DRR

Module for computing digitally reconstructed radiographs

DRR

DRR is a PyTorch module that compues differentiable digitally reconstructed radiographs. The viewing angle for the DRR (known generally in computer graphics as the camera pose) is parameterized by the following parameters:

• SDR : Source-to-Detector radius (half of the source-to-detector distance)
• \(\mathbf R \in \mathrm{SO}(3)\) : a rotation
• \(\mathbf t \in \mathbb R^3\) : a translation

Tip

DiffDRR can take a rotation parameterized in any of the following forms to move the detector plane:

• axis_angle
• euler_angles (note: also need to specify the convention for the Euler angles)
• matrix
• quaternion
• rotation_6d (Zhou et al., 2019)
• rotation_10d (Peretroukhin et al., 2021)
• quaternion_adjugate (Hanson and Hanson, 2022)

If using Euler angles, the parameters are

• alpha : Azimuthal angle
• beta : Polar angle
• gamma : Plane rotation angle
• bx : X-dir translation
• by : Y-dir translation
• bz : Z-dir translation
• convention : Order of angles (e.g., ZYX)

(bx, by, bz) are translational parameters and (alpha, beta, gamma) are rotational parameters. The rotational parameters are detailed in Spherical Coordiantes Tutorial.

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DRR

 DRR (volume:numpy.ndarray, spacing:numpy.ndarray, sdr:float, height:int,
      delx:float, width:int|None=None, dely:float|None=None,
      p_subsample:float|None=None, reshape:bool=True,
      reverse_x_axis:bool=False, patch_size:int|None=None,
      bone_attenuation_multiplier:float=1.0)

PyTorch module that computes differentiable digitally reconstructed radiographs.

	Type	Default	Details
volume	np.ndarray		CT volume
spacing	np.ndarray		Dimensions of voxels in the CT volume
sdr	float		Source-to-detector radius for the C-arm (half of the source-to-detector distance)
height	int		Height of the rendered DRR
delx	float		X-axis pixel size
width	int | None	None	Width of the rendered DRR (if not provided, set to height)
dely	float | None	None	Y-axis pixel size (if not provided, set to delx)
p_subsample	float | None	None	Proportion of pixels to randomly subsample
reshape	bool	True	Return DRR with shape (b, 1, h, w)
reverse_x_axis	bool	False	If pose includes reflection (in E(3) not SE(3)), reverse x-axis
patch_size	int | None	None	If the entire DRR can’t fit in memory, render patches of the DRR in series
bone_attenuation_multiplier	float	1.0	Contrast ratio of bone to soft tissue

The forward pass of the DRR module generated DRRs from the input CT volume. The pose parameters (i.e., viewing angles) from which the DRRs are generated are passed to the forward call.

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DRR.forward

 DRR.forward (rotation:torch.Tensor, translation:torch.Tensor,
              parameterization:str, convention:str=None,
              pose:pytorch3d.transforms.transform3d.Transform3d=None,
              bone_attenuation_multiplier:float=None)

Generate DRR with rotational and translational parameters.

	Type	Default	Details
rotation	torch.Tensor
translation	torch.Tensor
parameterization	str
convention	str	None
pose	Transform3d	None	If you have a preformed pose, can pass it directly
bone_attenuation_multiplier	float	None	Contrast ratio of bone to soft tissue

Registration

The Registration module uses the DRR module to perform differentiable 2D-to-3D registration. Initial guesses for the pose parameters are as stored as nn.Parameters of the module. This allows the pose parameters to be optimized with any PyTorch optimizer. Furthermore, this design choice allows DRR to be used purely as a differentiable renderer.

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Registration

 Registration (drr:__main__.DRR, rotation:torch.Tensor,
               translation:torch.Tensor, parameterization:str,
               input_convention:str=None, output_convention:str='ZYX')

Perform automatic 2D-to-3D registration using differentiable rendering.