-The edges from the source or to the sink, or between these pairs, are
-of length zero, and the edge between the two nodes of such a pair has
-a length equal to the opposite of the detection score.
+From the defined the spatial topology and number of time steps, it
+builds a graph with one source, one sink, and two nodes per location
+and time. This structure ensures that the trajectories computed by the
+MTPTracker will be node-disjoint, since the trajectories computed by
+the MTPGraph are edge-disjoint.
+
+The edges from the source or to the sink, or between these pairs of
+nodes, are of length zero, and the edges between the two nodes of such
+a pair have lengths equal to the opposite of the corresponding
+detection scores.