Cucim support for get_mask_edges and get_surface_distance (#7008)

### Description
Add support for cucim for `get_mask_edges` and `get_surface_distance`.
This provides significant speedup in surface related metrics. Profiling
on my system gave 3-20x speedups depending on the input shape:
[---------------- (250, 250, 250) -----------------]
                               |    cpu    |   cuda 
1 threads: -----------------------------------------
      random()>0.2             |  26400.8  |  1306.3
      random()>0.5             |  26411.8  |  1399.1
      random()>0.8             |  29993.2  |  1009.5
      create_spherical_seg_3d  |    623.8  |    45.0

Times are in milliseconds (ms).

[--------------- (100, 100, 100) ----------------]
                               |   cpu    |   cuda
1 threads: ---------------------------------------
      random()>0.2             |  1332.5  |  140.2
      random()>0.5             |  1276.3  |  128.1
      random()>0.8             |  1179.2  |   89.1
      create_spherical_seg_3d  |   111.7  |   44.0

Times are in milliseconds (ms).

[---------------- (50, 50, 50) ----------------]
                               |   cpu   |  cuda
1 threads: -------------------------------------
      random()>0.2             |  154.5  |  47.4
      random()>0.5             |  166.7  |  39.3
      random()>0.8             |  165.0  |  38.0
      create_spherical_seg_3d  |   77.2  |  44.4

Times are in milliseconds (ms).

where create_spherical_seg_3d uses the same function from
test_hausdorff_distance, and binarizes random array using
`random(shape)>ratio`.

### Types of changes
<!--- Put an `x` in all the boxes that apply, and remove the not
applicable items -->
- [x] Non-breaking change (fix or new feature that would not break
existing functionality).
- [ ] Breaking change (fix or new feature that would cause existing
functionality to change).
- [x] New tests added to cover the changes.
- [ ] Integration tests passed locally by running `./runtests.sh -f -u
--net --coverage`.
- [ ] Quick tests passed locally by running `./runtests.sh --quick
--unittests --disttests`.
- [ ] In-line docstrings updated.
- [ ] Documentation updated, tested `make html` command in the `docs/`
folder.

---------

Signed-off-by: John Zielke <john.zielke@snkeos.com>

monai/losses/hausdorff_loss.py

@@ -19,12 +19,11 @@
 import warnings
 from typing import Callable
 
-import numpy as np
 import torch
 from torch.nn.modules.loss import _Loss
 
-from monai.metrics.utils import distance_transform_edt
 from monai.networks import one_hot
+from monai.transforms.utils import distance_transform_edt
 from monai.utils import LossReduction
 
 
@@ -95,7 +94,7 @@ def __init__(
         self.batch = batch
 
     @torch.no_grad()
-    def distance_field(self, img: np.ndarray) -> np.ndarray:
+    def distance_field(self, img: torch.Tensor) -> torch.Tensor:
         """Generate distance transform.
 
         Args:
@@ -104,18 +103,20 @@ def distance_field(self, img: np.ndarray) -> np.ndarray:
         Returns:
             np.ndarray: Distance field.
         """
-        field = np.zeros_like(img)
+        field = torch.zeros_like(img)
 
-        for batch in range(len(img)):
-            fg_mask = img[batch] > 0.5
+        for batch_idx in range(len(img)):
+            fg_mask = img[batch_idx] > 0.5
 
-            if fg_mask.any():
+            # For cases where the mask is entirely background or entirely foreground
+            # the distance transform is not well defined for all 1s,
+            # which always would happen on either foreground or background, so skip
+            if fg_mask.any() and not fg_mask.all():
+                fg_dist: torch.Tensor = distance_transform_edt(fg_mask)  # type: ignore
                 bg_mask = ~fg_mask
+                bg_dist: torch.Tensor = distance_transform_edt(bg_mask)  # type: ignore
 
