X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=mtp.cc;h=105365d21f5a7ba0e7011dd1c22209a6c4bc049b;hb=e9fbecf1c13c63a717c1b359c24287dbce23d4ed;hp=94dde642d2566a825d17251dbb5e73d7661829f9;hpb=58f6c3e7578dcef2007819bbdad95d144e547d44;p=mtp.git

diff --git a/mtp.cc b/mtp.cc
index 94dde64..105365d 100644
--- a/mtp.cc
+++ b/mtp.cc
@@ -18,339 +18,61 @@
 
 // Multi-Tracked Path
 
-// #define VERBOSE
+// 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;
 
-typedef float scalar_t;
-
-#ifdef DEBUG
-#define ASSERT(x) if(!(x)) { \
-  std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << endl; \
-  abort(); \
-}
-#else
-#define ASSERT(x)
-#endif
-
-class Vertex;
-
-class Edge {
-public:
-  int occupied;
-  scalar_t length, work_length;
-  Vertex *terminal_vertex;
-  Edge *next, *pred;
-};
-
-class Vertex {
-public:
-  int id;
-
-  Edge *first_edge;
-  scalar_t distance_from_source;
-
-  Vertex *pred_vertex;
-  Edge *pred_edge;
-
-  Vertex() { first_edge = 0; }
-
-  inline void add_edge(Edge *e) {
-    e->next = first_edge;
-    e->pred = 0;
-    if(first_edge) { first_edge->pred = e; }
-    first_edge = e;
-  }
-
-  inline void del_edge(Edge *e) {
-    if(e == first_edge) { first_edge = e->next; }
-    if(e->pred) { e->pred->next = e->next; }
-    if(e->next) { e->next->pred = e->pred; }
-  }
-};
-
-class Graph {
-  void initialize_work_lengths();
-  void update_work_length();
-  void find_shortest_path(Vertex **front, Vertex **new_front);
-
-  int nb_vertices;
-  Edge *edge_heap;
-  Vertex *vertices;
-  Vertex *source, *sink;
-
-public:
-  Graph(int nb_vertices, int nb_edges, int *from, int *to, scalar_t *lengths,
-        int source, int sink);
-
-  ~Graph();
-
-  void find_best_paths();
-  void print();
-  void print_occupied_edges();
-  void dot_print();
-};
-
-void Graph::print() {
-  for(int n = 0; n < nb_vertices; n++) {
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      cout << n << " -> " << e->terminal_vertex->id << " " << e->length << endl;
-    }
-  }
-}
-
-void Graph::print_occupied_edges() {
-  for(int n = 0; n < nb_vertices; n++) {
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      if(e->occupied) {
-        int a = n, b = e->terminal_vertex->id;
-        if(a > b) { int c = a; a = b; b = c; }
-        cout << a << " " << b << endl;
-      }
-    }
-  }
-}
-
-void Graph::dot_print() {
-  cout << "digraph {" << endl;
-  cout << "  node[shape=circle];" << endl;
-  for(int n = 0; n < nb_vertices; n++) {
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      int a = n, b = e->terminal_vertex->id;
-      if(e->occupied) {
-        int c = a; a = b; b = c;
-        cout << "  " << a << " -> " << b << " [style=bold,color=black,label=\"" << -e->length << "\"];" << endl;
-      } else {
-        cout << "  " << a << " -> " << b << " [color=gray,label=\"" << e->length << "\"];" << endl;
-      }
-    }
-  }
-  cout << "}" << endl;
-}
-
-Graph::Graph(int nb_vrt, int nb_edges,
-             int *from, int *to, scalar_t *lengths,
-             int src, int snk) {
-  nb_vertices = nb_vrt;
+#include "tracker.h"
 
-  edge_heap = new Edge[nb_edges];
-  vertices = new Vertex[nb_vertices];
-
-  source = &vertices[src];
-  sink = &vertices[snk];
-
-  for(int v = 0; v < nb_vertices; v++) {
-    vertices[v].id = v;
-  }
-
-  for(int e = 0; e < nb_edges; e++) {
-    vertices[from[e]].add_edge(&edge_heap[e]);
-    edge_heap[e].occupied = 0;
-    edge_heap[e].length = lengths[e];
-    edge_heap[e].terminal_vertex = &vertices[to[e]];
-  }
-}
-
-Graph::~Graph() {
-  delete[] vertices;
-  delete[] edge_heap;
-}
-
-void Graph::initialize_work_lengths() {
-  scalar_t length_min = 0;
-  for(int n = 0; n < nb_vertices; n++) {
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      length_min = min(e->length, length_min);
-    }
-  }
-  for(int n = 0; n < nb_vertices; n++) {
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      e->work_length = e->length - length_min;
-    }
-  }
-}
+//////////////////////////////////////////////////////////////////////
 
-void Graph::update_work_length() {
-  for(int n = 0; n < nb_vertices; n++) {
-    scalar_t d = vertices[n].distance_from_source;
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      e->work_length += d - e->terminal_vertex->distance_from_source;
-    }
-  }
-}
+int main(int argc, char **argv) {
+  int nb_locations = 5;
+  int nb_time_steps = 20;
+  int motion_amplitude = 2;
 
-void Graph::find_shortest_path(Vertex **front, Vertex **new_front) {
-  Vertex **tmp_front;
-  int tmp_front_size;
-  Vertex *v, *tv;
-  scalar_t d;
+  Tracker *tracker = new Tracker(nb_time_steps, nb_locations);
 
