def test_compute_energy_ssd_3d():
sh = (32, 32, 32)
#Select arbitrary centers
c_f = np.asarray(sh)/2
c_g = c_f + 0.5
#Compute the identity vector field I(x) = x in R^2
x_0 = np.asarray(range(sh[0]))
x_1 = np.asarray(range(sh[1]))
x_2 = np.asarray(range(sh[2]))
X = np.ndarray(sh + (3,), dtype = np.float64)
O = np.ones(sh)
X[...,0]= x_0[:, None, None] * O
X[...,1]= x_1[None, :, None] * O
X[...,2]= x_2[None, None, :] * O
#Compute the gradient fields of F and G
grad_F = X - c_f
grad_G = X - c_g
#Compute F and G
F = 0.5*np.sum(grad_F**2,-1)
G = 0.5*np.sum(grad_G**2,-1)
# Note: this should include the energy corresponding to the
# regularization term, but it is discarded in ANTS (they just
# consider the data term, which is not the objective function
# being optimized). This test case should be updated after
# further investigating
expected = ((F - G)**2).sum()
actual = ssd.compute_energy_ssd_3d(np.array(F-G, dtype = floating))
assert_almost_equal(expected, actual)
def v_cycle_3d(n,
k,
delta_field,
sigma_sq_field,
gradient_field,
target,
lambda_param,
displacement,
depth=0):
r"""Multi-resolution Gauss-Seidel solver using V-type cycles
Multi-resolution Gauss-Seidel solver: solves the linear system by first
filtering (GS-iterate) the current level, then solves for the residual
at a coarser resolution and finally refines the solution at the current
resolution. This scheme corresponds to the V-cycle proposed by Bruhn and
Weickert[1].
[1] Andres Bruhn and Joachim Weickert, "Towards ultimate motion estimation:
combining highest accuracy with real-time performance",
10th IEEE International Conference on Computer Vision, 2005.
ICCV 2005.
Parameters
----------
n : int
number of levels of the multi-resolution algorithm (it will be called
recursively until level n == 0)
k : int
the number of iterations at each multi-resolution level
delta_field : array, shape (S, R, C)
the difference between the static and moving image (the 'derivative
w.r.t. time' in the optical flow model)
sigma_sq_field : array, shape (S, R, C)
the variance of the gray level value at each voxel, according to the
EM model (for SSD, it is 1 for all voxels). Inf and 0 values
are processed specially to support infinite and zero variance.
gradient_field : array, shape (S, R, C, 3)
the gradient of the moving image
target : array, shape (S, R, C, 3)
right-hand side of the linear system to be solved in the Weickert's
multi-resolution algorithm
lambda_param : float
smoothness parameter, the larger its value the smoother the
displacement field
displacement : array, shape (S, R, C, 3)
the displacement field to start the optimization from
Returns
-------
energy : the energy of the EM (or SSD if sigmafield[...]==1) metric at this
iteration
"""
# pre-smoothing
for i in range(k):
ssd.iterate_residual_displacement_field_ssd_3d(delta_field,
sigma_sq_field,
gradient_field, target,
lambda_param,
displacement)
if n == 0:
energy = ssd.compute_energy_ssd_3d(delta_field)
return energy
# solve at coarser grid
residual = ssd.compute_residual_displacement_field_ssd_3d(
delta_field, sigma_sq_field, gradient_field, target, lambda_param,
displacement, None)
sub_residual = np.array(vfu.downsample_displacement_field_3d(residual))
del residual
subsigma_sq_field = None
if sigma_sq_field is not None:
subsigma_sq_field = vfu.downsample_scalar_field_3d(sigma_sq_field)
subdelta_field = vfu.downsample_scalar_field_3d(delta_field)
subgradient_field = np.array(
vfu.downsample_displacement_field_3d(gradient_field))
shape = np.array(displacement.shape).astype(np.int32)
sub_displacement = np.zeros(shape=((shape[0] + 1) // 2,
(shape[1] + 1) // 2,
(shape[2] + 1) // 2, 3),
dtype=floating)
sublambda_param = lambda_param * 0.25
v_cycle_3d(n - 1, k, subdelta_field, subsigma_sq_field, subgradient_field,
sub_residual, sublambda_param, sub_displacement, depth + 1)
del subdelta_field
del subsigma_sq_field
del subgradient_field
del sub_residual
displacement += vfu.resample_displacement_field_3d(sub_displacement,
0.5 * np.ones(3), shape)
del sub_displacement
# post-smoothing
for i in range(k):
ssd.iterate_residual_displacement_field_ssd_3d(delta_field,
sigma_sq_field,
gradient_field, target,
lambda_param,
displacement)
energy = ssd.compute_energy_ssd_3d(delta_field)
return energy
def v_cycle_3d(n, k, delta_field, sigma_sq_field, gradient_field, target,
lambda_param, displacement, depth=0):
r"""Multi-resolution Gauss-Seidel solver using V-type cycles
Multi-resolution Gauss-Seidel solver: solves the linear system by first
filtering (GS-iterate) the current level, then solves for the residual
at a coarser resolution and finally refines the solution at the current
resolution. This scheme corresponds to the V-cycle proposed by Bruhn and
Weickert[1].
