Hi,
I was comparing v3 and v4 registration performance on a set of 3D images.
In few cases, I noticed that v4 registration is diverging while v3
converges to a reasonable result without any problem.
I wonder if you have ever noticed a problem with v4 optimizer that could
cause similar issues.
I copied my code for v3 and v4 registration below. I tried to keep the
registration configuration very similar in both versions. In v3 I set the
NumberOfSpatialSamples to 380000 which is about 10% of voxels. I also tried
with full sampling but the behavior stays the same.
In the attached csv file you can see the metric value at each iteration of
the optimizer for both v3 and v4 version. It is clear that v3 converges
smoothly, but v4 makes the initial metric value worse after too many
iterations.
Thanks a lot in advance.
Regards,
Sepide
auto interpolator = itk::LinearInterpolateImageFunction<ImageType,
double>::New();
auto transform = itk::AffineTransform<double>::New();
transform->SetIdentity();
itk::Array<double> scales;
scales.SetSize(12);
scales.Fill(1.0);
scales[9] = 0.001; //translation parameters scales
scales[10] = 0.001;
scales[11] = 0.001;
// Registration V3 ----------------------- :
auto metric = itk::MattesMutualInformationImageToImageMetric<ImageType,
ImageType>::New();
auto optimizer = itk::RegularStepGradientDescentOptimizer::New();
auto registration = itk::ImageRegistrationMethod<ImageType,
ImageType>::New();
int NumberOfSpatialSamples = 380000;
metric->SetNumberOfSpatialSamples(NumberOfSpatialSamples);
optimizer->SetScales(scales);
registration->SetMetric(metric);
registration->SetOptimizer(optimizer);
registration->SetInterpolator(interpolator);
registration->SetTransform(transform);
registration->SetFixedImage(fixedImage);
registration->SetMovingImage(movingImage);
registration->SetFixedImageRegion(fixedImage->GetBufferedRegion());
registration->SetInitialTransformParameters(transform->GetParameters());
registration->Update();
// Registration V4 ----------------------- :
auto metric = itk::MattesMutualInformationImageToImageMetricv4<ImageType,
ImageType>::New();
auto optimizer = itk::RegularStepGradientDescentOptimizerv4::New();
auto registration = itk::ImageRegistrationMethodv4<ImageType,
ImageType>::New();
optimizer->SetScales(scales);
optimizer->SetDoEstimateScales(false);
optimizer->SetDoEstimateLearningRateAtEachIteration(false);
optimizer->SetDoEstimateLearningRateOnce(false);
optimizer->SetMetric(metric);
registration->SetNumberOfLevels(1);
registration->SetSmoothingSigmasPerLevel(0);
registration->SetShrinkFactorsPerLevel(1);
registration->SetMetricSamplingPercentagePerLevel(0.1);
registration->SetMetric(metric);
registration->SetOptimizer(optimizer);
registration->SetFixedImage(fixedImage);
registration->SetMovingImage(movingImage);
registration->SetMetricSamplingStrategy(RegistrationType::REGULAR);
registration->SetInitialTransform(transform);
registration->Update();
Iteration,V3-StepSize,V3-MetricValue,,V4-StepSize,V4-MetricValue