-                fg_dist = distance_transform_edt(fg_mask)
-                bg_dist = distance_transform_edt(bg_mask)
-
-                field[batch] = fg_dist + bg_dist
+                field[batch_idx] = fg_dist + bg_dist
 
         return field
 
@@ -181,8 +182,8 @@ def forward(self, input: torch.Tensor, target: torch.Tensor) -> torch.Tensor:
         for i in range(input.shape[1]):
             ch_input = input[:, [i]]
             ch_target = target[:, [i]]
-            pred_dt = torch.from_numpy(self.distance_field(ch_input.detach().cpu().numpy())).float()
-            target_dt = torch.from_numpy(self.distance_field(ch_target.detach().cpu().numpy())).float()
+            pred_dt = self.distance_field(ch_input.detach()).float()
+            target_dt = self.distance_field(ch_target.detach()).float()
 
             pred_error = (ch_input - ch_target) ** 2
             distance = pred_dt**self.alpha + target_dt**self.alpha

monai/metrics/hausdorff_distance.py

@@ -11,7 +11,6 @@
 
 from __future__ import annotations
 
-import warnings
 from collections.abc import Sequence
 from typing import Any
 
@@ -20,12 +19,12 @@
 
 from monai.metrics.utils import (
     do_metric_reduction,
-    get_mask_edges,
+    get_edge_surface_distance,
     get_surface_distance,
     ignore_background,
     prepare_spacing,
 )
-from monai.utils import MetricReduction, convert_data_type
+from monai.utils import MetricReduction, convert_data_type, deprecated
 
 from .metric import CumulativeIterationMetric
 
@@ -180,31 +179,46 @@ def compute_hausdorff_distance(
         raise ValueError(f"y_pred and y should have same shapes, got {y_pred.shape} and {y.shape}.")
 
     batch_size, n_class = y_pred.shape[:2]
-    hd = np.empty((batch_size, n_class))
+    hd = torch.empty((batch_size, n_class), dtype=torch.float, device=y_pred.device)
 
     img_dim = y_pred.ndim - 2
     spacing_list = prepare_spacing(spacing=spacing, batch_size=batch_size, img_dim=img_dim)
 
     for b, c in np.ndindex(batch_size, n_class):
-        (edges_pred, edges_gt) = get_mask_edges(y_pred[b, c], y[b, c])
-        if not np.any(edges_gt):
-            warnings.warn(f"the ground truth of class {c} is all 0, this may result in nan/inf distance.")
-        if not np.any(edges_pred):
-            warnings.warn(f"the prediction of class {c} is all 0, this may result in nan/inf distance.")
-
-        distance_1 = compute_percent_hausdorff_distance(
-            edges_pred, edges_gt, distance_metric, percentile, spacing_list[b]
+        _, distances, _ = get_edge_surface_distance(
+            y_pred[b, c],
+            y[b, c],
+            distance_metric=distance_metric,
+            spacing=spacing_list[b],
+            symetric=not directed,
+            class_index=c,
         )
-        if directed:
-            hd[b, c] = distance_1
-        else:
-            distance_2 = compute_percent_hausdorff_distance(
-                edges_gt, edges_pred, distance_metric, percentile, spacing_list[b]
-            )
-            hd[b, c] = max(distance_1, distance_2)
-    return convert_data_type(hd, output_type=torch.Tensor, device=y_pred.device, dtype=torch.float)[0]
+        percentile_distances = [_compute_percentile_hausdorff_distance(d, percentile) for d in distances]
+        max_distance = torch.max(torch.stack(percentile_distances))
+        hd[b, c] = max_distance
+    return hd
 
 
+def _compute_percentile_hausdorff_distance(
+    surface_distance: torch.Tensor, percentile: float | None = None
+) -> torch.Tensor:
+    """
+    This function is used to compute the Hausdorff distance.
+    """
+
+    # for both pred and gt do not have foreground
+    if surface_distance.shape == (0,):
+        return torch.tensor(torch.nan, dtype=torch.float, device=surface_distance.device)
+
+    if not percentile:
+        return surface_distance.max()  # type: ignore[no-any-return]
+
+    if 0 <= percentile <= 100:
+        return torch.quantile(surface_distance, percentile / 100)  # type: ignore[no-any-return]
+    raise ValueError(f"percentile should be a value between 0 and 100, get {percentile}.")
+
+
+@deprecated(since="1.3.0", removed="1.5.0")
 def compute_percent_hausdorff_distance(
     edges_pred: np.ndarray,
     edges_gt: np.ndarray,
@@ -216,7 +230,9 @@ def compute_percent_hausdorff_distance(
     This function is used to compute the directed Hausdorff distance.
     """
 
