3 * mtp is the ``Multi Tracked Path'', an implementation of the
4 * k-shortest path algorithm for multi-target tracking.
6 * Copyright (c) 2012 Idiap Research Institute, http://www.idiap.ch/
7 * Written by Francois Fleuret <francois.fleuret@idiap.ch>
9 * This file is part of mtp.
11 * mtp is free software: you can redistribute it and/or modify it
12 * under the terms of the GNU General Public License version 3 as
13 * published by the Free Software Foundation.
15 * mtp is distributed in the hope that it will be useful, but WITHOUT
16 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
17 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
18 * License for more details.
20 * You should have received a copy of the GNU General Public License
21 * along with selector. If not, see <http://www.gnu.org/licenses/>.
34 //////////////////////////////////////////////////////////////////////
36 scalar_t detection_score(scalar_t a, scalar_t b, scalar_t score_noise, scalar_t flip_noise) {
37 if(drand48() > flip_noise) {
38 return a + score_noise * (2.0 * drand48() - 1.0);
40 return b + score_noise * (2.0 * drand48() - 1.0);
44 int main(int argc, char **argv) {
46 int nb_time_steps = 8;
47 int motion_amplitude = 1;
49 Tracker *tracker = new Tracker();
51 tracker->allocate(nb_time_steps, nb_locations);
53 // We define the spatial structures by stating what are the possible
54 // motions of targets, and what are the entrances and the
57 // Here our example is a 1D space with motions from any location to
58 // any location less than motion_amplitude away, entrance at
59 // location 0 and exit at location nb_locations-1.
61 for(int l = 0; l < nb_locations; l++) {
62 for(int k = 0; k < nb_locations; k++) {
63 tracker->allowed_motion[l][k] = abs(l - k) <= motion_amplitude;
65 tracker->entrances[0] = 1;
66 tracker->exits[nb_locations - 1] = 1;
69 // We construct the graph corresponding to this structure
71 tracker->build_graph();
73 // Then, we specify for every location and time step what is the
74 // detection score there.
76 scalar_t flip_noise = 0.05;
77 scalar_t score_noise = 0.0;
79 // We first put a background noise, with negative scores at every
82 for(int t = 0; t < nb_time_steps; t++) {
83 for(int l = 0; l < nb_locations; l++) {
84 tracker->detection_scores[t][l] = detection_score(-1.0, 1.0, score_noise, flip_noise);
88 // Then we two targets with the typical local minimum:
90 // * Target A moves from location 0 to the middle, stays there for a
91 // while, and comes back, and is strongly detected on the first
94 // * Target B moves from location nb_locations-1 to the middle, stay
95 // there for a while, and comes back, and is strongly detected on
98 int la, lb; // Target locations
99 scalar_t sa, sb; // Target detection scores
100 for(int t = 0; t < nb_time_steps; t++) {
101 if(t < nb_time_steps/2) {
103 lb = nb_locations - 1 - t;
104 sa = detection_score(10.0, -1.0, score_noise, flip_noise);
105 sb = detection_score( 1.0, -1.0, score_noise, flip_noise);
107 la = nb_time_steps - 1 - t;
108 lb = t - nb_time_steps + nb_locations;
109 sa = detection_score( 1.0, -1.0, score_noise, flip_noise);
110 sb = detection_score(10.0, -1.0, score_noise, flip_noise);
113 if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
114 if(lb < nb_locations/2 + 1) lb = nb_locations/2 + 1;
116 tracker->detection_scores[t][la] = sa;
117 tracker->detection_scores[t][lb] = sb;
120 { // Write down the tracker setting
121 ofstream out_tracker("tracker.dat");
122 tracker->write(&out_tracker);
125 // Does the tracking per se
129 // Prints the detected trajectories
131 for(int t = 0; t < tracker->nb_trajectories(); t++) {
132 cout << "Trajectory "
134 << " starting at " << tracker->trajectory_entrance_time(t)
135 << ", duration " << tracker->trajectory_duration(t)
136 << ", score " << tracker->trajectory_score(t)
137 << ", through nodes ";
138 for(int u = 0; u < tracker->trajectory_duration(t); u++) {
139 cout << " " << tracker->trajectory_location(t, u);