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/*=========================================================================
*
* Copyright UMC Utrecht and contributors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
#ifndef elxCMAEvolutionStrategy_h
#define elxCMAEvolutionStrategy_h
#include "elxIncludes.h" // include first to avoid MSVS warning
#include "itkCMAEvolutionStrategyOptimizer.h"
namespace elastix
{
/**
* \class CMAEvolutionStrategy
* \brief An optimizer based on the itk::CMAEvolutionStrategyOptimizer.
*
* A Covariance-Matrix-Adaptation-Evolution-Strategy optimizer.
*
* This optimizer support the NewSamplesEveryIteration option. It requests
* new samples for the computation of each search direction (not during
* the offspring generation). The theory doesn't say anything about such a
* situation, so, think twice before using the NewSamplesEveryIteration option.
*
* The parameters used in this class are:
* \parameter Optimizer: Select this optimizer as follows:\n
* <tt>(Optimizer "CMAEvolutionStrategy")</tt>
* \parameter MaximumNumberOfIterations: The maximum number of iterations in each resolution. \n
* example: <tt>(MaximumNumberOfIterations 100 100 50)</tt> \n
* Default value: 500.\n
* \parameter StepLength: Set the length of the initial step ( = Sigma0 = InitialSigma).\n
* example: <tt>(StepLength 2.0 1.0 0.5)</tt> \n
* Recommended value: 1/3 of the expected parameter range.\n
* Default value: 1.0.\n
* \parameter ValueTolerance: Stopping criterion. See the documentation of the
* itk::CMAEvolutionStrategyOptimizer for more information.\n
* example: <tt>(ValueTolerance 0.001 0.0001 0.000001)</tt> \n
* Default value: 0.00001. Can be specified for each resolution.\n
* \parameter PositionToleranceMin: Stopping criterion. See the documentation of the
* itk::CMAEvolutionStrategyOptimizer for more information.\n
* example: <tt>(PositionToleranceMin 0.001 0.0001 0.000001)</tt> \n
* Default value: 1e-8. Can be specified for each resolution.\n
* \parameter PositionToleranceMax: Stopping criterion. See the documentation of the
* itk::CMAEvolutionStrategyOptimizer for more information.\n
* example: <tt>(PositionToleranceMax 0.001 0.0001 0.000001)</tt> \n
* Default value: 1e8. Can be specified for each resolution.\n
* \parameter PopulationSize: the number of parameter vectors evaluated in each iteration.\n
* If you set it to 0, a default value is calculated by the optimizer, which is reported
* back to the elastix.log file.\n
* example: <tt>(PopulationSize 0 20 20)</tt> \n
* Default: 0 (so, automatically determined). Can be specified for each resolution.\n
* \parameter NumberOfParents: the number of parameter vectors selected for recombination.\n
* If you set it to 0, a default value is calculated
* by the optimizer, which is reported back to the elastix.log file.\n
* example: <tt>(NumberOfParents 0 10 10)</tt> \n
* Default: 0 (so, automatically determined). Can be specified for each resolution. \n
* This value must be less than or equal to the PopulationSize.\n
* \parameter MaximumDeviation: the step length is limited to this value. See the documentation of the
* itk::CMAEvolutionStrategyOptimizer for more information.\n
* example: <tt>(MaximumDeviation 10.0 10.0 5.0)</tt> \n
* Default: 10.0 * positionToleranceMax = practically infinity. Can be specified for each resolution.\n
* \parameter MinimumDeviation: the step length is ensured to be greater than this value.\n
* See the documentation of the itk::CMAEvolutionStrategyOptimizer for more information.\n
* example: <tt>(MinimumDeviation 0.01 0.01 0.0001)</tt> \n
* Default: 0.0. Can be specified for each resolution.\n
* \parameter UseDecayingSigma: use a predefined decaying function to control the steplength sigma.\n
* example: <tt>(UseDecayingSigma "false" "true" "false")</tt> \n
* Default/recommended: "false". Can be specified for each resolution.\n
* If you set it to true the SP_A and SP_alpha parameters apply.\n
* \parameter SP_A: If UseDecayingSigma is set to "true", the steplength \f$sigma(k)\f$ at each
* iteration \f$k\f$ is defined by: \n
