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 ///////////////////////////////////////////////////////////////////////////
25 Tracker::Tracker(int nb_time_steps, int nb_locations) {
26 _nb_locations = nb_locations;
27 _nb_time_steps = nb_time_steps;
29 _detection_score = allocate_array<scalar_t>(_nb_time_steps, _nb_locations);
30 _allowed_motion = allocate_array<int>(_nb_locations, _nb_locations);
32 _entrances = new int[_nb_locations];
33 _exits = new int[_nb_locations];
35 for(int l = 0; l < nb_locations; l++) {
38 for(int m = 0; m < nb_locations; m++) {
39 _allowed_motion[l][m] = 0;
43 for(int t = 0; t < _nb_time_steps; t++) {
44 for(int l = 0; l < _nb_locations; l++) {
45 _detection_score[t][l] = 0.0;
54 delete[] _edge_lengths;
56 deallocate_array<scalar_t>(_detection_score);
57 deallocate_array<int>(_allowed_motion);
62 void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
63 ASSERT(from_location >= 0 && from_location < _nb_locations &&
64 to_location >= 0 && to_location < _nb_locations);
65 _allowed_motion[from_location][to_location] = v;
68 void Tracker::set_as_entrance(int location, int v) {
69 ASSERT(location >= 0 && location < _nb_locations);
70 _entrances[location] = v;
73 void Tracker::set_as_exit(int location, int v) {
74 ASSERT(location >= 0 && location < _nb_locations);
78 void Tracker::set_detection_score(int time, int location, scalar_t score) {
79 ASSERT(time >= 0 && time < _nb_time_steps &&
80 location >= 0 && location < _nb_locations);
81 _detection_score[time][location] = score;
84 void Tracker::build_graph() {
85 // Delete existing graph
86 delete[] _edge_lengths;
89 int nb_motions = 0, nb_exits = 0, nb_entrances = 0;
90 for(int l = 0; l < _nb_locations; l++) {
91 if(_exits[l]) nb_exits++;
92 if(_entrances[l]) nb_entrances++;
93 for(int m = 0; m < _nb_locations; m++) {
94 if(_allowed_motion[l][m]) nb_motions++;
98 int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
102 (_nb_time_steps - 2) * (nb_exits + nb_entrances) +
103 (_nb_time_steps - 1) * nb_motions +
104 _nb_locations * _nb_time_steps;
106 int source = 0, sink = nb_vertices - 1;
107 int *node_from = new int[nb_edges];
108 int *node_to = new int[nb_edges];
111 _edge_lengths = new scalar_t[nb_edges];
113 // We put the in-node edges first, since these are the ones whose
114 // lengths we will have to change according to the detection score
116 for(int t = 0; t < _nb_time_steps; t++) {
117 for(int l = 0; l < _nb_locations; l++) {
118 node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
119 node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
124 for(int l = 0; l < _nb_locations; l++) {
125 node_from[e] = source;
126 node_to[e] = 1 + l + 0 * _nb_locations;
127 _edge_lengths[e] = 0.0;
131 for(int t = 0; t < _nb_time_steps; t++) {
132 for(int l = 0; l < _nb_locations; l++) {
133 if(t == _nb_time_steps - 1) {
134 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
136 _edge_lengths[e] = 0.0;
139 for(int k = 0; k < _nb_locations; k++) {
140 if(_allowed_motion[l][k]) {
141 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
142 node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
143 _edge_lengths[e] = 0.0;
151 for(int t = 1; t < _nb_time_steps-1; t++) {
152 for(int l = 0; l < _nb_locations; l++) {
154 node_from[e] = source;
155 node_to[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
156 _edge_lengths[e] = 0.0;
160 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
162 _edge_lengths[e] = 0.0;
168 _graph = new MTPGraph(nb_vertices, nb_edges,
176 void Tracker::print_dot_graph(ostream *os) {
178 for(int t = 0; t < _nb_time_steps; t++) {
179 for(int l = 0; l < _nb_locations; l++) {
180 _edge_lengths[e++] = - _detection_score[t][l];
183 _graph->print_dot(os);
186 void Tracker::track() {
188 for(int t = 0; t < _nb_time_steps; t++) {
189 for(int l = 0; l < _nb_locations; l++) {
190 _edge_lengths[e++] = - _detection_score[t][l];
194 _graph->find_best_paths(_edge_lengths);
195 _graph->retrieve_disjoint_paths();
198 for(int p = 0; p < _graph->nb_paths; p++) {
199 Path *path = _graph->paths[p];
200 cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
201 for(int n = 1; n < path->length; n++) {
202 cout << " -> " << path->nodes[n];
209 int Tracker::nb_trajectories() {
210 return _graph->nb_paths;
213 int Tracker::trajectory_entrance_time(int k) {
214 return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
217 int Tracker::trajectory_duration(int k) {
218 return (_graph->paths[k]->length - 2) / 2;
221 int Tracker::trajectory_location(int k, int time) {
222 return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;