-#ifdef DEBUG
-  for(int n = 0; n < nb_vertices; n++) {
-    for(Edge *e = vertices[n].first_edge; e; e = e->next) {
-      if(e->work_length < 0) {
-        cerr << "DEBUG error in find_shortest_path: Edge fixed lengths have to be positive."
-             << endl;
-        abort();
-      }
+  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) <= motion_amplitude);
     }
+    tracker->set_as_exit(0, 1);
+    tracker->set_as_entrance(0, 1);
   }
-#endif
 
-  for(int v = 0; v < nb_vertices; v++) {
-    vertices[v].distance_from_source = FLT_MAX;
-    vertices[v].pred_vertex = 0;
-    vertices[v].pred_edge = 0;
-  }
+  tracker->build_graph();
 
-  int front_size = 0, new_front_size;
-  front[front_size++] = source;
-  source->distance_from_source = 0;
+  for(int r = 0; r < 10; r++) {
+    cout << "* ROUND " << r << endl;
 
-  do {
-    new_front_size = 0;
-    for(int f = 0; f < front_size; f++) {
-      v = front[f];
-      for(Edge *e = v->first_edge; e; e = e->next) {
-        d = v->distance_from_source + e->work_length;
-        tv = e->terminal_vertex;
-        if(d < tv->distance_from_source) {
-          tv->distance_from_source = d;
-          tv->pred_vertex = v;
-          tv->pred_edge = e;
-          new_front[new_front_size++] = tv;
-        }
+    for(int t = 0; t < nb_time_steps; t++) {
+      for(int l = 0; l < nb_locations; l++) {
+        tracker->set_detection_score(t, l,
+                                    (drand48() < 0.95 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
       }
+      tracker->set_detection_score(t, nb_locations/2,
+                                  (drand48() < 0.95 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
     }
 
-    tmp_front = new_front;
-    new_front = front;
-    front = tmp_front;
-
-    tmp_front_size = new_front_size;
-    new_front_size = front_size;
-    front_size = tmp_front_size;
-  } while(front_size > 0);
-}
-
-void Graph::find_best_paths() {
-  Vertex **front = new Vertex *[nb_vertices];
-  Vertex **new_front = new Vertex *[nb_vertices];
-
-  scalar_t total_length;
-
-  initialize_work_lengths();
-
-  do {
-    total_length = 0.0;
-    find_shortest_path(front, new_front);
-    update_work_length();
-
-    // Do we reach the sink?
-    if(sink->pred_edge) {
+    tracker->track();
 
-      // If yes, compute the length of the best path
-      for(Vertex *v = sink; v->pred_edge; v = v->pred_vertex) {
-        total_length += v->pred_edge->length;
-      }
-
-      // If that length is negative
-      if(total_length < 0.0) {
-        // Invert all the edges along the best path
-        for(Vertex *v = sink; v->pred_edge; v = v->pred_vertex) {
-          Edge *e = v->pred_edge;
-          e->terminal_vertex = v->pred_vertex;
-          e->occupied = 1 - e->occupied;
-          e->length = - e->length;
-          e->work_length = - e->work_length;
-          v->pred_vertex->del_edge(e);
-          v->add_edge(e);
-        }
+    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;
     }
-  } while(total_length < 0.0);
-
-  // // We put all occupied edges back to their original orientations
-  // for(int n = 0; n < nb_vertices; n++) {
-    // Vertex *v = &vertices[n];
-    // for(Edge *e = v->first_edge; e; e = e->next) {
-      // if(e->occupied) {
-        // e->terminal_vertex = v->pred_vertex;
-        // e->length = - e->length;
-        // e->work_length = 0;
-        // v->pred_vertex->del_edge(e);
-        // v->add_edge(e);
-      // }
-    // }
-  // }
-
-
-  delete[] front;
-  delete[] new_front;
-}
-
-//////////////////////////////////////////////////////////////////////
-
-int main(int argc, char **argv) {
-
-  if(argc < 2) {
-    cerr << argv[0] << " <graph file>" << endl;
-    exit(EXIT_FAILURE);
   }
 
-  ifstream *file = new ifstream(argv[1]);
-
-  int nb_edges, nb_vertices;
-  int source, sink;
-
-  if(file->good()) {
-
-    (*file) >> nb_vertices >> nb_edges;
-    (*file) >> source >> sink;
-
-    // cout << "INPUT nb_edges " << nb_edges << endl;
-    // cout << "INPUT nb_vertices " << nb_vertices << endl;
-    // cout << "INPUT source " << source << endl;
-    // cout << "INPUT sink " << sink << endl;
-
-    scalar_t *el = new scalar_t[nb_edges];
-    int *ea = new int[nb_edges];
-    int *eb = new int[nb_edges];
-
-    for(int e = 0; e < nb_edges; e++) {
-      (*file) >> ea[e] >> eb[e] >> el[e];
-    }
-
-    // for(int e = 0; e < nb_edges; e++) {
-      // cout << "INPUT_EDGE " << ea[e] << " " << eb[e] << " " << el[e] << endl;
-    // }
-
-    Graph graph(nb_vertices, nb_edges, ea, eb, el, source, sink);
-
-    graph.find_best_paths();
-    // graph.print_occupied_edges();
-    graph.dot_print();
-
-    delete[] el;
-    delete[] ea;
-    delete[] eb;
-
-  } else {
-
-    cerr << "Can not open " << argv[1] << endl;
-
-    delete file;
-    exit(EXIT_FAILURE);
-
-  }
+  delete tracker;
 
-  delete file;
   exit(EXIT_SUCCESS);
 }