm linear_image_model = {} linear_image_model['image_intensities'] = A * torch.exp( -B * torch.exp(-C * min(target_times))) height, width = linear_image_model['image_intensities'].size() dy = torch.abs(linear_image_model['image_intensities'][-1:, :] - linear_image_model['image_intensities'][:-1, :]) error = torch.norm(dy, 1) total_variation = (-(error / height) * total_var_weight) regularity = -self.acceleration_path.get_norm_squared( ) * regularity_weight #print(regularity) velocity_regularity = -self.acceleration_path.get_velocity_norm() deformation_attachment = deformation_attachment * deformation_weight intensity_attachment = intensity_attachment * intensity_weight # print(deformation_attachment) # print(intensity_attachment) # print(regularity) # print(velocity_regularity) # print(total_variation) return deformation_attachment, intensity_attachment, regularity, velocity_regularity, total_variation #################################################################################################################### ### Private utility methods: #################################################################################################################### def _fixed_effects_to_torch_tensors(self, with_grad): """ Convert the fixed_effects into torch tensors. """ # Template data. template_data = self.fixed_effects['template_data'] template_data = { key: Variable(torch.from_numpy(value).type(self.tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_data.items() } # Template points. template_points = self.template.get_points() template_points = { key: Variable(torch.from_numpy(value).type(self.tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_points.items() } control_points = self.fixed_effects['control_points'] control_points = Variable( torch.from_numpy(control_points).type(self.tensor_scalar_type), requires_grad=(not self.freeze_control_points and with_grad)) # Impulse. impulse_t = self.fixed_effects['impulse_t'] impulse_t = Variable(torch.from_numpy(impulse_t).type( self.tensor_scalar_type), requires_grad=with_grad) A = self.fixed_effects['A'] A = gaussian_filter(A, sigma=0.75) self.fixed_effects['A'] = A A = Variable(torch.from_numpy(A).type(self.tensor_scalar_type), requires_grad=(with_grad)) B = self.fixed_effects['B'] B[B <= 0] = 1e-8 B = gaussian_filter(B, sigma=0.75) self.fixed_effects['B'] = B B = Variable(torch.from_numpy(B).type(self.tensor_scalar_type), requires_grad=(with_grad)) C = self.fixed_effects['C'] C[C <= 0] = 1e-8 C = gaussian_filter(C, sigma=0.75) self.fixed_effects['C'] = C C = Variable(torch.from_numpy(C).type(self.tensor_scalar_type), requires_grad=(with_grad)) if (self.estimate_initial_velocity): initial_velocity = self.fixed_effects['initial_velocity'] # Scale to unit norm norms = LA.norm(initial_velocity, axis=1) + 1e-6 initial_velocity = initial_velocity / norms.reshape(-1, 1) # Now scale to the number of timesteps initial_velocity = initial_velocity / self.number_of_time_points self.fixed_effects['initial_velocity'] = initial_velocity initial_velocity = Variable( torch.from_numpy(initial_velocity).type( self.tensor_scalar_type), requires_grad=with_grad) else: initial_velocity_np = np.zeros( (self.number_of_control_points, self.dimension)) initial_velocity = Variable( torch.from_numpy(initial_velocity_np).type( self.tensor_scalar_type), requires_grad=False) return template_data, template_points, control_points, impulse_t, initial_velocity, A, B, C #################################################################################################################### ### Writing methods: #################################################################################################################### def write(self, dataset, population_RER, individual_RER, output_dir, write_adjoint_parameters=False): self._write_model_predictions(output_dir, dataset, write_adjoint_parameters) self._write_model_parameters(output_dir) def _write_model_predictions(self, output_dir, dataset=None, write_adjoint_parameters=False): # Initialize --------------------------------------------------------------------------------------------------- template_data, template_points, control_points, impulse_t, initial_velocity, A, B, C = self._fixed_effects_to_torch_tensors( False) target_times = dataset.times[0] [T, number_of_control_points, dimension] = impulse_t.shape for t in range(0, T): out_image = image.Image(self.dimension) intensities = A * torch.exp(-B * torch.exp(-C * t)) out_image.set_intensities(intensities.data.cpu().numpy()) if (self.dimension == 2): # For PNG out_image.set_dtype(np.dtype(np.uint8)) img_name = '%s__intensity_only_model_%0.3d.png' % (self.name, t) out_image.write(output_dir, img_name, should_rescale=True) # For TIF #out_image.set_dtype(np.dtype(np.float32)) #img_name = '%s__intensity_only_model_%0.3d.tif' % (self.name, t) #out_image.write(output_dir, img_name, should_rescale=False) else: out_image.set_dtype(np.dtype(np.float32)) img_name = '%s__intensity_only_model_%0.3d.nii' % (self.name, t) out_image.write(output_dir, img_name, should_rescale=False) # Deform ------------------------------------------------------------------------------------------------------- self.acceleration_path.set_tmin(min(target_times)) self.acceleration_path.set_tmax(max(target_times)) self.acceleration_path.set_template_points_tmin(template_points) self.acceleration_path.set_control_points_tmin(control_points) self.acceleration_path.set_impulse_t(impulse_t) self.acceleration_path.set_initial_velocity(initial_velocity) self.acceleration_path.update() # Write -------------------------------------------------------------------------------------------------------- self.acceleration_path.write(self.name, self.objects_name, self.objects_name_extension, self.template, template_data, A, B, C, output_dir, write_adjoint_parameters) # Model predictions. if dataset is not None: for j, time in enumerate(target_times): names = [] for k, (object_name, object_extension) in enumerate( zip(self.objects_name, self.objects_name_extension)): name = '%s__Reconstruction__%s__%0.03f%s' % ( self.name, object_name, j, object_extension) print(name) names.append(name) deformed_points = self.acceleration_path.get_template_points( time) linear_image_model = {} linear_image_model['image_intensities'] = A * torch.exp( -B * torch.exp(-C * time)) deformed_data = self.template.get_deformed_data( deformed_points, linear_image_model) self.template.write( output_dir, names, { key: value.data.cpu().numpy() for key, value in deformed_data.items() }) # Write the A, B, and C images A_im = image.Image(self.dimension) A_im.set_intensities(A.data.cpu().numpy()) B_im = image.Image(self.dimension) B_im.set_intensities(B.data.cpu().numpy()) C_im = image.Image(self.dimension) C_im.set_intensities(C.data.cpu().numpy()) if (self.dimension == 2): A_im.set_dtype(np.dtype(np.float32)) B_im.set_dtype(np.dtype(np.float32)) C_im.set_dtype(np.dtype(np.float32)) A_im.write(output_dir, self.name + "__A_image.tif", should_rescale=False) B_im.write(output_dir, self.name + "__B_image.tif", should_rescale=False) C_im.write(output_dir, self.name + "__C_image.tif", should_rescale=False) else: A_im.set_dtype(np.dtype(np.float32)) B_im.set_dtype(np.dtype(np.float32)) C_im.set_dtype(np.dtype(np.float32)) A_im.write(output_dir, self.name + "__A_image.nii", should_rescale=False) B_im.write(output_dir, self.name + "__B_image.nii", should_rescale=False) C_im.write(output_dir, self.name + "__C_image.nii", should_rescale=False) def _write_model_parameters(self, output_dir): # Control points. write_2D_array(self.get_control_points(), output_dir, self.name + "__EstimatedParameters__ControlPoints.txt") # Initial velocity write_3D_array( self.get_initial_velocity(), output_dir, self.name + "__EstimatedParameters__InitialVelocity.txt") # Write impulse impulse_t = self.acceleration_path.get_impulse_t() [T, number_of_control_points, dimension] = impulse_t.shape for i in range(0, T): out_name = '%s__EstimatedParameters__Impulse_t_%0.3d.txt' % ( self.name, i) cur_impulse = impulse_t[i, :, :].data.cpu().numpy() write_3D_array(cur_impulse, output_dir, out_name)
