#include "tracker.h"
-Tracker::Tracker(int nb_locations, int nb_time_steps) {
+#include <iostream>
+
+using namespace std;
+
+Tracker::Tracker(int nb_time_steps, int nb_locations) {
_nb_locations = nb_locations;
_nb_time_steps = nb_time_steps;
- _detection_score = allocate_array<scalar_t>(nb_locations, nb_time_steps);
+ _detection_score = allocate_array<scalar_t>(nb_time_steps, nb_locations);
_allowed_motion = allocate_array<int>(nb_locations, nb_locations);
for(int l = 0; l < nb_locations; l++) {
for(int m = 0; m < nb_locations; m++) {
_allowed_motion[l][m] = 0;
}
}
+
+ _edge_lengths = 0;
+ _graph = 0;
+ _edge_occupation = 0;
}
Tracker::~Tracker() {
+ delete[] _edge_lengths;
+ delete _graph;
+ delete[] _edge_occupation;
+ deallocate_array<scalar_t>(_detection_score);
+ deallocate_array<int>(_allowed_motion);
}
-void Tracker::set_allowed_motion(int from_location, int to_location) {
- _allowed_motion[from_location][to_location] = 1;
+void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
+ _allowed_motion[from_location][to_location] = v;
}
-void Tracker::set_detection_score(int location, int time, scalar_t score) {
+void Tracker::set_detection_score(int time, int location, scalar_t score) {
+ _detection_score[time][location] = score;
}
-void Tracker::track() {
+void Tracker::build_graph() {
- cout << "Building graph." << endl;
+ // Delete existing graph
+ delete[] _edge_lengths;
+ delete[] _graph;
+ delete[] _edge_occupation;
int nb_motions = 0;
for(int l = 0; l < _nb_locations; l++) {
}
}
- int nb_vertices = 2 + 2 * (_nb_time_steps + 1) * _nb_locations;
- int nb_edges = _nb_locations * 2 // From source and to sink
- + _nb_time_steps * nb_motions // Motions
- + _nb_locations * _nb_time_steps; // Doubling of nodes to force
- // one target per location
+ int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
+ int nb_edges = _nb_locations * 2
+ + (_nb_time_steps - 1) * nb_motions
+ + _nb_locations * _nb_time_steps;
int source = 0, sink = nb_vertices - 1;
int *node_from = new int[nb_edges];
int *node_to = new int[nb_edges];
- scalar_t *edge_length = new scalar_t[nb_edges];
int e = 0;
+ _edge_lengths = new scalar_t[nb_edges];
+ _edge_occupation = new int[nb_edges];
+
+ // We put the in-node edges first, since these are the ones whose
+ // lengths we will have to change according to the detection score
+
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
+ node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
+ e++;
+ }
+ }
+
+ // We put the other edges after
+
for(int l = 0; l < _nb_locations; l++) {
node_from[e] = source;
node_to[e] = 1 + l + 0 * _nb_locations;
- edge_length[e] = 0.0;
+ _edge_lengths[e] = 0.0;
e++;
}
- for(int t = 0; t <= _nb_time_steps; t++) {
+ for(int t = 0; t < _nb_time_steps; t++) {
for(int l = 0; l < _nb_locations; l++) {
- node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
- node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
- edge_length[e] = _detection_score[t][l];
- e++;
- if(t == _nb_time_steps) {
- node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
- node_to[e] = sink;
- edge_length[e] = 0;
+ if(t == _nb_time_steps - 1) {
+ node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
+ node_to[e] = sink;
+ _edge_lengths[e] = 0.0;
e++;
} else {
for(int k = 0; k < _nb_locations; k++) {
if(_allowed_motion[l][k]) {
node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
- edge_length[e] = 0.0;
+ _edge_lengths[e] = 0.0;
e++;
}
}
}
}
}
+
+ _graph = new MTPGraph(nb_vertices, nb_edges,
+ node_from, node_to,
+ source, sink);
+
+ delete[] node_from;
+ delete[] node_to;
+}
+
+void Tracker::track() {
+ int e = 0;
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ _edge_lengths[e] = - _detection_score[t][l];
+ e++;
+ }
+ }
+
+ _graph->find_best_paths(_edge_lengths, _edge_occupation);
+ _graph->retrieve_paths();
+
+ for(int p = 0; p < _graph->nb_paths; p++) {
+ Path *path = _graph->paths[p];
+ cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
+ for(int n = 1; n < path->length; n++) {
+ cout << " -> " << path->nodes[n];
+ }
+ cout << endl;
+ }
+ // _graph->print_dot();
}
// void Tracker::track() {
- // int e = _nb_locations;
- // for(int t = 0; t <= _nb_time_steps; t++) {
- // for(int l = 0; l < _nb_locations; l++) {
- // edge_length[e] = _detection_score[t][l];
- // e++;
- // if(t == _nb_time_steps) {
- // e++;
- // } else {
- // e += _nb_locations;
- // }
- // }
- // }
// }
-int Tracker::nb_trajectories() {
-}
+// int Tracker::nb_trajectories() {
+// }
-int Tracker::trajectory_start_time(int k) {
-}
+// int Tracker::trajectory_start_time(int k) {
+// }
-int Tracker::trajectory_end_time(int k) {
-}
+// int Tracker::trajectory_end_time(int k) {
+// }
-int Tracker::trajectory_location(int k, int time) {
-}
+// int Tracker::trajectory_location(int k, int time) {
+// }