1,1,-0.358542344,,0.5,-0.355641131
2,0.5,-0.406690133,,0.5,-0.35874025
3,0.5,-0.442895131,,0.5,-0.362507728
4,0.5,-0.471215621,,0.5,-0.365338001
5,0.25,-0.513460569,,0.5,-0.366561618
6,0.125,-0.529758958,,0.5,-0.366227936
7,0.125,-0.537278449,,0.5,-0.365776647
8,0.125,-0.538503209,,0.5,-0.365492486
9,0.0625,-0.535698763,,0.5,-0.365046387
10,0.0625,-0.538768297,,0.5,-0.364585705
11,0.03125,-0.538452675,,0.5,-0.36409829
12,0.015625,-0.538916975,,0.5,-0.363976526
13,0.015625,-0.538966701,,0.5,-0.363772942
14,0.015625,-0.538906477,,0.5,-0.363471673
15,0.015625,-0.538966274,,0.5,-0.362194401
16,0.015625,-0.538961265,,0.5,-0.361712634
17,0.0078125,-0.538682472,,0.5,-0.357885906
18,0.0078125,-0.538863442,,0.5,-0.359383288
19,0.00390625,-0.538944964,,0.5,-0.324031208
20,0.001953125,-0.538913652,,0.5,-0.339537743
21,0.001953125,-0.538909418,,0.5,-0.349783416
22,0.001953125,-0.53890616,,0.5,-0.33961332
23,0.001953125,-0.538906373,,0.25,-0.346902168
24,,,,0.125,-0.33869736
25,,,,0.125,-0.342419159
26,,,,0.125,-0.344594523
27,,,,0.125,-0.345080954
28,,,,0.125,-0.343538327
29,,,,0.125,-0.344549356
30,,,,0.125,-0.341616083
31,,,,0.125,-0.343780045
32,,,,0.125,-0.343965577
33,,,,0.125,-0.342201682
34,,,,0.125,-0.343865065
35,,,,0.125,-0.340107217
36,,,,0.125,-0.343055853
37,,,,0.0625,-0.343844541
38,,,,0.03125,-0.341606817
39,,,,0.03125,-0.342270153
40,,,,0.03125,-0.342793007
41,,,,0.03125,-0.343175583
42,,,,0.03125,-0.34342446
43,,,,0.03125,-0.343491827
44,,,,0.03125,-0.343496312
45,,,,0.03125,-0.343508973
46,,,,0.03125,-0.343513032
47,,,,0.03125,-0.34352005
48,,,,0.03125,-0.343528625
49,,,,0.03125,-0.343539861
50,,,,0.03125,-0.343553581
51,,,,0.03125,-0.343567354
52,,,,0.03125,-0.343579758
53,,,,0.03125,-0.343591282
54,,,,0.03125,-0.343600371
55,,,,0.03125,-0.343610817
56,,,,0.03125,-0.343623378
57,,,,0.03125,-0.343635902
58,,,,0.03125,-0.343649696
59,,,,0.03125,-0.343663435
60,,,,0.03125,-0.343678089
61,,,,0.03125,-0.343691409
62,,,,0.03125,-0.343699872
63,,,,0.03125,-0.343710415
64,,,,0.03125,-0.343716715
65,,,,0.03125,-0.343726917
66,,,,0.03125,-0.343734699
67,,,,0.03125,-0.343746789
68,,,,0.03125,-0.343754721
69,,,,0.03125,-0.343767811
70,,,,0.03125,-0.343771549
71,,,,0.03125,-0.343788123
72,,,,0.03125,-0.343782891
73,,,,0.03125,-0.343807449
74,,,,0.03125,-0.343774059
75,,,,0.03125,-0.343833723
76,,,,0.03125,-0.343711888
77,,,,0.03125,-0.343883244
78,,,,0.03125,-0.343529285
79,,,,0.03125,-0.343867778
80,,,,0.03125,-0.343605442
81,,,,0.03125,-0.343885643
82,,,,0.03125,-0.343487163
83,,,,0.03125,-0.343830367
84,,,,0.03125,-0.343635272
85,,,,0.03125,-0.343871799
86,,,,0.03125,-0.343428882
87,,,,0.03125,-0.343793785
88,,,,0.03125,-0.343606598
89,,,,0.03125,-0.34384741
90,,,,0.03125,-0.343333175
91,,,,0.03125,-0.3437613
92,,,,0.03125,-0.343612364
93,,,,0.03125,-0.343859643
94,,,,0.03125,-0.34311321
95,,,,0.03125,-0.343644562
96,,,,0.03125,-0.34385993
97,,,,0.03125,-0.343069565
98,,,,0.03125,-0.343634731
99,,,,0.03125,-0.34389596
