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 _entrances = new int[_nb_locations];
31 _exits = new int[_nb_locations];
33 for(int l = 0; l < nb_locations; l++) {
36 for(int m = 0; m < nb_locations; m++) {
37 _allowed_motion[l][m] = 0;
46 delete[] _edge_lengths;
48 deallocate_array<scalar_t>(_detection_score);
49 deallocate_array<int>(_allowed_motion);
54 void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
55 _allowed_motion[from_location][to_location] = v;
58 void Tracker::set_as_entrance(int location, int v) {
59 _entrances[location] = v;
62 void Tracker::set_as_exit(int location, int v) {
66 void Tracker::set_detection_score(int time, int location, scalar_t score) {
67 _detection_score[time][location] = score;
70 void Tracker::build_graph() {
72 // Delete existing graph
73 delete[] _edge_lengths;
76 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;
89 (_nb_time_steps - 2) * (nb_exits + nb_entrances) +
90 (_nb_time_steps - 1) * nb_motions +
91 _nb_locations * _nb_time_steps;
93 int source = 0, sink = nb_vertices - 1;
94 int *node_from = new int[nb_edges];
95 int *node_to = new int[nb_edges];
98 _edge_lengths = new scalar_t[nb_edges];
100 // We put the in-node edges first, since these are the ones whose
101 // lengths we will have to change according to the detection score
103 for(int t = 0; t < _nb_time_steps; t++) {
104 for(int l = 0; l < _nb_locations; l++) {
105 node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
106 node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
111 // We put the other edges after
113 for(int l = 0; l < _nb_locations; l++) {
114 node_from[e] = source;
115 node_to[e] = 1 + l + 0 * _nb_locations;
116 _edge_lengths[e] = 0.0;
120 for(int t = 0; t < _nb_time_steps; t++) {
121 for(int l = 0; l < _nb_locations; l++) {
122 if(t == _nb_time_steps - 1) {
123 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
125 _edge_lengths[e] = 0.0;
128 for(int k = 0; k < _nb_locations; k++) {
129 if(_allowed_motion[l][k]) {
130 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
131 node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
132 _edge_lengths[e] = 0.0;
140 for(int t = 1; t < _nb_time_steps-1; t++) {
141 for(int l = 0; l < _nb_locations; l++) {
143 node_from[e] = source;
144 node_to[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
145 _edge_lengths[e] = 0.0;
149 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
151 _edge_lengths[e] = 0.0;
157 _graph = new MTPGraph(nb_vertices, nb_edges,
165 void Tracker::print_dot_graph(ostream *os) {
166 _graph->print_dot(os);
169 void Tracker::track() {
171 for(int t = 0; t < _nb_time_steps; t++) {
172 for(int l = 0; l < _nb_locations; l++) {
173 _edge_lengths[e++] = - _detection_score[t][l];
177 _graph->find_best_paths(_edge_lengths);
178 _graph->retrieve_disjoint_paths();
180 // for(int p = 0; p < _graph->nb_paths; p++) {
181 // Path *path = _graph->paths[p];
182 // cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
183 // for(int n = 1; n < path->length; n++) {
184 // cout << " -> " << path->nodes[n];
190 int Tracker::nb_trajectories() {
191 return _graph->nb_paths;
194 int Tracker::trajectory_duration(int k) {
195 return (_graph->paths[k]->length - 2) / 2;
198 int Tracker::trajectory_location(int k, int time) {
199 return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;