deformetrica = Deformetrica(output_dir=output_dir) template_specifications, model_options, _ = deformetrica.further_initialization( 'Shooting', xml_parameters.template_specifications, get_model_options(xml_parameters)) """ Load the template, control points, momenta, modulation matrix. """ # Template. t_list, objects_name, objects_name_extension, _, _ = create_template_metadata(template_specifications) template = DeformableMultiObject(t_list) template_data = {key: torch.from_numpy(value).type(model_options['tensor_scalar_type']) for key, value in template.get_data().items()} template_points = {key: torch.from_numpy(value).type(model_options['tensor_scalar_type']) for key, value in template.get_points().items()} # Control points. control_points = read_2D_array(model_options['initial_control_points']) logger.info('>> Reading ' + str(len(control_points)) + ' initial control points from file: ' + model_options['initial_control_points']) control_points = torch.from_numpy(control_points).type(model_options['tensor_scalar_type']) # Momenta. momenta = read_3D_array(model_options['initial_momenta']) logger.info('>> Reading initial momenta from file: ' + model_options['initial_momenta']) momenta = torch.from_numpy(momenta).type(model_options['tensor_scalar_type']) # Modulation matrix. modulation_matrix = read_2D_array(model_options['initial_modulation_matrix']) if len(modulation_matrix.shape) == 1:
class GeodesicRegression(AbstractStatisticalModel): """ Geodesic regression object class. """ #################################################################################################################### ### Constructor: #################################################################################################################### def __init__(self): AbstractStatisticalModel.__init__(self) self.template = DeformableMultiObject() self.objects_name = [] self.objects_name_extension = [] self.objects_noise_variance = [] self.multi_object_attachment = MultiObjectAttachment() self.geodesic = Geodesic() self.use_sobolev_gradient = True self.smoothing_kernel_width = None self.initial_cp_spacing = None self.number_of_objects = None self.number_of_control_points = None self.bounding_box = None # Dictionary of numpy arrays. self.fixed_effects['template_data'] = None self.fixed_effects['control_points'] = None self.fixed_effects['momenta'] = None self.freeze_template = False self.freeze_control_points = False #################################################################################################################### ### Encapsulation methods: #################################################################################################################### # Template data ---------------------------------------------------------------------------------------------------- def get_template_data(self): return self.fixed_effects['template_data'] def set_template_data(self, td): self.fixed_effects['template_data'] = td self.template.set_data(td) # Control points --------------------------------------------------------------------------------------------------- def get_control_points(self): return self.fixed_effects['control_points'] def set_control_points(self, cp): self.fixed_effects['control_points'] = cp self.number_of_control_points = len(cp) # Momenta ---------------------------------------------------------------------------------------------------------- def get_momenta(self): return self.fixed_effects['momenta'] def set_momenta(self, mom): self.fixed_effects['momenta'] = mom # Full fixed effects ----------------------------------------------------------------------------------------------- def get_fixed_effects(self): out = {} if not self.freeze_template: for key, value in self.fixed_effects['template_data'].items(): out[key] = value if not self.freeze_control_points: out['control_points'] = self.fixed_effects['control_points'] out['momenta'] = self.fixed_effects['momenta'] return out def set_fixed_effects(self, fixed_effects): if not self.freeze_template: template_data = {key: fixed_effects[key] for key in self.fixed_effects['template_data'].keys()} self.set_template_data(template_data) if not self.freeze_control_points: self.set_control_points(fixed_effects['control_points']) self.set_momenta(fixed_effects['momenta']) #################################################################################################################### ### Public methods: #################################################################################################################### def update(self): """ Final initialization steps. """ self.template.update() self.number_of_objects = len(self.template.object_list) self.bounding_box = self.template.bounding_box self.set_template_data(self.template.get_data()) if self.fixed_effects['control_points'] is None: self._initialize_control_points() else: self._initialize_bounding_box() if self.fixed_effects['momenta'] is None: self._initialize_momenta() # Compute the functional. Numpy input/outputs. def compute_log_likelihood(self, dataset, population_RER, individual_RER, mode='complete', with_grad=False): """ Compute the log-likelihood of the dataset, given parameters fixed_effects and random effects realizations population_RER and indRER. :param dataset: LongitudinalDataset instance :param fixed_effects: Dictionary of fixed effects. :param population_RER: Dictionary of population random effects realizations. :param indRER: Dictionary of individual random effects realizations. :param with_grad: Flag that indicates wether the gradient should be returned as well. :return: """ # Initialize: conversion from numpy to torch ------------------------------------------------------------------- template_data, template_points, control_points, momenta = self._fixed_effects_to_torch_tensors(with_grad) # Deform ------------------------------------------------------------------------------------------------------- attachment, regularity = self._compute_attachment_and_regularity( dataset, template_data, template_points, control_points, momenta) # Compute gradient if needed ----------------------------------------------------------------------------------- if with_grad: total = regularity + attachment total.backward() gradient = {} # Template data. if not self.freeze_template: if 'landmark_points' in template_data.keys(): gradient['landmark_points'] = template_points['landmark_points'].grad if 'image_intensities' in template_data.keys(): gradient['image_intensities'] = template_data['image_intensities'].grad # for key, value in template_data.items(): # gradient[key] = value.grad if self.use_sobolev_gradient and 'landmark_points' in gradient.keys(): gradient['landmark_points'] = compute_sobolev_gradient( gradient['landmark_points'], self.smoothing_kernel_width, self.template) # Control points and momenta. if not self.freeze_control_points: gradient['control_points'] = control_points.grad gradient['momenta'] = momenta.grad # Convert the gradient back to numpy. gradient = {key: value.data.cpu().numpy() for key, value in gradient.items()} return attachment.detach().cpu().numpy(), regularity.detach().cpu().numpy(), gradient else: return attachment.detach().cpu().numpy(), regularity.detach().cpu().numpy() def initialize_template_attributes(self, template_specifications): """ Sets the Template, TemplateObjectsName, TemplateObjectsNameExtension, TemplateObjectsNorm, TemplateObjectsNormKernelType and TemplateObjectsNormKernelWidth attributes. """ t_list, t_name, t_name_extension, t_noise_variance, t_multi_object_attachment = \ create_template_metadata(template_specifications) self.template.object_list = t_list self.objects_name = t_name self.objects_name_extension = t_name_extension self.objects_noise_variance = t_noise_variance self.multi_object_attachment = t_multi_object_attachment #################################################################################################################### ### Private methods: #################################################################################################################### def _compute_attachment_and_regularity(self, dataset, template_data, template_points, control_points, momenta): """ Core part of the ComputeLogLikelihood methods. Fully torch. """ # Initialize: cross-sectional dataset -------------------------------------------------------------------------- target_times = dataset.times[0] target_objects = dataset.deformable_objects[0] # Deform ------------------------------------------------------------------------------------------------------- self.geodesic.set_tmin(min(target_times)) self.geodesic.set_tmax(max(target_times)) self.geodesic.set_template_points_t0(template_points) self.geodesic.set_control_points_t0(control_points) self.geodesic.set_momenta_t0(momenta) self.geodesic.update() attachment = 0. for j, (time, obj) in enumerate(zip(target_times, target_objects)): deformed_points = self.geodesic.get_template_points(time) deformed_data = self.template.get_deformed_data(deformed_points, template_data) attachment -= self.multi_object_attachment.compute_weighted_distance( deformed_data, self.template, obj, self.objects_noise_variance) regularity = - self.geodesic.get_norm_squared() return attachment, regularity def _initialize_control_points(self): """ Initialize the control points fixed effect. """ if not Settings().dense_mode: control_points = create_regular_grid_of_points(self.bounding_box, self.initial_cp_spacing) else: control_points = self.template.get_points() self.set_control_points(control_points) self.number_of_control_points = control_points.shape[0] logger.info('Set of ' + str(self.number_of_control_points) + ' control points defined.') def _initialize_momenta(self): """ Initialize the momenta fixed effect. """ momenta = np.zeros((self.number_of_control_points, Settings().dimension)) self.set_momenta(momenta) def _initialize_bounding_box(self): """ Initialize the bounding box. which tightly encloses all template objects and the atlas control points. Relevant when the control points are given by the user. """ assert (self.number_of_control_points > 0) dimension = Settings().dimension control_points = self.get_control_points() for k in range(self.number_of_control_points): for d in range(dimension): if control_points[k, d] < self.bounding_box[d, 0]: self.bounding_box[d, 0] = control_points[k, d] elif control_points[k, d] > self.bounding_box[d, 1]: self.bounding_box[d, 1] = control_points[k, d] #################################################################################################################### ### Private utility methods: #################################################################################################################### def _fixed_effects_to_torch_tensors(self, with_grad): """ Convert the fixed_effects into torch tensors. """ # Template data. template_data = self.fixed_effects['template_data'] template_data = {key: Variable(torch.from_numpy(value).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_data.items()} # Template points. template_points = self.template.get_points() template_points = {key: Variable(torch.from_numpy(value).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_points.items()} # Control points. if Settings().dense_mode: control_points = template_data else: control_points = self.fixed_effects['control_points'] control_points = Variable(torch.from_numpy(control_points).type(Settings().tensor_scalar_type), requires_grad=((not self.freeze_control_points and with_grad) or self.geodesic.get_kernel_type() == 'keops')) # Momenta. momenta = self.fixed_effects['momenta'] momenta = Variable(torch.from_numpy(momenta).type(Settings().tensor_scalar_type), requires_grad=with_grad) return template_data, template_points, control_points, momenta #################################################################################################################### ### Writing methods: #################################################################################################################### def write(self, dataset=None, population_RER=None, individual_RER=None, write_adjoint_parameters=False): self._write_model_predictions(dataset, write_adjoint_parameters) self._write_model_parameters() def _write_model_predictions(self, dataset=None, write_adjoint_parameters=False): # Initialize --------------------------------------------------------------------------------------------------- template_data, template_points, control_points, momenta = self._fixed_effects_to_torch_tensors(False) target_times = dataset.times[0] # Deform ------------------------------------------------------------------------------------------------------- self.geodesic.tmin = min(target_times) self.geodesic.tmax = max(target_times) self.geodesic.set_template_points_t0(template_points) self.geodesic.set_control_points_t0(control_points) self.geodesic.set_momenta_t0(momenta) self.geodesic.update() # Write -------------------------------------------------------------------------------------------------------- # Geodesic flow. self.geodesic.write(self.name, self.objects_name, self.objects_name_extension, self.template, template_data, write_adjoint_parameters) # Model predictions. if dataset is not None: for j, time in enumerate(target_times): names = [] for k, (object_name, object_extension) in enumerate( zip(self.objects_name, self.objects_name_extension)): name = self.name + '__Reconstruction__' + object_name + '__tp_' + str(j) + ('__age_%.2f' % time) \ + object_extension names.append(name) deformed_points = self.geodesic.get_template_points(time) deformed_data = self.template.get_deformed_data(deformed_points, template_data) self.template.write(names, {key: value.data.cpu().numpy() for key, value in deformed_data.items()}) def _write_model_parameters(self): # Template. template_names = [] for k in range(len(self.objects_name)): aux = self.name + '__EstimatedParameters__Template_' + self.objects_name[k] + '__tp_' \ + str(self.geodesic.backward_exponential.number_of_time_points - 1) \ + ('__age_%.2f' % self.geodesic.t0) + self.objects_name_extension[k] template_names.append(aux) self.template.write(template_names) # Control points. write_2D_array(self.get_control_points(), self.name + "__EstimatedParameters__ControlPoints.txt") # Momenta. write_3D_array(self.get_momenta(), self.name + "__EstimatedParameters__Momenta.txt")
class AccelerationRegression(AbstractStatisticalModel): """ Acceleration regression object class. """ #################################################################################################################### ### Constructor: #################################################################################################################### def __init__(self, template_specifications, dimension=default.dimension, tensor_scalar_type=default.tensor_scalar_type, tensor_integer_type=default.tensor_integer_type, number_of_threads=default.number_of_threads, deformation_kernel_type=default.deformation_kernel_type, deformation_kernel_width=default.deformation_kernel_width, deformation_kernel_device=default.deformation_kernel_device, shoot_kernel_type=default.shoot_kernel_type, number_of_time_points=default.number_of_time_points, freeze_template=default.freeze_template, use_sobolev_gradient=default.use_sobolev_gradient, smoothing_kernel_width=default.smoothing_kernel_width, estimate_initial_velocity=default.estimate_initial_velocity, initial_velocity_weight=default.initial_velocity_weight, regularity_weight=default.regularity_weight, data_weight=default.data_weight, initial_control_points=default.initial_control_points, freeze_control_points=default.freeze_control_points, initial_cp_spacing=default.initial_cp_spacing, initial_impulse_t=None, initial_velocity=None, **kwargs): AbstractStatisticalModel.