-    surface_distance = get_surface_distance(edges_pred, edges_gt, distance_metric=distance_metric, spacing=spacing)
+    surface_distance: np.ndarray = get_surface_distance(
+        edges_pred, edges_gt, distance_metric=distance_metric, spacing=spacing
+    )  # type: ignore
 
     # for both pred and gt do not have foreground
     if surface_distance.shape == (0,):

monai/metrics/surface_dice.py

@@ -11,21 +11,14 @@
 
 from __future__ import annotations
 
-import warnings
 from collections.abc import Sequence
 from typing import Any
 
 import numpy as np
 import torch
 
-from monai.metrics.utils import (
-    do_metric_reduction,
-    get_mask_edges,
-    get_surface_distance,
-    ignore_background,
-    prepare_spacing,
-)
-from monai.utils import MetricReduction, convert_data_type
+from monai.metrics.utils import do_metric_reduction, get_edge_surface_distance, ignore_background, prepare_spacing
+from monai.utils import MetricReduction
 
 from .metric import CumulativeIterationMetric
 
@@ -251,47 +244,39 @@ def compute_surface_dice(
     if any(np.array(class_thresholds) < 0):
         raise ValueError("All class thresholds need to be >= 0.")
 
-    nsd = np.empty((batch_size, n_class))
+    nsd = torch.empty((batch_size, n_class), device=y_pred.device, dtype=torch.float)
 
     img_dim = y_pred.ndim - 2
     spacing_list = prepare_spacing(spacing=spacing, batch_size=batch_size, img_dim=img_dim)
 
     for b, c in np.ndindex(batch_size, n_class):
+        (edges_pred, edges_gt), (distances_pred_gt, distances_gt_pred), areas = get_edge_surface_distance(  # type: ignore
+            y_pred[b, c],
+            y[b, c],
+            distance_metric=distance_metric,
+            spacing=spacing_list[b],
+            use_subvoxels=use_subvoxels,
+            symetric=True,
+            class_index=c,
+        )
+        boundary_correct: int | torch.Tensor | float
+        boundary_complete: int | torch.Tensor | float
         if not use_subvoxels:
-            (edges_pred, edges_gt) = get_mask_edges(y_pred[b, c], y[b, c], crop=True)
-            distances_pred_gt = get_surface_distance(
-                edges_pred, edges_gt, distance_metric=distance_metric, spacing=spacing_list[b]
-            )
-            distances_gt_pred = get_surface_distance(
-                edges_gt, edges_pred, distance_metric=distance_metric, spacing=spacing_list[b]
-            )
-
             boundary_complete = len(distances_pred_gt) + len(distances_gt_pred)
-            boundary_correct = np.sum(distances_pred_gt <= class_thresholds[c]) + np.sum(
+            boundary_correct = torch.sum(distances_pred_gt <= class_thresholds[c]) + torch.sum(
                 distances_gt_pred <= class_thresholds[c]
             )
         else:
-            _spacing = spacing_list[b] if spacing_list[b] is not None else [1] * img_dim
-            areas_pred: np.ndarray
-            areas_gt: np.ndarray
-            edges_pred, edges_gt, areas_pred, areas_gt = get_mask_edges(  # type: ignore
-                y_pred[b, c], y[b, c], crop=True, spacing=_spacing  # type: ignore
-            )
-            dist_pred_to_gt = get_surface_distance(edges_pred, edges_gt, distance_metric, spacing=spacing_list[b])
-            dist_gt_to_pred = get_surface_distance(edges_gt, edges_pred, distance_metric, spacing=spacing_list[b])
+            areas_pred, areas_gt = areas  # type: ignore
             areas_gt, areas_pred = areas_gt[edges_gt], areas_pred[edges_pred]
-            boundary_complete = areas_gt.sum() + areas_pred.sum()
-            gt_true = areas_gt[dist_gt_to_pred <= class_thresholds[c]].sum() if len(areas_gt) > 0 else 0.0
-            pred_true = areas_pred[dist_pred_to_gt <= class_thresholds[c]].sum() if len(areas_pred) > 0 else 0.0
+            boundary_complete = areas_gt.sum() + areas_pred.sum()  # type: ignore
+            gt_true = areas_gt[distances_gt_pred <= class_thresholds[c]].sum() if len(areas_gt) > 0 else 0.0
+            pred_true = areas_pred[distances_pred_gt <= class_thresholds[c]].sum() if len(areas_pred) > 0 else 0.0
             boundary_correct = gt_true + pred_true
-        if not np.any(edges_gt):
-            warnings.warn(f"the ground truth of class {c} is all 0, this may result in nan/inf distance.")
-        if not np.any(edges_pred):
-            warnings.warn(f"the prediction of class {c} is all 0, this may result in nan/inf distance.")
         if boundary_complete == 0:
             # the class is neither present in the prediction, nor in the reference segmentation
-            nsd[b, c] = np.nan
+            nsd[b, c] = torch.nan
         else:
             nsd[b, c] = boundary_correct / boundary_complete
 
