2 ///////////////////////////////////////////////////////////////////////////
3 // This program is free software: you can redistribute it and/or modify //
4 // it under the terms of the version 3 of the GNU General Public License //
5 // as published by the Free Software Foundation. //
7 // This program is distributed in the hope that it will be useful, but //
8 // WITHOUT ANY WARRANTY; without even the implied warranty of //
9 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
10 // General Public License for more details. //
12 // You should have received a copy of the GNU General Public License //
13 // along with this program. If not, see <http://www.gnu.org/licenses/>. //
15 // Written by and Copyright (C) Francois Fleuret //
16 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
17 ///////////////////////////////////////////////////////////////////////////
21 // Takes the graph description file as input and produces a dot file.
23 // EXAMPLE: ./mtp ./graph2.txt | dot -T pdf -o- | xpdf -
33 //////////////////////////////////////////////////////////////////////
35 int main(int argc, char **argv) {
37 int nb_time_steps = 20;
38 int motion_amplitude = 2;
40 Tracker *tracker = new Tracker(nb_time_steps, nb_locations);
42 for(int l = 0; l < nb_locations; l++) {
43 for(int k = 0; k < nb_locations; k++) {
44 tracker->set_allowed_motion(l, k, abs(l - k) <= motion_amplitude);
46 tracker->set_as_exit(0, 1);
47 tracker->set_as_entrance(0, 1);
50 tracker->build_graph();
52 for(int r = 0; r < 10; r++) {
53 cout << "* ROUND " << r << endl;
55 for(int t = 0; t < nb_time_steps; t++) {
56 for(int l = 0; l < nb_locations; l++) {
57 tracker->set_detection_score(t, l,
58 (drand48() < 0.95 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
60 tracker->set_detection_score(t, nb_locations/2,
61 (drand48() < 0.95 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
66 for(int t = 0; t < tracker->nb_trajectories(); t++) {
67 cout << "TRAJECTORY " << t << " :";
68 for(int u = 0; u < tracker->trajectory_duration(t); u++) {
69 cout << " " << tracker->trajectory_location(t, u);