100,,,,0.015625,-0.342956926
101,,,,0.015625,-0.343282706
102,,,,0.015625,-0.343558815
103,,,,0.015625,-0.343749745
104,,,,0.015625,-0.343816104
105,,,,0.015625,-0.343770586
106,,,,0.015625,-0.343820339
107,,,,0.015625,-0.343782634
108,,,,0.015625,-0.343832393
109,,,,0.015625,-0.343799981
110,,,,0.015625,-0.343848811
111,,,,0.015625,-0.343814513
112,,,,0.015625,-0.343869742
113,,,,0.015625,-0.343797885
114,,,,0.015625,-0.343903331
115,,,,0.015625,-0.34377385
116,,,,0.015625,-0.343916336
117,,,,0.015625,-0.343764545
118,,,,0.015625,-0.343937954
119,,,,0.015625,-0.3437841
120,,,,0.015625,-0.343955369
121,,,,0.015625,-0.343748618
122,,,,0.015625,-0.343946588
123,,,,0.015625,-0.343786423
124,,,,0.015625,-0.343966369
125,,,,0.015625,-0.343809956
126,,,,0.015625,-0.343981677
127,,,,0.015625,-0.343823923
128,,,,0.015625,-0.343990391
129,,,,0.015625,-0.343851375
130,,,,0.015625,-0.344005623
131,,,,0.015625,-0.343861234
132,,,,0.015625,-0.344007686
133,,,,0.015625,-0.343916921
134,,,,0.015625,-0.344035274
135,,,,0.015625,-0.343878512
136,,,,0.015625,-0.344010154
137,,,,0.015625,-0.343977291
138,,,,0.015625,-0.344049302
139,,,,0.0078125,-0.34389287
140,,,,0.0078125,-0.343956922
141,,,,0.0078125,-0.344000145
142,,,,0.0078125,-0.343996441
143,,,,0.0078125,-0.343998421
144,,,,0.0078125,-0.343993432
145,,,,0.0078125,-0.343992889
146,,,,0.0078125,-0.343988034
147,,,,0.0078125,-0.343985899
148,,,,0.0078125,-0.343981315
149,,,,0.0078125,-0.343978337
150,,,,0.0078125,-0.343974081
151,,,,0.0078125,-0.343970643
152,,,,0.0078125,-0.34396663
153,,,,0.0078125,-0.34396315
154,,,,0.0078125,-0.343959281
155,,,,0.0078125,-0.343955678
156,,,,0.0078125,-0.343951971
157,,,,0.0078125,-0.34394827
158,,,,0.0078125,-0.343944215
159,,,,0.0078125,-0.343940321
160,,,,0.0078125,-0.34393584
161,,,,0.0078125,-0.343931487
162,,,,0.0078125,-0.343926425
163,,,,0.0078125,-0.343920978
164,,,,0.0078125,-0.343915438
165,,,,0.0078125,-0.343909607
166,,,,0.0078125,-0.343903517
167,,,,0.0078125,-0.34389731
168,,,,0.0078125,-0.343891153
169,,,,0.0078125,-0.343885275
170,,,,0.0078125,-0.343879556
171,,,,0.0078125,-0.343873786
172,,,,0.0078125,-0.343867868
173,,,,0.0078125,-0.343862063
174,,,,0.0078125,-0.343856299
175,,,,0.0078125,-0.343850585
176,,,,0.0078125,-0.343845371
177,,,,0.0078125,-0.34384019
178,,,,0.0078125,-0.34383484
179,,,,0.0078125,-0.34382969
180,,,,0.0078125,-0.343824566
181,,,,0.0078125,-0.343819661
182,,,,0.0078125,-0.343815034
183,,,,0.0078125,-0.343810514
184,,,,0.0078125,-0.343805697
185,,,,0.0078125,-0.34380077
186,,,,0.0078125,-0.343795553
187,,,,0.0078125,-0.343790091
188,,,,0.0078125,-0.343784405
189,,,,0.0078125,-0.34377831
190,,,,0.0078125,-0.343772033
191,,,,0.0078125,-0.343765037
192,,,,0.0078125,-0.343757571
193,,,,0.0078125,-0.343749428
194,,,,0.0078125,-0.343740819
195,,,,0.0078125,-0.343731499
196,,,,0.0078125,-0.34372148
197,,,,0.0078125,-0.343711226
198,,,,0.0078125,-0.343700952
199,,,,0.0078125,-0.343690822
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