[1] Andres Bruhn and Joachim Weickert, "Towards ultimate motion estimation:
combining highest accuracy with real-time performance",
10th IEEE International Conference on Computer Vision, 2005.
ICCV 2005.
Parameters
----------
n : int
number of levels of the multi-resolution algorithm (it will be called
recursively until level n == 0)
k : int
the number of iterations at each multi-resolution level
delta_field : array, shape (S, R, C)
the difference between the static and moving image (the 'derivative
w.r.t. time' in the optical flow model)
sigma_sq_field : array, shape (S, R, C)
the variance of the gray level value at each voxel, according to the
EM model (for SSD, it is 1 for all voxels). Inf and 0 values
are processed specially to support infinite and zero variance.
gradient_field : array, shape (S, R, C, 3)
the gradient of the moving image
target : array, shape (S, R, C, 3)
right-hand side of the linear system to be solved in the Weickert's
multi-resolution algorithm
lambda_param : float
smoothness parameter, the larger its value the smoother the
displacement field
displacement : array, shape (S, R, C, 3)
the displacement field to start the optimization from
Returns
-------
energy : the energy of the EM (or SSD if sigmafield[...]==1) metric at this
iteration
"""
# pre-smoothing
for i in range(k):
ssd.iterate_residual_displacement_field_ssd_3d(delta_field,
sigma_sq_field,
gradient_field,
target,
lambda_param,
displacement)
if n == 0:
energy = ssd.compute_energy_ssd_3d(delta_field)
return energy
# solve at coarser grid
residual = ssd.compute_residual_displacement_field_ssd_3d(delta_field,
sigma_sq_field,
gradient_field,
target,
lambda_param,
displacement,
None)
sub_residual = np.array(vfu.downsample_displacement_field_3d(residual))
del residual
subsigma_sq_field = None
if sigma_sq_field is not None:
subsigma_sq_field = vfu.downsample_scalar_field_3d(sigma_sq_field)
subdelta_field = vfu.downsample_scalar_field_3d(delta_field)
subgradient_field = np.array(
vfu.downsample_displacement_field_3d(gradient_field))
shape = np.array(displacement.shape).astype(np.int32)
sub_displacement = np.zeros(
shape=((shape[0]+1)//2, (shape[1]+1)//2, (shape[2]+1)//2, 3),
dtype=floating)
sublambda_param = lambda_param*0.25
v_cycle_3d(n-1, k, subdelta_field, subsigma_sq_field, subgradient_field,
sub_residual, sublambda_param, sub_displacement, depth+1)
del subdelta_field
del subsigma_sq_field
del subgradient_field
del sub_residual
displacement += vfu.resample_displacement_field_3d(sub_displacement,
0.5 * np.ones(3),
shape)
del sub_displacement
# post-smoothing
for i in range(k):
ssd.iterate_residual_displacement_field_ssd_3d(delta_field,
sigma_sq_field,
gradient_field,
target,
lambda_param,
displacement)
energy = ssd.compute_energy_ssd_3d(delta_field)
return energy