ImageRegistration2.cxx

/*=========================================================================

  Program:   ORFEO Toolbox
  Language:  C++
  Date:      $Date$
  Version:   $Revision$


  Copyright (c) Centre National d'Etudes Spatiales. All rights reserved.
  See OTBCopyright.txt for details.


     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/


//  Software Guide : BeginCommandLineArgs
//    INPUTS: {RamsesROISmall.png}, {ADS40RoiSmall.png}
//    OUTPUTS: {ImageRegistration2Output.png}, {ImageRegistration2CheckerboardBefore.png}, {ImageRegistration2CheckerboardAfter.png}
//  Software Guide : EndCommandLineArgs

// Software Guide : BeginLatex
//
// The following simple example illustrates how multiple imaging modalities can
// be registered using the ITK registration framework. The first difference
// between this and previous examples is the use of the
// \doxygen{itk}{MutualInformationImageToImageMetric} as the cost-function to be
// optimized. The second difference is the use of the
// \doxygen{itk}{GradientDescentOptimizer}. Due to the stochastic nature of the
// metric computation, the values are too noisy to work successfully with the
// \doxygen{itk}{RegularStepGradientDescentOptimizer}.  Therefore, we will use the
// simpler GradientDescentOptimizer with a user defined learning rate.  The
// following headers declare the basic components of this registration method.
//
// Software Guide : EndLatex
#include "itkUnaryFunctorImageFilter.h"
// Software Guide : BeginCodeSnippet
#include "itkImageRegistrationMethod.h"
#include "itkTranslationTransform.h"
#include "itkMutualInformationImageToImageMetric.h"
#include "itkGradientDescentOptimizer.h"
#include "otbImage.h"
// Software Guide : EndCodeSnippet

//  Software Guide : BeginLatex
//
//  One way to simplify the computation of the mutual information is
//  to normalize the statistical distribution of the two input images. The
//  \doxygen{itk}{NormalizeImageFilter} is the perfect tool for this task.
//  It rescales the intensities of the input images in order to produce an
//  output image with zero mean and unit variance.
//
//  Software Guide : EndLatex

// Software Guide : BeginCodeSnippet
#include "itkNormalizeImageFilter.h"
// Software Guide : EndCodeSnippet

//  Software Guide : BeginLatex
//
//  Additionally, low-pass filtering of the images to be registered will also
//  increase robustness against noise. In this example, we will use the
//  \doxygen{itk}{DiscreteGaussianImageFilter} for that purpose. The
//  characteristics of this filter have been discussed in Section
//  \ref{sec:BlurringFilters}.
//
//  Software Guide : EndLatex

// Software Guide : BeginCodeSnippet
#include "itkDiscreteGaussianImageFilter.h"
// Software Guide : EndCodeSnippet

#include "otbImageFileReader.h"
#include "otbImageFileWriter.h"

#include "itkResampleImageFilter.h"
#include "itkCastImageFilter.h"
#include "itkCheckerBoardImageFilter.h"

//  The following section of code implements a Command observer
//  that will monitor the evolution of the registration process.
//
#include "itkCommand.h"
class CommandIterationUpdate : public itk::Command
{
public:
  typedef  CommandIterationUpdate  Self;
  typedef  itk::Command            Superclass;
  typedef  itk::SmartPointer<Self> Pointer;
  itkNewMacro(Self);
protected:
  CommandIterationUpdate() {}
public:
  typedef   itk::GradientDescentOptimizer OptimizerType;
  typedef   const OptimizerType *         OptimizerPointer;

  void Execute(itk::Object *caller, const itk::EventObject& event) override
  {
    Execute((const itk::Object *) caller, event);
  }

  void Execute(const itk::Object * object, const itk::EventObject& event) override
  {
    OptimizerPointer optimizer =
      dynamic_cast<OptimizerPointer>(object);
    if (!itk::IterationEvent().CheckEvent(&event))
      {
      return;
      }
    std::cout << optimizer->GetCurrentIteration() << "   ";
    std::cout << optimizer->GetValue() << "   ";
    std::cout << optimizer->GetCurrentPosition() << std::endl;
  }
};

