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_time_steps, nb_locations);
- _allowed_motion = allocate_array<int>(nb_locations, nb_locations);
+
+ detection_score = allocate_array<scalar_t>(_nb_time_steps, _nb_locations);
+ allowed_motion = allocate_array<int>(_nb_locations, _nb_locations);
+
+ entrances = new int[_nb_locations];
+ exits = new int[_nb_locations];
+
for(int l = 0; l < nb_locations; l++) {
+ entrances[l] = 0;
+ exits[l] = 0;
for(int m = 0; m < nb_locations; m++) {
- _allowed_motion[l][m] = 0;
+ allowed_motion[l][m] = 0;
+ }
+ }
+
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ detection_score[t][l] = 0.0;
}
}
_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, int v) {
- _allowed_motion[from_location][to_location] = v;
-}
-
-void Tracker::set_detection_score(int time, int location, scalar_t score) {
- _detection_score[time][location] = score;
+ deallocate_array<scalar_t>(detection_score);
+ deallocate_array<int>(allowed_motion);
+ delete[] exits;
+ delete[] entrances;
}
void Tracker::build_graph() {
-
- // Delete existing graph
+ // Delete existing graph if there was one
delete[] _edge_lengths;
- delete[] _graph;
- delete[] _edge_occupation;
+ delete _graph;
+
+ int nb_motions = 0, nb_exits = 0, nb_entrances = 0;
- int nb_motions = 0;
for(int l = 0; l < _nb_locations; l++) {
+ if(exits[l]) nb_exits++;
+ if(entrances[l]) nb_entrances++;
for(int m = 0; m < _nb_locations; m++) {
- if(_allowed_motion[l][m]) nb_motions++;
+ if(allowed_motion[l][m]) nb_motions++;
}
}
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 nb_edges =
+ // The edges from the source to the first frame, and from the last
+ // frame to the sink
+ _nb_locations * 2 +
+ // The edges from the source to the entrances and from the exists
+ // to the sink (in every time frames but the first for the source,
+ // and last for the exits)
+ (_nb_time_steps - 1) * (nb_exits + nb_entrances) +
+ // The edges for the motions, between every pair of successive
+ // frames
+ (_nb_time_steps - 1) * nb_motions +
+ // The edges inside the duplicated nodes
+ _nb_locations * _nb_time_steps;
+
int *node_from = new int[nb_edges];
int *node_to = new int[nb_edges];
+
+ int source = 0, sink = nb_vertices - 1;
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
+ // lengths we will have to set later, according to the detection
+ // scores
for(int t = 0; t < _nb_time_steps; t++) {
for(int l = 0; l < _nb_locations; l++) {
}
}
- // 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;
e++;
} else {
for(int k = 0; k < _nb_locations; k++) {
- if(_allowed_motion[l][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_lengths[e] = 0.0;
}
}
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ if(t > 0 && entrances[l]) {
+ node_from[e] = source;
+ node_to[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
+ _edge_lengths[e] = 0.0;
+ e++;
+ }
+ if(t < _nb_time_steps - 1 && exits[l]) {
+ node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
+ node_to[e] = sink;
+ _edge_lengths[e] = 0.0;
+ e++;
+ }
+ }
+ }
+
_graph = new MTPGraph(nb_vertices, nb_edges,
node_from, node_to,
source, sink);
delete[] node_to;
}
+void Tracker::print_graph_dot(ostream *os) {
+ 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];
+ }
+ }
+ _graph->print_dot(os);
+}
+
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++;
+ _edge_lengths[e++] = - detection_score[t][l];
}
}
- _graph->find_best_paths(_edge_lengths, _edge_occupation);
- _graph->print_dot();
+ _graph->find_best_paths(_edge_lengths);
+ _graph->retrieve_disjoint_paths();
+
+#ifdef VERBOSE
+ for(int p = 0; p < _graph->nb_paths; p++) {
+ Path *path = _graph->paths[p];
+ cout << "PATH " << p << " [length " << path->nb_nodes << "] " << path->nodes[0];
+ for(int n = 1; n < path->nb_nodes; n++) {
+ cout << " -> " << path->nodes[n];
+ }
+ cout << endl;
+ }
+#endif
}
-// void Tracker::track() {
-// }
+int Tracker::nb_trajectories() {
+ return _graph->nb_paths;
+}
-// int Tracker::nb_trajectories() {
-// }
+scalar_t Tracker::trajectory_score(int k) {
+ return -_graph->paths[k]->length;
+}
-// int Tracker::trajectory_start_time(int k) {
-// }
+int Tracker::trajectory_entrance_time(int k) {
+ return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
+}
-// int Tracker::trajectory_end_time(int k) {
-// }
+int Tracker::trajectory_duration(int k) {
+ return (_graph->paths[k]->nb_nodes - 2) / 2;
+}
-// int Tracker::trajectory_location(int k, int time) {
-// }
+int Tracker::trajectory_location(int k, int time_from_entry) {
+ return (_graph->paths[k]->nodes[2 * time_from_entry + 1] - 1) % _nb_locations;
+}
projects / mtp.git / blobdiff