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_scores = 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_scores[t][l] = 0.0;
54 delete[] _edge_lengths;
56 deallocate_array<scalar_t>(detection_scores);
57 deallocate_array<int>(allowed_motion);
62 int Tracker::early_pair_node(int t, int l) {
63 return 1 + (2 * (t + 0) + 0) * _nb_locations + l;
66 int Tracker::late_pair_node(int t, int l) {
67 return 1 + (2 * (t + 0) + 1) * _nb_locations + l;
70 void Tracker::build_graph() {
71 // Delete the existing graph if there was one
72 delete[] _edge_lengths;
75 int nb_motions = 0, nb_exits = 0, nb_entrances = 0;
77 for(int l = 0; l < _nb_locations; l++) {
78 if(exits[l]) nb_exits++;
79 if(entrances[l]) nb_entrances++;
80 for(int m = 0; m < _nb_locations; m++) {
81 if(allowed_motion[l][m]) nb_motions++;
85 int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
88 // The edges from the source to the first frame, and from the last
91 // The edges from the source to the entrances and from the exists
92 // to the sink (in every time frames but the first for the
93 // entrances, and last for the exits)
94 (_nb_time_steps - 1) * (nb_exits + nb_entrances) +
95 // The edges for the motions, between every successive frames
96 (_nb_time_steps - 1) * nb_motions +
97 // The edges inside the duplicated nodes
98 _nb_locations * _nb_time_steps;
100 int *node_from = new int[nb_edges];
101 int *node_to = new int[nb_edges];
103 int source = 0, sink = nb_vertices - 1;
106 _edge_lengths = new scalar_t[nb_edges];
108 // We put the in-node edges first, since these are the ones whose
109 // lengths we will have to change before tracking, according to the
112 for(int t = 0; t < _nb_time_steps; t++) {
113 for(int l = 0; l < _nb_locations; l++) {
114 node_from[e] = early_pair_node(t, l);
115 node_to[e] = late_pair_node(t, l);
120 for(int l = 0; l < _nb_locations; l++) {
121 node_from[e] = source;
122 node_to[e] = 1 + l + 0 * _nb_locations;
123 _edge_lengths[e] = 0.0;
127 for(int t = 0; t < _nb_time_steps; t++) {
128 for(int l = 0; l < _nb_locations; l++) {
129 if(t == _nb_time_steps - 1) {
130 node_from[e] = late_pair_node(t, l);
132 _edge_lengths[e] = 0.0;
135 for(int k = 0; k < _nb_locations; k++) {
136 if(allowed_motion[l][k]) {
137 node_from[e] = late_pair_node(t, l);
138 node_to[e] = early_pair_node(t+1, k);
139 _edge_lengths[e] = 0.0;
147 for(int t = 0; t < _nb_time_steps; t++) {
148 for(int l = 0; l < _nb_locations; l++) {
149 if(t > 0 && entrances[l]) {
150 node_from[e] = source;
151 node_to[e] = early_pair_node(t, l);
152 _edge_lengths[e] = 0.0;
155 if(t < _nb_time_steps - 1 && exits[l]) {
156 node_from[e] = late_pair_node(t, l);
158 _edge_lengths[e] = 0.0;
164 _graph = new MTPGraph(nb_vertices, nb_edges,
172 void Tracker::print_graph_dot(ostream *os) {
174 for(int t = 0; t < _nb_time_steps; t++) {
175 for(int l = 0; l < _nb_locations; l++) {
176 _edge_lengths[e++] = - detection_scores[t][l];
179 _graph->print_dot(os);
182 void Tracker::track() {
184 for(int t = 0; t < _nb_time_steps; t++) {
185 for(int l = 0; l < _nb_locations; l++) {
186 _edge_lengths[e++] = - detection_scores[t][l];
190 _graph->find_best_paths(_edge_lengths);
191 _graph->retrieve_disjoint_paths();
194 for(int p = 0; p < _graph->nb_paths; p++) {
195 Path *path = _graph->paths[p];
196 cout << "PATH " << p << " [length " << path->nb_nodes << "] " << path->nodes[0];
197 for(int n = 1; n < path->nb_nodes; n++) {
198 cout << " -> " << path->nodes[n];
205 int Tracker::nb_trajectories() {
206 return _graph->nb_paths;
209 scalar_t Tracker::trajectory_score(int k) {
210 return -_graph->paths[k]->length;
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]->nb_nodes - 2) / 2;
221 int Tracker::trajectory_location(int k, int time_from_entry) {
222 return (_graph->paths[k]->nodes[2 * time_from_entry + 1] - 1) % _nb_locations;