int main(int argc, char *argv[])
{
  if (argc < 4)
    {
    std::cerr << "Missing Parameters " << std::endl;
    std::cerr << "Usage: " << argv[0];
    std::cerr << " fixedImageFile  movingImageFile ";
    std::cerr << "outputImagefile ";
    std::cerr << "[checkerBoardBefore] [checkerBoardAfter]" << std::endl;
    return 1;
    }

  // Software Guide : BeginLatex
  //
  // The moving and fixed images types should be instantiated first.
  //
  // Software Guide : EndLatex
  //
  // Software Guide : BeginCodeSnippet
  const unsigned int Dimension = 2;
  typedef  unsigned short PixelType;

  typedef otb::Image<PixelType, Dimension> FixedImageType;
  typedef otb::Image<PixelType, Dimension> MovingImageType;
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  It is convenient to work with an internal image type because mutual
  //  information will perform better on images with a normalized statistical
  //  distribution. The fixed and moving images will be normalized and
  //  converted to this internal type.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  typedef float                                    InternalPixelType;
  typedef otb::Image<InternalPixelType, Dimension> InternalImageType;
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  The rest of the image registration components are instantiated as
  //  illustrated in Section \ref{sec:IntroductionImageRegistration} with
  //  the use of the \code{InternalImageType}.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  typedef itk::TranslationTransform<double, Dimension> TransformType;
  typedef itk::GradientDescentOptimizer                OptimizerType;

  typedef itk::LinearInterpolateImageFunction<InternalImageType,
      double> InterpolatorType;

  typedef itk::ImageRegistrationMethod<InternalImageType,
      InternalImageType>  RegistrationType;
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  The mutual information metric type is instantiated using the image
  //  types.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  typedef itk::MutualInformationImageToImageMetric<
      InternalImageType,
      InternalImageType>    MetricType;
  // Software Guide : EndCodeSnippet

  TransformType::Pointer    transform     = TransformType::New();
  OptimizerType::Pointer    optimizer     = OptimizerType::New();
  InterpolatorType::Pointer interpolator  = InterpolatorType::New();
  RegistrationType::Pointer registration  = RegistrationType::New();

  registration->SetOptimizer(optimizer);
  registration->SetTransform(transform);
  registration->SetInterpolator(interpolator);

  //  Software Guide : BeginLatex
  //
  //  The metric is created using the \code{New()} method and then
  //  connected to the registration object.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  MetricType::Pointer metric        = MetricType::New();
  registration->SetMetric(metric);
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  The metric requires a number of parameters to be selected, including
  //  the standard deviation of the Gaussian kernel for the fixed image
  //  density estimate, the standard deviation of the kernel for the moving
  //  image density and the number of samples use to compute the densities
  //  and entropy values. Details on the concepts behind the computation of
  //  the metric can be found in Section
  //  \ref{sec:MutualInformationMetric}.  Experience has
  //  shown that a kernel standard deviation of $0.4$ works well for images
  //  which have been normalized to a mean of zero and unit variance.  We
  //  will follow this empirical rule in this example.
  //
  //  \index{itk::Mutual\-Information\-Image\-To\-Image\-Metric!SetFixedImageStandardDeviation()}
  //  \index{itk::Mutual\-Information\-Image\-To\-Image\-Metric!SetMovingImageStandardDeviation()}
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  metric->SetFixedImageStandardDeviation(0.4);
  metric->SetMovingImageStandardDeviation(0.4);
  // Software Guide : EndCodeSnippet

  typedef otb::ImageFileReader<FixedImageType>  FixedImageReaderType;
  typedef otb::ImageFileReader<MovingImageType> MovingImageReaderType;