-    return convert_data_type(nsd, output_type=torch.Tensor, device=y_pred.device, dtype=torch.float)[0]
+    return nsd

monai/metrics/surface_distance.py

@@ -11,20 +11,13 @@
 
 from __future__ import annotations
 
-import warnings
 from collections.abc import Sequence
 from typing import Any
 
 import numpy as np
 import torch
 
-from monai.metrics.utils import (
-    do_metric_reduction,
-    get_mask_edges,
-    get_surface_distance,
-    ignore_background,
-    prepare_spacing,
-)
+from monai.metrics.utils import do_metric_reduction, get_edge_surface_distance, ignore_background, prepare_spacing
 from monai.utils import MetricReduction, convert_data_type
 
 from .metric import CumulativeIterationMetric
@@ -173,25 +166,21 @@ def compute_average_surface_distance(
         raise ValueError(f"y_pred and y should have same shapes, got {y_pred.shape} and {y.shape}.")
 
     batch_size, n_class = y_pred.shape[:2]
-    asd = np.empty((batch_size, n_class))
+    asd = torch.empty((batch_size, n_class), dtype=torch.float32, device=y_pred.device)
 
     img_dim = y_pred.ndim - 2
     spacing_list = prepare_spacing(spacing=spacing, batch_size=batch_size, img_dim=img_dim)
 
     for b, c in np.ndindex(batch_size, n_class):
-        (edges_pred, edges_gt) = get_mask_edges(y_pred[b, c], y[b, c])
-        if not np.any(edges_gt):
-            warnings.warn(f"the ground truth of class {c} is all 0, this may result in nan/inf distance.")
-        if not np.any(edges_pred):
-            warnings.warn(f"the prediction of class {c} is all 0, this may result in nan/inf distance.")
-        surface_distance = get_surface_distance(
-            edges_pred, edges_gt, distance_metric=distance_metric, spacing=spacing_list[b]
+        _, distances, _ = get_edge_surface_distance(
+            y_pred[b, c],
+            y[b, c],
+            distance_metric=distance_metric,
+            spacing=spacing_list[b],
+            symetric=symmetric,
+            class_index=c,
         )
-        if symmetric:
-            surface_distance_2 = get_surface_distance(
-                edges_gt, edges_pred, distance_metric=distance_metric, spacing=spacing_list[b]
-            )
-            surface_distance = np.concatenate([surface_distance, surface_distance_2])
-        asd[b, c] = np.nan if surface_distance.shape == (0,) else surface_distance.mean()
+        surface_distance = torch.cat(distances)
+        asd[b, c] = torch.nan if surface_distance.shape == (0,) else surface_distance.mean()
 
     return convert_data_type(asd, output_type=torch.Tensor, device=y_pred.device, dtype=torch.float)[0]