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;
28 _detection_score = allocate_array<scalar_t>(nb_time_steps, nb_locations);
29 _allowed_motion = allocate_array<int>(nb_locations, nb_locations);
30 for(int l = 0; l < nb_locations; l++) {
31 for(int m = 0; m < nb_locations; m++) {
32 _allowed_motion[l][m] = 0;
42 delete[] _edge_lengths;
44 delete[] _edge_occupation;
45 deallocate_array<scalar_t>(_detection_score);
46 deallocate_array<int>(_allowed_motion);
49 void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
50 _allowed_motion[from_location][to_location] = v;
53 void Tracker::set_detection_score(int time, int location, scalar_t score) {
54 _detection_score[time][location] = score;
57 void Tracker::build_graph() {
58 delete[] _edge_lengths;
60 delete[] _edge_occupation;
63 for(int l = 0; l < _nb_locations; l++) {
64 for(int m = 0; m < _nb_locations; m++) {
65 if(_allowed_motion[l][m]) nb_motions++;
69 int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
70 int nb_edges = _nb_locations * 2
71 + (_nb_time_steps - 1) * nb_motions
72 + _nb_locations * _nb_time_steps;
74 int source = 0, sink = nb_vertices - 1;
75 int *node_from = new int[nb_edges];
76 int *node_to = new int[nb_edges];
79 _edge_lengths = new scalar_t[nb_edges];
80 _edge_occupation = new int[nb_edges];
82 // We put the in-node edges first, since these are the ones whose
83 // lengths we will have to change according to the detection score
85 for(int t = 0; t < _nb_time_steps; t++) {
86 for(int l = 0; l < _nb_locations; l++) {
87 node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
88 node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
93 // We put the other edges after
95 for(int l = 0; l < _nb_locations; l++) {
96 node_from[e] = source;
97 node_to[e] = 1 + l + 0 * _nb_locations;
98 _edge_lengths[e] = 0.0;
102 for(int t = 0; t < _nb_time_steps; t++) {
103 for(int l = 0; l < _nb_locations; l++) {
104 if(t == _nb_time_steps - 1) {
105 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
107 _edge_lengths[e] = 0.0;
110 for(int k = 0; k < _nb_locations; k++) {
111 if(_allowed_motion[l][k]) {
112 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
113 node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
114 _edge_lengths[e] = 0.0;
122 _graph = new MTPGraph(nb_vertices, nb_edges,
130 void Tracker::track() {
132 for(int t = 0; t < _nb_time_steps; t++) {
133 for(int l = 0; l < _nb_locations; l++) {
134 _edge_lengths[e] = - _detection_score[t][l];
139 _graph->find_best_paths(_edge_lengths, _edge_occupation);
144 // void Tracker::track() {
147 // int Tracker::nb_trajectories() {
150 // int Tracker::trajectory_start_time(int k) {
153 // int Tracker::trajectory_end_time(int k) {
156 // int Tracker::trajectory_location(int k, int time) {