Some refactoring to reuse the same graph for several trackings.

[mtp.git] / tracker.cc

diff --git a/tracker.cc b/tracker.cc
index 0a76e08..8490d6f 100644 (file)
--- a/tracker.cc
+++ b/tracker.cc
@@ -18,31 +18,46 @@
 
 #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() {
-
-  cout << "Building graph." << endl;
+void Tracker::build_graph() {
+  delete[] _edge_lengths;
+  delete[] _graph;
+  delete[] _edge_occupation;
 
   int nb_motions = 0;
   for(int l = 0; l < _nb_locations; l++) {
@@ -51,73 +66,92 @@ void Tracker::track() {
     }
   }
 
-  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->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) {
+// }