  FixedImageReaderType::Pointer  fixedImageReader  = FixedImageReaderType::New();
  MovingImageReaderType::Pointer movingImageReader = MovingImageReaderType::New();

  fixedImageReader->SetFileName(argv[1]);
  movingImageReader->SetFileName(argv[2]);

  //  Software Guide : BeginLatex
  //
  //  The normalization filters are instantiated using the fixed and moving
  //  image types as input and the internal image type as output.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  typedef itk::NormalizeImageFilter<
      FixedImageType,
      InternalImageType
      > FixedNormalizeFilterType;

  typedef itk::NormalizeImageFilter<
      MovingImageType,
      InternalImageType
      > MovingNormalizeFilterType;

  FixedNormalizeFilterType::Pointer fixedNormalizer =
    FixedNormalizeFilterType::New();

  MovingNormalizeFilterType::Pointer movingNormalizer =
    MovingNormalizeFilterType::New();
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  The blurring filters are declared using the internal image type as both
  //  the input and output types. In this example, we will set the variance
  //  for both blurring filters to $2.0$.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  typedef itk::DiscreteGaussianImageFilter<
      InternalImageType,
      InternalImageType
      > GaussianFilterType;

  GaussianFilterType::Pointer fixedSmoother  = GaussianFilterType::New();
  GaussianFilterType::Pointer movingSmoother = GaussianFilterType::New();

  fixedSmoother->SetVariance(4.0);
  movingSmoother->SetVariance(4.0);
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  The output of the readers becomes the input to the normalization
  //  filters. The output of the normalization filters is connected as
  //  input to the blurring filters. The input to the registration method
  //  is taken from the blurring filters.
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  fixedNormalizer->SetInput(fixedImageReader->GetOutput());
  movingNormalizer->SetInput(movingImageReader->GetOutput());

  fixedSmoother->SetInput(fixedNormalizer->GetOutput());
  movingSmoother->SetInput(movingNormalizer->GetOutput());

  registration->SetFixedImage(fixedSmoother->GetOutput());
  registration->SetMovingImage(movingSmoother->GetOutput());
  // Software Guide : EndCodeSnippet

  fixedNormalizer->Update();
  FixedImageType::RegionType fixedImageRegion =
    fixedNormalizer->GetOutput()->GetBufferedRegion();
  registration->SetFixedImageRegion(fixedImageRegion);

  typedef RegistrationType::ParametersType ParametersType;
  ParametersType initialParameters(transform->GetNumberOfParameters());

  initialParameters[0] = 0.0;  // Initial offset in mm along X
  initialParameters[1] = 0.0;  // Initial offset in mm along Y

  registration->SetInitialTransformParameters(initialParameters);

  //  Software Guide : BeginLatex
  //
  //  We should now define the number of spatial samples to be considered in
  //  the metric computation. Note that we were forced to postpone this setting
  //  until we had done the preprocessing of the images because the number of
  //  samples is usually defined as a fraction of the total number of pixels in
  //  the fixed image.
  //
  //  The number of spatial samples can usually be as low as $1\%$ of the total
  //  number of pixels in the fixed image. Increasing the number of samples
  //  improves the smoothness of the metric from one iteration to another and
  //  therefore helps when this metric is used in conjunction with optimizers
  //  that rely of the continuity of the metric values. The trade-off, of
  //  course, is that a larger number of samples result in longer computation
  //  times per every evaluation of the metric.
  //
  //  It has been demonstrated empirically that the number of samples is not a
  //  critical parameter for the registration process. When you start fine
  //  tuning your own registration process, you should start using high values
  //  of number of samples, for example in the range of $20\%$ to $50\%$ of the
  //  number of pixels in the fixed image. Once you have succeeded to register
  //  your images you can then reduce the number of samples progressively until
  //  you find a good compromise on the time it takes to compute one evaluation
  //  of the Metric. Note that it is not useful to have very fast evaluations
  //  of the Metric if the noise in their values results in more iterations
  //  being required by the optimizer to converge.
  //
  //  \index{itk::Mutual\-Information\-Image\-To\-Image\-Metric!SetNumberOfSpatialSamples()}
  //  \index{itk::Mutual\-Information\-Image\-To\-Image\-Metric!Trade-offs}
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  const unsigned int numberOfPixels = fixedImageRegion.GetNumberOfPixels();