__init__(self, name='AccelerationRegression') # Global-like attributes self.dimension = dimension self.tensor_scalar_type = tensor_scalar_type self.tensor_integer_type = tensor_integer_type self.number_of_threads = number_of_threads # Declare model structure self.fixed_effects['template_data'] = None self.fixed_effects['control_points'] = None self.freeze_template = freeze_template self.freeze_control_points = freeze_control_points # Deformation self.acceleration_path = AccelerationPath( kernel=kernel_factory.factory(deformation_kernel_type, deformation_kernel_width, device=deformation_kernel_device), shoot_kernel_type=shoot_kernel_type, number_of_time_points=number_of_time_points) # Template (object_list, self.objects_name, self.objects_name_extension, self.multi_object_attachment) = create_template_metadata( template_specifications, self.dimension) self.template = DeformableMultiObject(object_list) self.template.update() self.number_of_objects = len(self.template.object_list) self.use_sobolev_gradient = use_sobolev_gradient self.smoothing_kernel_width = smoothing_kernel_width if self.use_sobolev_gradient: self.sobolev_kernel = kernel_factory.factory( deformation_kernel_type, smoothing_kernel_width, device=deformation_kernel_device) # Template data self.fixed_effects['template_data'] = self.template.get_data() # Control points self.fixed_effects['control_points'] = initialize_control_points( initial_control_points, self.template, initial_cp_spacing, deformation_kernel_width, self.dimension, False) self.estimate_initial_velocity = estimate_initial_velocity self.initial_velocity_weight = initial_velocity_weight self.regularity_weight = regularity_weight self.data_weight = data_weight self.number_of_control_points = len( self.fixed_effects['control_points']) self.number_of_time_points = number_of_time_points # Impulse self.fixed_effects['impulse_t'] = initialize_impulse( initial_impulse_t, self.number_of_time_points, self.number_of_control_points, self.dimension) if (self.estimate_initial_velocity): self.fixed_effects[ 'initial_velocity'] = initialize_initial_velocity( initial_velocity, self.number_of_control_points, self.dimension) #################################################################################################################### ### Encapsulation methods: #################################################################################################################### # Template data ---------------------------------------------------------------------------------------------------- def get_template_data(self): return self.fixed_effects['template_data'] def set_template_data(self, td): self.fixed_effects['template_data'] = td self.template.set_data(td) # Control points --------------------------------------------------------------------------------------------------- def get_control_points(self): return self.fixed_effects['control_points'] def set_control_points(self, cp): self.fixed_effects['control_points'] = cp # Impulse ---------------------------------------------------------------------------------------------------------- def get_impulse_t(self): return self.fixed_effects['impulse_t'] def set_impulse_t(self, impulse_t): self.fixed_effects['impulse_t'] = impulse_t def get_initial_velocity(self): if (self.estimate_initial_velocity): return self.fixed_effects['initial_velocity'] else: return np.zeros((self.number_of_control_points, self.dimension)) def set_initial_velocity(self, initial_velocity): self.fixed_effects['initial_velocity'] = initial_velocity # Full fixed effects ----------------------------------------------------------------------------------------------- def get_fixed_effects(self): out = {} if not self.freeze_template: for key, value in self.fixed_effects['template_data'].items(): out[key] = value if not self.freeze_control_points: out['control_points'] = self.fixed_effects['control_points'] out['impulse_t'] = self.fixed_effects['impulse_t'] if self.estimate_initial_velocity: out['initial_velocity'] = self.fixed_effects['initial_velocity'] return out def set_fixed_effects(self, fixed_effects): if not self.freeze_template: template_data = { key: fixed_effects[key] for key in self.fixed_effects['template_data'].keys() } self.set_template_data(template_data) if not self.freeze_control_points: self.set_control_points(fixed_effects['control_points']) self.set_impulse_t(fixed_effects['impulse_t']) if self.estimate_initial_velocity: self.set_initial_velocity(fixed_effects['initial_velocity']) #################################################################################################################### ### Public methods: #################################################################################################################### # Compute the functional. Numpy input/outputs. def compute_log_likelihood(self, dataset, with_grad=False): """ Compute the log-likelihood of the dataset :param dataset: LongitudinalDataset instance :param with_grad: Flag that indicates wether the gradient should be returned as well. :return: """ # Initialize: conversion from numpy to torch ------------------------------------------------------------------- template_data, template_points, control_points, impulse_t, initial_velocity = self._fixed_effects_to_torch_tensors( with_grad) # Deform ------------------------------------------------------------------------------------------------------- data_attachment, regularity, velocity_regularity = self._compute_attachment_and_regularity( dataset, template_data, template_points, control_points, impulse_t, initial_velocity) # Compute gradient if needed ----------------------------------------------------------------------------------- if with_grad: total = self.initial_velocity_weight * velocity_regularity + self.regularity_weight * regularity + self.data_weight * data_attachment total.backward() gradient = {} # Template data. if not self.freeze_template: if 'landmark_points' in template_data.keys(): gradient['landmark_points'] = template_points[ 'landmark_points'].grad if 'image_intensities' in template_data.keys(): gradient['image_intensities'] = template_data[ 'image_intensities'].grad if self.use_sobolev_gradient and 'landmark_points' in gradient.keys( ): gradient['landmark_points'] = self.sobolev_kernel.convolve( template_data['landmark_points'].detach(), template_data['landmark_points'].detach(), gradient['landmark_points'].detach()) # Control points if not self.freeze_control_points: gradient['control_points'] = control_points.grad # Initial velocity if self.estimate_initial_velocity: gradient['initial_velocity'] = initial_velocity.grad # Impulse t gradient['impulse_t'] = impulse_t.grad # Convert the gradient back to numpy. gradient = { key: value.data.cpu().numpy() for key, value in gradient.items() } return self.data_weight*data_attachment.detach().cpu().numpy(), \ self.regularity_weight*regularity.detach().cpu().numpy() + self.initial_velocity_weight*velocity_regularity.detach().cpu().numpy(), gradient else: return self.data_weight * data_attachment.detach().cpu().numpy(), \ self.regularity_weight * regularity.detach().cpu().numpy() + self.initial_velocity_weight * velocity_regularity.detach().cpu().numpy() #################################################################################################################### ### Private methods: #################################################################################################################### def _compute_attachment_and_regularity(self, dataset, template_data, template_points, control_points, impulse_t, initial_velocity): """ Core part of the ComputeLogLikelihood methods. Fully torch. """ # Initialize: cross-sectional dataset -------------------------------------------------------------------------- target_times = dataset.times[0] target_objects = dataset.deformable_objects[0] # Deform ------------------------------------------------------------------------------------------------------- self.acceleration_path.set_tmin(min(target_times)) self.acceleration_path.set_tmax(max(target_times)) self.acceleration_path.set_template_points_tmin(template_points) self.acceleration_path.set_control_points_tmin(control_points) self.acceleration_path.set_impulse_t(impulse_t) self.acceleration_path.set_initial_velocity(initial_velocity) self.acceleration_path.update() data_attachment = 0.0 for j, (time, obj) in enumerate(zip(target_times, target_objects)): deformed_points = self.acceleration_path.get_template_points(time) deformed_data = self.template.get_deformed_data( deformed_points, template_data) data_attachment += self.multi_object_attachment.compute_weighted_distance( deformed_data, self.template, obj) regularity = self.acceleration_path.get_norm_squared() velocity_regularity = self.acceleration_path.get_velocity_norm() return data_attachment, regularity, velocity_regularity #################################################################################################################### ### Private utility methods: #################################################################################################################### def _fixed_effects_to_torch_tensors(self, with_grad): """ Convert the fixed_effects into torch tensors. """ # Template data template_data = self.fixed_effects['template_data'] template_data = { key: Variable(torch.from_numpy(value).type(self.tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_data.items() } # Template points template_points = self.template.get_points() template_points = { key: Variable(torch.from_numpy(value).type(self.tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_points.items() } control_points = self.fixed_effects['control_points'] control_points = Variable( torch.from_numpy(control_points).type(self.tensor_scalar_type), requires_grad=(not self.freeze_control_points and with_grad)) # Impulse impulse_t = self.fixed_effects['impulse_t'] impulse_t = Variable(torch.from_numpy(impulse_t).type( self.tensor_scalar_type), requires_grad=with_grad) if (self.estimate_initial_velocity): initial_velocity = self.fixed_effects['initial_velocity'] # Scale to unit norm norms = LA.norm(initial_velocity, axis=1) + 1e-6 initial_velocity = initial_velocity / norms.reshape(-1, 1) # Now scale to the number of timesteps initial_velocity = initial_velocity / self.number_of_time_points self.fixed_effects['initial_velocity'] = initial_velocity initial_velocity = Variable( torch.from_numpy(initial_velocity).type( self.tensor_scalar_type), requires_grad=with_grad) else: initial_velocity_np = np.zeros( (self.number_of_control_points, self.dimension)) initial_velocity = Variable( torch.from_numpy(initial_velocity_np).type( self.tensor_scalar_type), requires_grad=False) return template_data, template_points, control_points, impulse_t, initial_velocity #################################################################################################################### ### Writing methods: #################################################################################################################### def write(self, dataset, output_dir): self._write_model_predictions(output_dir, dataset) self._write_model_parameters(output_dir) def _write_model_predictions(self, output_dir, dataset=None): # Initialize --------------------------------------------------------------------------------------------------- template_data, template_points, control_points, impulse_t, initial_velocity = self._fixed_effects_to_torch_tensors( False) target_times = dataset.times[0] # Deform ------------------------------------------------------------------------------------------------------- self.acceleration_path.set_tmin(min(target_times)) self.acceleration_path.set_tmax(max(target_times)) self.acceleration_path.set_template_points_tmin(template_points) self.acceleration_path.set_control_points_tmin(control_points) self.acceleration_path.set_impulse_t(impulse_t) self.acceleration_path.set_initial_velocity(initial_velocity) self.acceleration_path.update() # Write -------------------------------------------------------------------------------------------------------- self.acceleration_path.write(self.name, self.objects_name, self.objects_name_extension, self.template, template_data, output_dir) # Model predictions if dataset is not None: for j, time in enumerate(target_times): names = [] for k, (object_name, object_extension) in enumerate( zip(self.objects_name, self.objects_name_extension)): name = '%s__Reconstruction__%s__%0.03f%s' % ( self.name, object_name, j, object_extension) print(name) names.append(name) deformed_points = self.acceleration_path.get_template_points( time) deformed_data = self.template.get_deformed_data( deformed_points, template_data) self.template.write( output_dir, names, { key: value.data.cpu().numpy() for key, value in deformed_data.items() }) def _write_model_parameters(self, output_dir): # Control points write_2D_array(self.get_control_points(), output_dir, self.name + "__EstimatedParameters__ControlPoints.txt") # Initial velocity write_3D_array( self.get_initial_velocity(), output_dir, self.name + "__EstimatedParameters__InitialVelocity.txt") # Write impulse impulse_t = self.acceleration_path.get_impulse_t() [T, number_of_control_points, dimension] = impulse_t.shape for i in range(0, T): out_name = '%s__EstimatedParameters__Impulse_t_%0.3d.txt' % ( self.name, i) cur_impulse = impulse_t[i, :, :].data.cpu().numpy() write_3D_array(cur_impulse, output_dir, out_name)
class BayesianAtlas(AbstractStatisticalModel): """ Bayesian atlas object class. """ #################################################################################################################### ### Constructor: #################################################################################################################### def __init__(self): AbstractStatisticalModel.__init__(self) self.template = DeformableMultiObject() self.objects_name = [] self.objects_name_extension = [] self.objects_noise_dimension = [] self.multi_object_attachment = None self.exponential = Exponential() self.use_sobolev_gradient = True self.smoothing_kernel_width = None self.initial_cp_spacing = None self.number_of_objects = None self.number_of_control_points = None self.bounding_box = None # Dictionary of numpy arrays. self.fixed_effects['template_data'] = None self.fixed_effects['control_points'] = None self.fixed_effects['covariance_momenta_inverse'] = None self.fixed_effects['noise_variance'] = None # Dictionary of probability distributions. self.priors['covariance_momenta'] = InverseWishartDistribution() self.priors['noise_variance'] = MultiScalarInverseWishartDistribution() # Dictionary of probability distributions. self.individual_random_effects['momenta'] = NormalDistribution() self.freeze_template = False self.freeze_control_points = False #################################################################################################################### ### Encapsulation methods: #################################################################################################################### # Template data ---------------------------------------------------------------------------------------------------- def get_template_data(self): return self.fixed_effects['template_data'] def set_template_data(self, td): self.fixed_effects['template_data'] = td self.template.set_data(td) # Control points --------------------------------------------------------------------------------------------------- def get_control_points(self): return self.fixed_effects['control_points'] def set_control_points(self, cp): self.fixed_effects['control_points'] = cp self.number_of_control_points = len(cp) # Covariance momenta inverse --------------------------------------------------------------------------------------- def get_covariance_momenta_inverse(self): return self.fixed_effects['covariance_momenta_inverse'] def set_covariance_momenta_inverse(self, cmi): self.fixed_effects['covariance_momenta_inverse'] = cmi self.individual_random_effects['momenta'].set_covariance_inverse(cmi) def set_covariance_momenta(self, cm): self.set_covariance_momenta_inverse(np.linalg.inv(cm)) # Noise variance --------------------------------------------------------------------------------------------------- def get_noise_variance(self): return self.fixed_effects['noise_variance'] def set_noise_variance(self, nv): self.fixed_effects['noise_variance'] = nv # Full fixed effects ----------------------------------------------------------------------------------------------- def get_fixed_effects(self): out = {} if not self.freeze_template: for key, value in self.fixed_effects['template_data'].items(): out[key] = value if not self.freeze_control_points: out['control_points'] = self.fixed_effects['control_points'] return out def set_fixed_effects(self, fixed_effects): if not self.freeze_template: template_data = { key: fixed_effects[key] for key in self.fixed_effects['template_data'].keys() } self.set_template_data(template_data) if not self.freeze_control_points: self.set_control_points(fixed_effects['control_points']) #################################################################################################################### ### Public methods: #################################################################################################################### def