itkCurvatureRegistrationFilter.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    itkCurvatureRegistrationFilter.h
  Language:  C++
  Date:      $Date$
  Version:   $Revision$

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm 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.

=========================================================================*/
#ifndef __itkCurvatureRegistrationFilter_h
#define __itkCurvatureRegistrationFilter_h

#include "itkPDEDeformableRegistrationFilter.h"
#include "itkMeanSquareRegistrationFunction.h"

#if defined(USE_FFTWF) || defined(USE_FFTWD)
#include "fftw3.h"

namespace itk {

/** \class CurvatureRegistrationFilter
 * \brief Deformably register two images using the fast curvature algorithm.
 *
 * CurvatureRegistrationFilter implements the fast (i.e., O(n log n) ) 
 * registration method described in B. Fischer and J. Modersitzki, 
 * "A unified approach to fast image registration and a new curvature 
 * based registration technique," Linear Algebra and its Applications, 
 * vol. 380, pp. 107-124, 2004.
 *
 * A deformation field is represented as a image whose pixel type is some
 * vector type with at least N elements, where N is the dimension of
 * the fixed image. The vector type must support element access via operator
 * []. It is assumed that the vector elements behave like floating point
 * scalars.
 *
 * This class is templated over the fixed image type, moving image type,
 * the deformation field type, and the images forces function. Fundamentally,
 * any image force function in the PDE framework should work (e.g., mean
 * squares, demons, correlation, mutual information, etc.).
 *
 * The input fixed and moving images are set via methods SetFixedImage
 * and SetMovingImage respectively. An initial deformation field maybe set via
 * SetInitialDeformationField or SetInput. If no initial field is set,
 * a zero field is used as the initial condition.
 *
 * The output deformation field can be obtained via methods GetOutput
 * or GetDeformationField.
 *
 * This class makes use of the finite difference solver hierarchy. Update
 * for each iteration is computed in the function class defined by the
 * template parameter TImageForceFunction.
 *
 * The algorithm has three parameters: the number of iteration to be performed,
 * the time step, and the weight of the curvature regularization term in
 * the overall cost function.
 *
 * \warning The algorithm parameters (time step and constraint weight) as
 * given by F&M (dt=100; alpha=0.01) do not seem to work with this implementation.
 * In fact, they seem to be off by orders of magnitude. This may be an
 * effect of different normalization of the image forces, or this implementation
 * may be incorrect. Be aware.
 * 
 * \warning This filter assumes that the fixed image type, moving image type
 * and deformation field type all have the same number of dimensions.
 *
 * \warning There is something sketchy going on with the DCT (see FFTW 
 * documentation) regarding numerical stability of the "ordinary" DCT.
 * Also, F&M are slightly ambiguous in their use of the DCT operator. So
 * it is quite possible that the implementation of their algorithm is
 * not quite correct. Ultimately, they are saying that the curvature
 * smoother is equivalent to a special low-pass filter that is applied 
 * to the DCT coefficients.
 *
 * \note This class was developed with funding from:
 *
 * "CNS Deficits: Interaction of Age and Alcoholism"
 * NIAAA AA05965, PI: A. Pfefferbaum
 *
 * "INIA: Imaging Core"
 * NIAAA AA13521, PI: A. Pfefferbaum
 *
 *
 * \sa CurvatureRegistrationFunction 
 * \ingroup DeformableImageRegistration MultiThreaded
 *
 * \author Torsten Rohlfing, SRI International, Neuroscience Program
 */
template<class TFixedImage, class TMovingImage, class TDeformationField,
  class TImageForceFunction =
  MeanSquareRegistrationFunction<TFixedImage,TMovingImage,TDeformationField> >
class ITK_EXPORT CurvatureRegistrationFilter :
    public PDEDeformableRegistrationFilter< TFixedImage, TMovingImage,
                                            TDeformationField>
{
public:
  /** Standard class typedefs. */
  typedef CurvatureRegistrationFilter             Self;
  typedef PDEDeformableRegistrationFilter<
    TFixedImage, TMovingImage,TDeformationField>  Superclass;
  typedef SmartPointer<Self>                      Pointer;
  typedef SmartPointer<const Self>                ConstPointer;