  const unsigned int numberOfSamples =
    static_cast<unsigned int>(numberOfPixels * 0.01);

  metric->SetNumberOfSpatialSamples(numberOfSamples);
  // Software Guide : EndCodeSnippet

  //  Software Guide : BeginLatex
  //
  //  Since larger values of mutual information indicate better matches than
  //  smaller values, we need to maximize the cost function in this example.
  //  By default the GradientDescentOptimizer class is set to minimize the
  //  value of the cost-function. It is therefore necessary to modify its
  //  default behavior by invoking the \code{MaximizeOn()} method.
  //  Additionally, we need to define the optimizer's step size using the
  //  \code{SetLearningRate()} method.
  //
  //  \index{itk::Gradient\-Descent\-Optimizer!MaximizeOn()}
  //  \index{itk::Image\-Registration\-Method!Maximize vs Minimize}
  //
  //  Software Guide : EndLatex

  // Software Guide : BeginCodeSnippet
  optimizer->SetLearningRate(150.0);
  optimizer->SetNumberOfIterations(300);
  optimizer->MaximizeOn();
  // Software Guide : EndCodeSnippet

  // Software Guide : BeginLatex
  //
  // Note that large values of the learning rate will make the optimizer
  // unstable. Small values, on the other hand, may result in the optimizer
  // needing too many iterations in order to walk to the extrema of the cost
  // function. The easy way of fine tuning this parameter is to start with
  // small values, probably in the range of $\{5.0, 10.0\}$. Once the other
  // registration parameters have been tuned for producing convergence, you
  // may want to revisit the learning rate and start increasing its value until
  // you observe that the optimization becomes unstable.  The ideal value for
  // this parameter is the one that results in a minimum number of iterations
  // while still keeping a stable path on the parametric space of the
  // optimization. Keep in mind that this parameter is a multiplicative factor
  // applied on the gradient of the Metric. Therefore, its effect on the
  // optimizer step length is proportional to the Metric values themselves.
  // Metrics with large values will require you to use smaller values for the
  // learning rate in order to maintain a similar optimizer behavior.
  //
  // Software Guide : EndLatex

  // Create the Command observer and register it with the optimizer.
  //
  CommandIterationUpdate::Pointer observer = CommandIterationUpdate::New();
  optimizer->AddObserver(itk::IterationEvent(), observer);

  try
    {
    registration->Update();
    }
  catch (itk::ExceptionObject& err)
    {
    std::cout << "ExceptionObject caught !" << std::endl;
    std::cout << err << std::endl;
    return -1;
    }

  ParametersType finalParameters = registration->GetLastTransformParameters();

  double TranslationAlongX = finalParameters[0];
  double TranslationAlongY = finalParameters[1];

  unsigned int numberOfIterations = optimizer->GetCurrentIteration();

  double bestValue = optimizer->GetValue();

  // Print out results
  //
  std::cout << std::endl;
  std::cout << "Result = " << std::endl;
  std::cout << " Translation X = " << TranslationAlongX  << std::endl;
  std::cout << " Translation Y = " << TranslationAlongY  << std::endl;
  std::cout << " Iterations    = " << numberOfIterations << std::endl;
  std::cout << " Metric value  = " << bestValue          << std::endl;
  std::cout << " Numb. Samples = " << numberOfSamples    << std::endl;