* \f$sigma(k+1) = sigma(k) (SP\_A + k)^{SP\_alpha} / (SP\_A + k + 1)^{SP\_alpha}\f$. \n
* where sigma(0) is set by the parameter "StepLength". \n
* example: <tt>(SP_A 50.0 50.0 100.0)</tt> \n
* The default value is 50.0. SP_A can be defined for each resolution. \n
* \parameter SP_alpha: If UseDecayingSigma is set to "true", the steplength \f$sigma(k)\f$ at each
* iteration \f$k\f$ is defined by: \n
* \f$sigma(k+1) = sigma(k) (SP\_A + k)^{SP\_alpha} / (SP\_A + k + 1)^{SP\_alpha}\f$. \n
* where sigma(0) is set by the parameter "StepLength".\n
* example: <tt>(SP_alpha 0.602 0.602 0.602)</tt> \n
* The default value is 0.602. SP_alpha can be defined for each resolution. \n
* \parameter UseCovarianceMatrixAdaptation: a boolean that determines whether to use the
* covariance matrix adaptation scheme.\n
* example: <tt>(UseCovarianceMatrixAdaptation "false" "true" "true")</tt> \n
* Default: "true". This parameter may be altered by the optimizer. The actual value used is \n
* reported back in the elastix.log file. This parameter can be specified for each resolution. \n
* \parameter RecombinationWeightsPreset: the name of a preset for the recombination weights.\n
* See the documentation of the itk::CMAEvolutionStrategyOptimizer for more information.\n
* example: <tt>(UseCovarianceMatrixAdaptation "equal" "linear" "superlinear")</tt> \n
* Default/recommended: "superlinear". Choose one of {"equal", "linear", "superlinear"}.
* This parameter can be specified for each resolution. \n
* \parameter UpdateBDPeriod: the number of iterations after which the eigendecomposition of the
* covariance matrix is updated. If 0, the optimizer estimates a value. The actual value used is
* reported back in the elastix.log file. This parameter can be specified for each resolution. \n
* example: <tt>(UpdateBDPeriod 0 0 50)</tt> \n
* Default: 0 (so, automatically determined).
*
* \ingroup Optimizers
*/
template <class TElastix>
class ITK_TEMPLATE_EXPORT CMAEvolutionStrategy
: public itk::CMAEvolutionStrategyOptimizer
, public OptimizerBase<TElastix>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(CMAEvolutionStrategy);
/** Standard ITK.*/
using Self = CMAEvolutionStrategy;
using Superclass1 = CMAEvolutionStrategyOptimizer;
using Superclass2 = OptimizerBase<TElastix>;
using Pointer = itk::SmartPointer<Self>;
using ConstPointer = itk::SmartPointer<const Self>;
/** Method for creation through the object factory. */
itkNewMacro(Self);
/** Run-time type information (and related methods). */
itkTypeMacro(CMAEvolutionStrategy, CMAEvolutionStrategyOptimizer);
/** Name of this class.
* Use this name in the parameter file to select this specific optimizer. \n
* example: <tt>(Optimizer "CMAEvolutionStrategy")</tt>\n
*/
elxClassNameMacro("CMAEvolutionStrategy");
/** Typedef's inherited from Superclass1.*/
using Superclass1::CostFunctionType;
using Superclass1::CostFunctionPointer;
using Superclass1::StopConditionType;
using Superclass1::ParametersType;
using Superclass1::DerivativeType;
using Superclass1::ScalesType;
/** Typedef's inherited from Elastix.*/
using typename Superclass2::ElastixType;
using typename Superclass2::RegistrationType;
using ITKBaseType = typename Superclass2::ITKBaseType;
/** Check if any scales are set, and set the UseScales flag on or off;
* after that call the superclass' implementation */
void
StartOptimization() override;
/** Methods to set parameters and print output at different stages
* in the registration process.*/
void
BeforeRegistration() override;
void
BeforeEachResolution() override;
void
AfterEachResolution() override;
void
AfterEachIteration() override;
void
AfterRegistration() override;
protected:
CMAEvolutionStrategy() = default;
~CMAEvolutionStrategy() override = default;
/** Call the superclass' implementation and print the value of some variables */
void
InitializeProgressVariables() override;
private:
elxOverrideGetSelfMacro;
};
} // end namespace elastix
#ifndef ITK_MANUAL_INSTANTIATION
# include "elxCMAEvolutionStrategy.hxx"
#endif
#endif // end #ifndef elxCMAEvolutionStrategy_h
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