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;
41 delete[] _edge_lengths;
43 deallocate_array<scalar_t>(_detection_score);
44 deallocate_array<int>(_allowed_motion);
47 void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
48 _allowed_motion[from_location][to_location] = v;
51 void Tracker::set_detection_score(int time, int location, scalar_t score) {
52 _detection_score[time][location] = score;
55 void Tracker::build_graph() {
57 // Delete existing graph
58 delete[] _edge_lengths;
62 for(int l = 0; l < _nb_locations; l++) {
63 for(int m = 0; m < _nb_locations; m++) {
64 if(_allowed_motion[l][m]) nb_motions++;
68 int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
69 int nb_edges = _nb_locations * 2
70 + (_nb_time_steps - 1) * nb_motions
71 + _nb_locations * _nb_time_steps;
73 int source = 0, sink = nb_vertices - 1;
74 int *node_from = new int[nb_edges];
75 int *node_to = new int[nb_edges];
78 _edge_lengths = new scalar_t[nb_edges];
80 // We put the in-node edges first, since these are the ones whose
81 // lengths we will have to change according to the detection score
83 for(int t = 0; t < _nb_time_steps; t++) {
84 for(int l = 0; l < _nb_locations; l++) {
85 node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
86 node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
91 // We put the other edges after
93 for(int l = 0; l < _nb_locations; l++) {
94 node_from[e] = source;
95 node_to[e] = 1 + l + 0 * _nb_locations;
96 _edge_lengths[e] = 0.0;
100 for(int t = 0; t < _nb_time_steps; t++) {
101 for(int l = 0; l < _nb_locations; l++) {
102 if(t == _nb_time_steps - 1) {
103 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
105 _edge_lengths[e] = 0.0;
108 for(int k = 0; k < _nb_locations; k++) {
109 if(_allowed_motion[l][k]) {
110 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
111 node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
112 _edge_lengths[e] = 0.0;
120 _graph = new MTPGraph(nb_vertices, nb_edges,
128 void Tracker::track() {
130 for(int t = 0; t < _nb_time_steps; t++) {
131 for(int l = 0; l < _nb_locations; l++) {
132 _edge_lengths[e] = - _detection_score[t][l];
137 _graph->find_best_paths(_edge_lengths);
138 _graph->retrieve_disjoint_paths();
140 for(int p = 0; p < _graph->nb_paths; p++) {
141 Path *path = _graph->paths[p];
142 cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
143 for(int n = 1; n < path->length; n++) {
144 cout << " -> " << path->nodes[n];
148 // _graph->print_dot();
151 int Tracker::nb_trajectories() {
152 return _graph->nb_paths;
155 int Tracker::trajectory_duration(int k) {
156 return (_graph->paths[k]->length - 2) / 2;
159 int Tracker::trajectory_location(int k, int time) {
160 return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;