  //  Software Guide : BeginLatex
  //
  //  Let's execute this example over two of the images provided in
  //  \code{Examples/Data}:
  //
  //  \begin{itemize}
  //  \item \code{RamsesROISmall.png}
  //  \item \code{ADS40RoiSmall.png}
  //  \end{itemize}
  //
  //  \begin{figure}
  //  \center
  //  \includegraphics[width=0.44\textwidth]{RamsesROISmall.eps}
  //  \includegraphics[width=0.44\textwidth]{ADS40RoiSmall.eps}
  //  \itkcaption[Multi-Modality Registration Inputs]{A SAR image
  //  (fixed image) and an aerial
  //  photograph
  //  (moving image) are provided as input to the registration method.}
  //  \label{fig:FixedMovingImageRegistration2}
  //  \end{figure}
  //
  //
  //  Software Guide : EndLatex

  typedef itk::ResampleImageFilter<
      MovingImageType,
      FixedImageType>    ResampleFilterType;

  TransformType::Pointer finalTransform = TransformType::New();

  finalTransform->SetParameters(finalParameters);

  ResampleFilterType::Pointer resample = ResampleFilterType::New();

  resample->SetTransform(finalTransform);
  resample->SetInput(movingImageReader->GetOutput());

  FixedImageType::Pointer fixedImage = fixedImageReader->GetOutput();

  resample->SetSize(fixedImage->GetLargestPossibleRegion().GetSize());
  resample->SetOutputOrigin(fixedImage->GetOrigin());
  resample->SetOutputSpacing(fixedImage->GetSpacing());
  resample->SetDefaultPixelValue(100);

  typedef  unsigned char OutputPixelType;

  typedef otb::Image<OutputPixelType, Dimension> OutputImageType;

  typedef itk::CastImageFilter<
      FixedImageType,
      OutputImageType> CastFilterType;

  typedef otb::ImageFileWriter<OutputImageType> WriterType;

  WriterType::Pointer     writer =  WriterType::New();
  CastFilterType::Pointer caster =  CastFilterType::New();

  writer->SetFileName(argv[3]);

  caster->SetInput(resample->GetOutput());
  writer->SetInput(caster->GetOutput());
  writer->Update();

  // Generate checkerboards before and after registration
  //
  typedef itk::CheckerBoardImageFilter<FixedImageType> CheckerBoardFilterType;

  CheckerBoardFilterType::Pointer checker = CheckerBoardFilterType::New();

  checker->SetInput1(fixedImage);
  checker->SetInput2(resample->GetOutput());

  caster->SetInput(checker->GetOutput());
  writer->SetInput(caster->GetOutput());

  // Before registration
  TransformType::Pointer identityTransform = TransformType::New();
  identityTransform->SetIdentity();
  resample->SetTransform(identityTransform);

  if (argc > 4)
    {
    writer->SetFileName(argv[4]);
    writer->Update();
    }

  // After registration
  resample->SetTransform(finalTransform);
  if (argc > 5)
    {
    writer->SetFileName(argv[5]);
    writer->Update();
    }

  // Software Guide : BeginLatex
  //
  // \begin{figure}
  // \center
  // \includegraphics[width=0.32\textwidth]{ImageRegistration2Output.eps}
  // \includegraphics[width=0.32\textwidth]{ImageRegistration2CheckerboardBefore.eps}
  // \includegraphics[width=0.32\textwidth]{ImageRegistration2CheckerboardAfter.eps}
  // \itkcaption[Multi-Modality Registration outputs]{Mapped moving image (left)
  // and composition of fixed and moving images before (center) and after
  // (right) registration.}
  // \label{fig:ImageRegistration2Output}
  // \end{figure}
  //
  //  The moving image after resampling is presented on the left
  //  side of Figure \ref{fig:ImageRegistration2Output}. The center and right
  //  figures present a checkerboard composite of the fixed and
  //  moving images before and after registration. Since the real
  //  deformation between the 2 images is not simply a shift, some
  //  registration errors remain, but the left part of the images is
  //  correctly registered.
  //
  //  Software Guide : EndLatex

  return EXIT_SUCCESS;
}