-///////////////////////////////////////////////////////////////////////////
-// 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 //
-///////////////////////////////////////////////////////////////////////////
+/*
+ * mtp is the ``Multi Tracked Path'', an implementation of the
+ * k-shortest path algorithm for multi-target tracking.
+ *
+ * Copyright (c) 2012 Idiap Research Institute, http://www.idiap.ch/
+ * Written by Francois Fleuret <francois.fleuret@idiap.ch>
+ *
+ * This file is part of mtp.
+ *
+ * mtp is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 3 as
+ * published by the Free Software Foundation.
+ *
+ * mtp 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 selector. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
#include "mtp_graph.h"
int iteration; // Used in find_shortest_path to know if we already
// added this vertex to the front
Vertex();
- inline void add_edge(Edge *e);
- inline void del_edge(Edge *e);
+ inline void add_leaving_edge(Edge *e);
+ inline void del_leaving_edge(Edge *e);
};
//////////////////////////////////////////////////////////////////////
void Edge::invert() {
length = - length;
positivized_length = 0;
- origin_vertex->del_edge(this);
- terminal_vertex->add_edge(this);
+ origin_vertex->del_leaving_edge(this);
+ terminal_vertex->add_leaving_edge(this);
Vertex *t = terminal_vertex;
terminal_vertex = origin_vertex;
origin_vertex = t;
leaving_edges = 0;
}
-void Vertex::add_edge(Edge *e) {
+void Vertex::add_leaving_edge(Edge *e) {
e->next_leaving_edge = leaving_edges;
e->pred_leaving_edge = 0;
if(leaving_edges) { leaving_edges->pred_leaving_edge = e; }
leaving_edges = e;
}
-void Vertex::del_edge(Edge *e) {
- if(e == leaving_edges) { leaving_edges = e->next_leaving_edge; }
- if(e->pred_leaving_edge) { e->pred_leaving_edge->next_leaving_edge = e->next_leaving_edge; }
- if(e->next_leaving_edge) { e->next_leaving_edge->pred_leaving_edge = e->pred_leaving_edge; }
+void Vertex::del_leaving_edge(Edge *e) {
+ if(e == leaving_edges) {
+ leaving_edges = e->next_leaving_edge;
+ }
+ if(e->pred_leaving_edge) {
+ e->pred_leaving_edge->next_leaving_edge = e->next_leaving_edge;
+ }
+ if(e->next_leaving_edge) {
+ e->next_leaving_edge->pred_leaving_edge = e->pred_leaving_edge;
+ }
}
//////////////////////////////////////////////////////////////////////
}
for(int e = 0; e < nb_edges; e++) {
- _vertices[from[e]].add_edge(_edges + e);
+ _vertices[from[e]].add_leaving_edge(_edges + e);
_edges[e].occupied = 0;
_edges[e].id = e;
_edges[e].origin_vertex = _vertices + from[e];
void MTPGraph::print_dot(ostream *os) {
(*os) << "digraph {" << endl;
- // (*os) << " node [shape=circle];" << endl;
- (*os) << " edge [color=gray]" << endl;
+ (*os) << " node [shape=circle,width=0.75,fixedsize=true];" << endl;
+ (*os) << " edge [color=gray,arrowhead=open]" << endl;
(*os) << " " << _source->id << " [peripheries=2];" << endl;
(*os) << " " << _sink->id << " [peripheries=2];" << endl;
+ // (*os) << " " << _source->id << " [style=bold,color=red];" << endl;
+ // (*os) << " " << _sink->id << " [style=bold,color=green];" << endl;
for(int k = 0; k < _nb_edges; k++) {
Edge *e = _edges + k;
// (*os) << " " << e->origin_vertex->id << " -> " << e->terminal_vertex->id
- // << ";"
- // << endl;
+ // << ";"
+ // << endl;
+ (*os) << " " << e->origin_vertex->id << " -> " << e->terminal_vertex->id
+ << " [";
if(e->occupied) {
- (*os) << " " << e->origin_vertex->id << " -> " << e->terminal_vertex->id
- << " [style=bold,color=black,label=\"" << e->length << "\"];" << endl;
- } else {
- (*os) << " " << e->origin_vertex->id << " -> " << e->terminal_vertex->id
- << " [label=\"" << e->length << "\"];" << endl;
+ (*os) << "style=bold,color=black,";
}
+ (*os) << "label=\"" << e->length << "\"];" << endl;
}
(*os) << "}" << endl;
}
// We use one iteration of find_shortest_path simply to propagate
// the distance to make all the edge lengths positive.
find_shortest_path();
- update_positivized_lengths();
do {
+ update_positivized_lengths();
force_positivized_lengths();
find_shortest_path();
- update_positivized_lengths();
total_length = 0.0;
}
}
-int MTPGraph::retrieve_one_path(Edge *e, int *nodes) {
+int MTPGraph::retrieve_one_path(Edge *e, Path *path) {
Edge *f, *next = 0;
int l = 0;
- if(nodes) { nodes[l++] = e->origin_vertex->id; }
- else l++;
+ if(path) {
+ path->nodes[l++] = e->origin_vertex->id;
+ path->length = e->length;
+ } else l++;
while(e->terminal_vertex != _sink) {
- if(nodes) { nodes[l++] = e->terminal_vertex->id; }
- else l++;
+ if(path) {
+ path->nodes[l++] = e->terminal_vertex->id;
+ path->length += e->length;
+ } else l++;
int nb_choices = 0;
for(f = e->terminal_vertex->leaving_edges; f; f = f->next_leaving_edge) {
if(f->occupied) { nb_choices++; next = f; }
e = next;
}
- if(nodes) { nodes[l++] = e->terminal_vertex->id; }
- else l++;
+ if(path) {
+ path->nodes[l++] = e->terminal_vertex->id;
+ path->length += e->length;
+ } else l++;
return l;
}
if(e->occupied) {
int l = retrieve_one_path(e, 0);
paths[p] = new Path(l);
- retrieve_one_path(e, paths[p]->nodes);
+ retrieve_one_path(e, paths[p]);
p++;
}
}