-
-///////////////////////////////////////////////////////////////////////////
-// This program is free software: you can redistribute it and/or modify //
-// it under the terms of the version 3 of the GNU General Public License //
-// as published by the Free Software Foundation. //
-// //
-// This program is distributed in the hope that it will be useful, but //
-// WITHOUT ANY WARRANTY; without even the implied warranty of //
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
-// General Public License for more details. //
-// //
-// You should have received a copy of the GNU General Public License //
-// along with this program. If not, see <http://www.gnu.org/licenses/>. //
-// //
-// Written by and Copyright (C) Francois Fleuret //
-// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
-///////////////////////////////////////////////////////////////////////////
-
-// 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);
- }
- }
-
- 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.build_graph();
- tracker.track();
-
- 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);
-}