// Multi-Tracked Path
-// Takes the graph description file as input and produces a dot file.
-
-// EXAMPLE: ./mtp ./graph2.txt | dot -T pdf -o- | xpdf -
-
#include <iostream>
#include <fstream>
-#include <cmath>
-#include <stdio.h>
-#include <stdlib.h>
-#include <float.h>
using namespace std;
-#include "mtp_graph.h"
#include "tracker.h"
-//////////////////////////////////////////////////////////////////////
-
-void find_best_paths(int nb_vertices,
- int nb_edges, int *ea, int *eb, scalar_t *el,
- int source, int sink,
- int *result_edge_occupation) {
- MTPGraph graph(nb_vertices, nb_edges, ea, eb, source, sink);
- graph.find_best_paths(el);
- graph.print_dot();
-}
-
-//////////////////////////////////////////////////////////////////////
-
int main(int argc, char **argv) {
- int nb_locations = 6;
- int nb_time_steps = 10;
-
- Tracker tracker(nb_time_steps, nb_locations);
- for(int l = 0; l < nb_locations; l++) {
- for(int k = 0; k < nb_locations; k++) {
- tracker.set_allowed_motion(l, k, abs(l - k) <= 1);
- }
+ if(argc < 2) {
+ cerr << argv[0] << " <tracker file>" << endl;
+ exit(EXIT_FAILURE);
}
- for(int r = 0; r < 10; r++) {
- cout << "* ROUND " << r << endl;
- for(int t = 0; t < nb_time_steps; t++) {
- for(int l = 0; l < nb_locations; l++) {
- tracker.set_detection_score(t, l,
- (drand48() < 0.9 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
- }
- tracker.set_detection_score(t, 0,
- (drand48() < 0.9 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
- }
+ Tracker tracker;
+ ifstream in_tracker(argv[1]);
+
+ if(in_tracker.good()) {
+
+ tracker.read(&in_tracker);
tracker.build_graph();
tracker.track();
+ cout << "Read " << argv[1] << endl;
+
+ ofstream out_traj("result.trj");
+ tracker.write_trajectories(&out_traj);
+ cout << "Wrote result.trj" << endl;
+
+ ofstream out_dot("graph.dot");
+ tracker.print_graph_dot(&out_dot);
+ cout << "Wrote graph.dot" << endl;
+
+ } else {
+
+ cerr << "Can not open " << argv[1] << endl;
+ exit(EXIT_FAILURE);
- for(int t = 0; t < tracker.nb_trajectories(); t++) {
- cout << "TRAJECTORY " << t << " :";
- for(int u = 0; u < tracker.trajectory_duration(t); u++) {
- cout << " " << tracker.trajectory_location(t, u);
- }
- cout << endl;
- }
}
exit(EXIT_SUCCESS);