update(self): """ Final initialization steps. """ self.number_of_objects = len(self.template.object_list) self.bounding_box = self.template.bounding_box self.set_template_data(self.template.get_data()) if self.fixed_effects['control_points'] is None: self._initialize_control_points() else: self._initialize_bounding_box() self._initialize_momenta() self._initialize_noise_variance() def compute_log_likelihood(self, dataset, population_RER, individual_RER, mode='complete', with_grad=False): """ Compute the log-likelihood of the dataset, given parameters fixed_effects and random effects realizations population_RER and indRER. Start by updating the class 1 fixed effects. :param dataset: LongitudinalDataset instance :param population_RER: Dictionary of population random effects realizations. :param individual_RER: Dictionary of individual random effects realizations. :param with_grad: Flag that indicates wether the gradient should be returned as well. :return: """ # Initialize: conversion from numpy to torch ------------------------------------------------------------------- template_data, template_points, control_points = self._fixed_effects_to_torch_tensors( with_grad) momenta = self._individual_RER_to_torch_tensors( individual_RER, with_grad and mode == 'complete') # Deform, update, compute metrics ------------------------------------------------------------------------------ residuals = self._compute_residuals(dataset, template_data, template_points, control_points, momenta) # Update the fixed effects only if the user asked for the complete log likelihood. if mode == 'complete': sufficient_statistics = self.compute_sufficient_statistics( dataset, population_RER, individual_RER, residuals=residuals) self.update_fixed_effects(dataset, sufficient_statistics) # Compute the attachment, with the updated noise variance parameter in the 'complete' mode. attachments = self._compute_individual_attachments(residuals) attachment = torch.sum(attachments) # Compute the regularity terms according to the mode. regularity = 0.0 if mode == 'complete': regularity = self._compute_random_effects_regularity(momenta) regularity += self._compute_class1_priors_regularity() if mode in ['complete', 'class2']: regularity += self._compute_class2_priors_regularity( template_data, control_points) # Compute gradient if needed ----------------------------------------------------------------------------------- if with_grad: total = regularity + attachment total.backward() gradient = {} gradient_numpy = {} # Template data. if not self.freeze_template: if 'landmark_points' in template_data.keys(): gradient['landmark_points'] = template_points[ 'landmark_points'].grad if 'image_intensities' in template_data.keys(): gradient['image_intensities'] = template_data[ 'image_intensities'].grad # for key, value in template_data.items(): # if value.grad is not None: # gradient[key] = value.grad if self.use_sobolev_gradient and 'landmark_points' in gradient.keys( ): gradient['landmark_points'] = compute_sobolev_gradient( gradient['landmark_points'], self.smoothing_kernel_width, self.template) # Control points. if not self.freeze_control_points: gradient['control_points'] = control_points.grad # Individual effects. if mode == 'complete': gradient['momenta'] = momenta.grad # Convert to numpy. for (key, value) in gradient.items(): gradient_numpy[key] = value.data.cpu().numpy() # Return as appropriate. if mode in ['complete', 'class2']: return attachment.detach().cpu().numpy(), regularity.detach( ).cpu().numpy(), gradient_numpy elif mode == 'model': return attachments.detach().cpu().numpy(), gradient_numpy else: if mode in ['complete', 'class2']: return attachment.detach().cpu().numpy(), regularity.detach( ).cpu().numpy() elif mode == 'model': return attachments.detach().cpu().numpy() def compute_sufficient_statistics(self, dataset, population_RER, individual_RER, residuals=None): """ Compute the model sufficient statistics. """ if residuals is None: # Initialize: conversion from numpy to torch --------------------------------------------------------------- # Template data. template_data = self.fixed_effects['template_data'] template_data = Variable(torch.from_numpy(template_data).type( Settings().tensor_scalar_type), requires_grad=False) # Control points. control_points = self.fixed_effects['control_points'] control_points = Variable(torch.from_numpy(control_points).type( Settings().tensor_scalar_type), requires_grad=False) # Momenta. momenta = individual_RER['momenta'] momenta = Variable(torch.from_numpy(momenta).type( Settings().tensor_scalar_type), requires_grad=False) # Compute residuals ---------------------------------------------------------------------------------------- residuals = [ torch.sum(residuals_i) for residuals_i in self._compute_residuals( dataset, template_data, control_points, momenta) ] # Compute sufficient statistics -------------------------------------------------------------------------------- sufficient_statistics = {} # Empirical momenta covariance. momenta = individual_RER['momenta'] sufficient_statistics['S1'] = np.zeros( (momenta[0].size, momenta[0].size)) for i in range(dataset.number_of_subjects): sufficient_statistics['S1'] += np.dot( momenta[i].reshape(-1, 1), momenta[i].reshape(-1, 1).transpose()) # Empirical residuals variances, for each object. sufficient_statistics['S2'] = np.zeros((self.number_of_objects, )) for k in range(self.number_of_objects): sufficient_statistics['S2'][k] = residuals[k].detach().cpu().numpy( ) # Finalization ------------------------------------------------------------------------------------------------- return sufficient_statistics def update_fixed_effects(self, dataset, sufficient_statistics): """ Updates the fixed effects based on the sufficient statistics, maximizing the likelihood. """ # Covariance of the momenta update. prior_scale_matrix = self.priors['covariance_momenta'].scale_matrix prior_dof = self.priors['covariance_momenta'].degrees_of_freedom covariance_momenta = sufficient_statistics['S1'] + prior_dof * np.transpose(prior_scale_matrix) \ / (dataset.number_of_subjects + prior_dof) self.set_covariance_momenta(covariance_momenta) # Variance of the residual noise update. noise_variance = np.zeros((self.number_of_objects, )) prior_scale_scalars = self.priors['noise_variance'].scale_scalars prior_dofs = self.priors['noise_variance'].degrees_of_freedom for k in range(self.number_of_objects): noise_variance[k] = (sufficient_statistics['S2'] + prior_scale_scalars[k] * prior_dofs[k]) \ / float(dataset.number_of_subjects * self.objects_noise_dimension[k] + prior_dofs[k]) self.set_noise_variance(noise_variance) def initialize_template_attributes(self, template_specifications): """ Sets the Template, TemplateObjectsName, TemplateObjectsNameExtension, TemplateObjectsNorm, TemplateObjectsNormKernelType and TemplateObjectsNormKernelWidth attributes. """ t_list, t_name, t_name_extension, t_noise_variance, t_multi_object_attachment = \ create_template_metadata(template_specifications) self.template.object_list = t_list self.objects_name = t_name self.objects_name_extension = t_name_extension self.multi_object_attachment = t_multi_object_attachment self.template.update() self.objects_noise_dimension = compute_noise_dimension( self.template, self.multi_object_attachment) #################################################################################################################### ### Private methods: #################################################################################################################### def _compute_attachment(self, residuals): """ Fully torch. """ return torch.sum(self._compute_individual_attachments(residuals)) def _compute_individual_attachments(self, residuals): """ Fully torch. """ number_of_subjects = len(residuals) attachments = Variable(torch.zeros( (number_of_subjects, )).type(Settings().tensor_scalar_type), requires_grad=False) for i in range(number_of_subjects): attachments[i] = -0.5 * torch.sum(residuals[i] / Variable( torch.from_numpy(self.fixed_effects['noise_variance']).type( Settings().tensor_scalar_type), requires_grad=False)) return attachments def _compute_random_effects_regularity(self, momenta): """ Fully torch. """ number_of_subjects = momenta.shape[0] regularity = 0.0 # Momenta random effect. for i in range(number_of_subjects): regularity += self.individual_random_effects[ 'momenta'].compute_log_likelihood_torch(momenta[i]) # Noise random effect. for k in range(self.number_of_objects): regularity -= 0.5 * self.objects_noise_dimension[k] * number_of_subjects \ * math.log(self.fixed_effects['noise_variance'][k]) return regularity def _compute_class1_priors_regularity(self): """ Fully torch. Prior terms of the class 1 fixed effects, i.e. those for which we know a close-form update. No derivative wrt those fixed effects will therefore be necessary. """ regularity = 0.0 # Covariance momenta prior. regularity += self.priors['covariance_momenta'].compute_log_likelihood( self.fixed_effects['covariance_momenta_inverse']) # Noise variance prior. regularity += self.priors['noise_variance'].compute_log_likelihood( self.fixed_effects['noise_variance']) return regularity def _compute_class2_priors_regularity(self, template_data, control_points): """ Fully torch. Prior terms of the class 2 fixed effects, i.e. those for which we do not know a close-form update. Derivative wrt those fixed effects will therefore be necessary. """ regularity = 0.0 # Prior on template_data fixed effects (if not frozen). None implemented yet TODO. if not self.freeze_template: regularity += 0.0 # Prior on control_points fixed effects (if not frozen). None implemented yet TODO. if not self.freeze_control_points: regularity += 0.0 return regularity def _compute_residuals(self, dataset, template_data, template_points, control_points, momenta): """ Core part of the ComputeLogLikelihood methods. Fully torch. """ # Initialize: cross-sectional dataset -------------------------------------------------------------------------- targets = dataset.deformable_objects targets = [target[0] for target in targets] # Deform ------------------------------------------------------------------------------------------------------- residuals = [] self.exponential.set_initial_template_points(template_points) self.exponential.set_initial_control_points(control_points) for i, target in enumerate(targets): self.exponential.set_initial_momenta(momenta[i]) self.exponential.update() deformed_points = self.exponential.get_template_points() deformed_data = self.template.get_deformed_data( deformed_points, template_data) residuals.append( self.multi_object_attachment.compute_distances( deformed_data, self.template, target)) return residuals def _initialize_control_points(self): """ Initialize the control points fixed effect. """ if not Settings().dense_mode: control_points = create_regular_grid_of_points( self.bounding_box, self.initial_cp_spacing) else: control_points = self.template.get_points() self.set_control_points(control_points) self.number_of_control_points = control_points.shape[0] logger.info('Set of ' + str(self.number_of_control_points) + ' control points defined.') def _initialize_momenta(self): """ Initialize the momenta fixed effect. """ self.individual_random_effects['momenta'].mean = \ np.zeros((self.number_of_control_points * Settings().dimension,)) self._initialize_covariance( ) # Initialize the prior and the momenta random effect. def _initialize_covariance(self): """ Initialize the scale matrix of the inverse wishart prior, as well as the covariance matrix of the normal random effect. """ assert self.exponential.kernel.kernel_width is not None dimension = Settings().dimension # Shorthand. rkhs_matrix = np.zeros((self.number_of_control_points * dimension, self.number_of_control_points * dimension)) for i in range(self.number_of_control_points): for j in range(self.number_of_control_points): cp_i = self.fixed_effects['control_points'][i, :] cp_j = self.fixed_effects['control_points'][j, :] kernel_distance = math.exp(-np.sum( (cp_j - cp_i)**2) / (self.exponential.kernel.kernel_width** 2)) # Gaussian kernel. for d in range(dimension): rkhs_matrix[dimension * i + d, dimension * j + d] = kernel_distance rkhs_matrix[dimension * j + d, dimension * i + d] = kernel_distance self.priors['covariance_momenta'].scale_matrix = np.linalg.inv( rkhs_matrix) self.set_covariance_momenta_inverse(rkhs_matrix) def _initialize_noise_variance(self): self.set_noise_variance( np.asarray(self.priors['noise_variance'].scale_scalars)) def _initialize_bounding_box(self): """ Initialize the bounding box. which tightly encloses all template objects and the atlas control points. Relevant when the control points are given by the user. """ assert (self.number_of_control_points > 0) dimension = Settings().dimension control_points = self.get_control_points() for k in range(self.number_of_control_points): for d in range(dimension): if control_points[k, d] < self.bounding_box[d, 0]: self.bounding_box[d, 0] = control_points[k, d] elif control_points[k, d] > self.bounding_box[d, 1]: self.bounding_box[d, 1] = control_points[k, d] #################################################################################################################### ### Private utility methods: #################################################################################################################### def _fixed_effects_to_torch_tensors(self, with_grad): """ Convert the input fixed_effects into torch tensors. """ # Template data. template_data = self.fixed_effects['template_data'] template_data = { key: Variable( torch.from_numpy(value).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_data.items() } # Template points. template_points = self.template.get_points() template_points = { key: Variable( torch.from_numpy(value).type(Settings().tensor_scalar_type), requires_grad=(not self.freeze_template and with_grad)) for key, value in template_points.items() } # Control points. if Settings().dense_mode: control_points = template_data else: control_points = self.fixed_effects['control_points'] control_points = Variable( torch.from_numpy(control_points).type( Settings().tensor_scalar_type), requires_grad=((not self.freeze_control_points) and with_grad)) return template_data, template_points, control_points def _individual_RER_to_torch_tensors(self, individual_RER, with_grad): """ Convert the input individual_RER into torch tensors. """ # Momenta. momenta = individual_RER['momenta'] momenta = torch.from_numpy(momenta).requires_grad_(with_grad).type( Settings().tensor_scalar_type) return momenta #################################################################################################################### ### Printing and writing methods: #################################################################################################################### def print(self, individual_RER): pass def write(self, dataset, population_RER, individual_RER, update_fixed_effects=True, write_residuals=True): # Write the model predictions, and compute the residuals at the same time. residuals = self._write_model_predictions( dataset, individual_RER, compute_residuals=(update_fixed_effects or write_residuals)) # Optionally update the fixed effects. if update_fixed_effects: sufficient_statistics = self.compute_sufficient_statistics( dataset, population_RER, individual_RER, residuals=residuals) self.update_fixed_effects(dataset, sufficient_statistics) # Write residuals. if write_residuals: residuals_list = [[ residuals_i_k.detach().cpu().numpy() for residuals_i_k in residuals_i ] for residuals_i in residuals] write_2D_list(residuals_list, self.name + "__EstimatedParameters__Residuals.txt") # Write the model parameters. self._write_model_parameters(individual_RER) def _write_model_predictions(self, dataset, individual_RER, compute_residuals=True): # Initialize. template_data, template_points, control_points = self._fixed_effects_to_torch_tensors( False) momenta = self._individual_RER_to_torch_tensors(individual_RER, False) # Deform, write reconstructions and compute residuals. self.exponential.set_initial_template_points(template_points) self.exponential.set_initial_control_points(control_points) residuals = [] # List of torch 1D tensors. Individuals, objects. for i, subject_id in enumerate(dataset.subject_ids): self.exponential.set_initial_momenta(momenta[i]) self.exponential.update() deformed_points = self.exponential.get_template_points() deformed_data = self.template.get_deformed_data( deformed_points, template_data) if compute_residuals: residuals.append( self.multi_object_attachment.compute_distances( deformed_data, self.template, dataset.deformable_objects[i][0])) names = [] for k, (object_name, object_extension) \ in enumerate(zip(self.objects_name, self.objects_name_extension)): name = self.name + '__Reconstruction__' + object_name + '__subject_' + subject_id + object_extension names.append(name) self.template.write( names, { key: value.data.cpu().numpy() for key, value in deformed_data.items() }) return residuals def _write_model_parameters(self, individual_RER): # Template. template_names = [] for i in range(len(self.objects_name)): aux = self.name + "__EstimatedParameters__Template_" + self.objects_name[ i] + self.objects_name_extension[i] template_names.append(aux) self.template.write(template_names) # Control points. write_2D_array(self.get_control_points(), self.name + "__EstimatedParameters__ControlPoints.txt") # Momenta. write_3D_array(individual_RER['momenta'], self.name + "__EstimatedParameters__Momenta.txt") # Momenta covariance. write_2D_array( self.get_covariance_momenta_inverse(), self.name + "__EstimatedParameters__CovarianceMomentaInverse.txt") # Noise variance. write_2D_array(np.sqrt(self.get_noise_variance()), self.name + "__EstimatedParameters__NoiseStd.txt")
def _exp_parallelize(control_points, initial_momenta, projected_momenta, xml_parameters): objects_list, objects_name, objects_name_extension, _, _ = create_template_metadata( xml_parameters.template_specifications) template = DeformableMultiObject() template.object_list = objects_list template.update() template_data = template.get_points() template_data_torch = Variable( torch.from_numpy(template_data).type(Settings().tensor_scalar_type)) geodesic = Geodesic() geodesic.concentration_of_time_points = xml_parameters.concentration_of_time_points geodesic.set_kernel( kernel_factory.factory(xml_parameters.deformation_kernel_type, xml_parameters.deformation_kernel_width)) geodesic.set_use_rk2(xml_parameters.use_rk2) # Those are mandatory parameters. assert xml_parameters.tmin != -float( "inf"), "Please specify a minimum time for the geodesic trajectory" assert xml_parameters.tmax != float( "inf"), "Please specify a maximum time for the geodesic trajectory" geodesic.tmin = xml_parameters.tmin geodesic.tmax = xml_parameters.tmax if xml_parameters.t0 is None: geodesic.t0 = geodesic.tmin else: geodesic.t0 = xml_parameters.t0 geodesic.set_momenta_t0(initial_momenta) geodesic.set_control_points_t0(control_points) geodesic.set_template_data_t0(template_data_torch) geodesic.update() # We write the flow of the geodesic geodesic.write("Regression", objects_name, objects_name_extension, template) # Now we transport! parallel_transport_trajectory = geodesic.parallel_transport( projected_momenta) # Getting trajectory caracteristics: times = geodesic._get_times() control_points_traj = geodesic._get_control_points_trajectory() momenta_traj = geodesic._get_momenta_trajectory() template_data_traj = geodesic._get_template_data_trajectory() exponential = Exponential() exponential.number_of_time_points = xml_parameters.number_of_time_points exponential.set_kernel( kernel_factory.factory(xml_parameters.deformation_kernel_type, xml_parameters.deformation_kernel_width)) exponential.set_use_rk2(xml_parameters.use_rk2) # We save this trajectory, and the corresponding shape trajectory for i, (time, cp, mom, transported_mom, td) in enumerate( zip(times, control_points_traj, momenta_traj, parallel_transport_trajectory, template_data_traj)): # Writing the momenta/cps write_2D_array( cp.data.numpy(), "control_Points_tp_" + str(i) + "__age_" + str(time) + ".txt") write_3D_array(mom.data.numpy(), "momenta_tp_" + str(i) + "__age_" + str(time) + ".txt") write_3D_array( transported_mom.data.numpy(), "transported_momenta_tp_" + str(i) + "__age_" + str(time) + ".txt") # Shooting from the geodesic: exponential.set_initial_template_data(td) exponential.set_initial_control_points(cp) exponential.set_initial_momenta(transported_mom) exponential.update() # Uncomment for massive writing, useful for debugging. # dir = "exp_"+str(i)+"_"+str(time) # if not(os.path.isdir(os.path.join(Settings().output_dir, dir))): # os.mkdir(os.path.join(Settings().output_dir, dir)) # exponential.write_flow([os.path.join(dir, elt) for elt in objects_name], # objects_name_extension, # template) # exponential.write_control_points_and_momenta_flow(os.path.join(dir, "cp_and_mom")) parallel_td = exponential.get_template_data() template.set_points(parallel_td) names = [ objects_name[k] + "_parallel_curve_tp_" + str(i) + "__age_" + str(time) + "_" + objects_name_extension[k] for k in range(len(objects_name)) ] template.write(names)
class ProfileDeformations: def __init__(self, kernel_type, kernel_device='CPU', use_cuda=False, data_type='landmark', data_size='small'): np.random.seed(42) kernel_width = 10. if use_cuda: self.tensor_scalar_type = torch.cuda.FloatTensor else: self.tensor_scalar_type = torch.FloatTensor self.exponential = Exponential(kernel=kernel_factory.factory(kernel_type, kernel_width, kernel_device), number_of_time_points=11, use_rk2_for_flow=False, use_rk2_for_shoot=False) if data_type.lower() == 'landmark': reader = DeformableObjectReader() if data_size == 'small': surface_mesh = reader.create_object(path_to_small_surface_mesh_1, 'SurfaceMesh') self.control_points = create_regular_grid_of_points(surface_mesh.bounding_box, kernel_width, surface_mesh.dimension) elif data_size == 'large': surface_mesh = reader.create_object(path_to_large_surface_mesh_1, 'SurfaceMesh') self.control_points = create_regular_grid_of_points(surface_mesh.bounding_box, kernel_width, surface_mesh.dimension) else: connectivity = np.array(list(itertools.combinations(range(100), 3))[:int(data_size)]) # up to ~16k. surface_mesh = SurfaceMesh(3) surface_mesh.set_points(np.random.randn(np.max(connectivity) + 1, surface_mesh.dimension)) surface_mesh.set_connectivity(connectivity) surface_mesh.update() self.control_points = np.random.randn(int(data_size) // 10, 3) # self.template.object_list.append(surface_mesh) self.template = DeformableMultiObject([surface_mesh]) elif data_type.lower() == 'image': image = Image(3) image.set_intensities(np.random.randn(int(data_size), int(data_size), int(data_size))) image.set_affine(np.eye(4)) image.downsampling_factor = 5. image.update() self.control_points = create_regular_grid_of_points(image.bounding_box, kernel_width, image.dimension) self.control_points = remove_useless_control_points(self.control_points, image, kernel_width) # self.template.object_list.append(image) self.template = DeformableMultiObject([image]) else: raise RuntimeError('Unknown data_type argument. Choose between "landmark" or "image".') # self.template.update() self.momenta = np.random.randn(*self.control_points.shape) def forward(self): self.exponential.set_initial_template_points( {key: self.tensor_scalar_type(value) for key, value in self.template.get_points().items()}) self.exponential.set_initial_control_points(self.tensor_scalar_type(self.control_points)) self.exponential.set_initial_momenta(self.tensor_scalar_type(self.momenta)) self.exponential.update() deformed_points = self.exponential.get_template_points() deformed_data = self.template.get_deformed_data( deformed_points, {key: self.tensor_scalar_type(value) for key, value in self.template.get_data().items()}) def forward_and_backward(self): self.exponential.set_initial_template_points({key: self.tensor_scalar_type(value).requires_grad_(True) for key, value in self.template.get_points().items()}) self.exponential.set_initial_control_points(self.tensor_scalar_type(self.control_points).requires_grad_(True)) self.exponential.set_initial_momenta(self.tensor_scalar_type(self.momenta).requires_grad_(True)) self.exponential.update() deformed_points = self.exponential.get_template_points() deformed_data = self.template.get_deformed_data(deformed_points, {key: self.tensor_scalar_type(value) for key, value in self.template.get_data().items()}) for key, value in deformed_data.items(): value.backward(torch.ones(value.size()).type(self.tensor_scalar_type))