  /** Method for creation through the object factory. */
  itkNewMacro(Self);

  /** Run-time type information (and related methods). */
  itkTypeMacro( CurvatureRegistrationFilter, 
                PDEDeformableRegistrationFilter );

  /** Inherit types from superclass. */
  typedef typename Superclass::TimeStepType  TimeStepType;

  /** FixedImage image type. */
  typedef typename Superclass::FixedImageType     FixedImageType;
  typedef typename Superclass::FixedImagePointer  FixedImagePointer;
  itkStaticConstMacro(ImageDimension, unsigned int, FixedImageType::ImageDimension );

  /** MovingImage image type. */
  typedef typename Superclass::MovingImageType     MovingImageType;
  typedef typename Superclass::MovingImagePointer  MovingImagePointer;
  
  /** Deformation field type. */
  typedef typename Superclass::DeformationFieldType 
                                                   DeformationFieldType;
  typedef typename Superclass::DeformationFieldPointer  
                                                   DeformationFieldPointer;

  typedef typename TDeformationField::PixelType         DeformationFieldPixelType;
  typedef typename DeformationFieldPixelType::ValueType DeformationFieldComponentType;
  itkStaticConstMacro(DeformationVectorDimension, unsigned int, DeformationFieldPixelType::Dimension );

  #if defined(USE_FFTWD)
  //Prefer to use double precision
  typedef double RealTypeDFT;
  #else
    #if defined(USE_FFTWF)
      //Allow to use single precision
      #warning "Using single precision for FFT computations!"
      typedef double RealTypeDFT;
    #endif
  #endif

  typedef Image<RealTypeDFT,TDeformationField::ImageDimension> DeformationFieldComponentImageType;
  typedef typename DeformationFieldComponentImageType::Pointer DeformationFieldComponentImagePointer;

  /** FiniteDifferenceFunction type. */
  typedef typename Superclass::FiniteDifferenceFunctionType
  FiniteDifferenceFunctionType;

  /** CurvatureRegistrationFilterFunction type. */
  typedef TImageForceFunction RegistrationFunctionType;
  
  /** Set the constraint vs. image forces weight. */
  void SetConstraintWeight( const float w ) { m_ConstraintWeight = w; }

  /** Set the time step. */
  void SetTimeStep( const TimeStepType ts ) { m_TimeStep = ts; }

  /** Get the metric value. The metric value is the mean square difference 
   * in intensity between the fixed image and transforming moving image 
   * computed over the the overlapping region between the two images. 
   * This is value is only available for the previous iteration and 
   * NOT the current iteration. */
  virtual double GetMetric() const;

protected:
  CurvatureRegistrationFilter();
  ~CurvatureRegistrationFilter();
  void PrintSelf(std::ostream& os, Indent indent) const;

  /** Initialize the state of filter before starting first iteration. */
  virtual void Initialize();

  /** Apply update. */
  virtual void ApplyUpdate(TimeStepType dt);

private:
  CurvatureRegistrationFilter(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

  int m_FixedImageDimensions[ImageDimension];

  RealTypeDFT* m_DeformationFieldComponentImage;
  RealTypeDFT* m_DeformationFieldComponentImageDCT;

  float m_ConstraintWeight;

  fftw_plan m_PlanForwardDCT;
  fftw_plan m_PlanBackwardDCT;

  TimeStepType m_TimeStep;

  RealTypeDFT* m_DiagonalElements[ImageDimension];
};


} // end namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkCurvatureRegistrationFilter.txx"
#endif

#endif //defined(USE_FFTWF) || defined(USE_FFTWD)

#endif