X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=mtp.cc;h=5feb2bef5c01a4d0fc544aa2b6a5ee1ae666daad;hb=9ea42c9da6b7863a0bcfd49e20c151900c04c8ef;hp=7f55e0a8a060cafb96d0e961dbeb1ec7dd5e5fc0;hpb=4d9b58034ce82094c233b61da247e11a584ec0bd;p=mtp.git

diff --git a/mtp.cc b/mtp.cc
index 7f55e0a..5feb2be 100644
--- a/mtp.cc
+++ b/mtp.cc
@@ -1,141 +1,170 @@
 
-///////////////////////////////////////////////////////////////////////////
-// 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        //
-///////////////////////////////////////////////////////////////////////////
-
-// Multi-Tracked Path
+/*
+ *  mtp is the ``Multi Tracked Paths'', an implementation of the
+ *  k-shortest paths 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 <iostream>
 #include <fstream>
+#include <sys/time.h>
+#include <getopt.h>
+#include <string.h>
 
 using namespace std;
 
-#include "tracker.h"
+#include "mtp_tracker.h"
 
-//////////////////////////////////////////////////////////////////////
+#define FILENAME_SIZE 1024
 
-scalar_t detection_score(scalar_t a, scalar_t b, scalar_t score_noise, scalar_t flip_noise) {
-  if(drand48() > flip_noise) {
-    return a + score_noise * (2.0 * drand48() - 1.0);
-  } else {
-    return b + score_noise * (2.0 * drand48() - 1.0);
-  }
+char trajectory_filename[FILENAME_SIZE];
+char graph_filename[FILENAME_SIZE];
+int verbose;
+
+void usage(ostream *os) {
+  (*os) << "mtp [-h|--help] [-v|--verbose] [-t|--trajectory-filename <trajectory filename>] [-g|--graph-filename <graph filename>] [<tracking parameter file>]" << endl;
+  (*os) << endl;
+  (*os) << "The mtp command processes a file containing the description of a topology" << endl;
+  (*os) << "and detection scores, and prints the optimal set of trajectories." << endl;
+  (*os) << "If no filename is provided, it will read the parameters from the stdin." << endl;
+  (*os) << "If no trajectory filename is provided, it will write the result to" << endl;
+  (*os) << "stdout." << endl;
+  (*os) << endl;
+  (*os) << "Written by Francois Fleuret. (C) Idiap Research Institute, 2012." << endl;
 }
 
-int main(int argc, char **argv) {
-  int nb_locations = 7;
-  int nb_time_steps = 8;
-  int motion_amplitude = 1;
+scalar_t diff_in_second(struct timeval *start, struct timeval *end) {
+  return
+    scalar_t(end->tv_sec - start->tv_sec) +
+    scalar_t(end->tv_usec - start->tv_usec)/1000000;
+}
 
-  Tracker *tracker = new Tracker(nb_time_steps, nb_locations);
+void do_tracking(istream *in_tracker) {
+  timeval start_time, end_time;
+  MTPTracker *tracker = new MTPTracker();
 
-  // We define the spatial structures by stating what are the possible
-  // motions of targets, and what are the entrances and the
-  // exits.
+  if(verbose) { cout << "Reading the tracking parameters." << endl; }
+  tracker->read(in_tracker);
 
-  // Here our example is a 1D space with motions from any location to
-  // any location less than motion_amplitude away, entrance at
-  // location 0 and exit at location nb_locations-1.
+  if(verbose) {
+    cout << "Building the graph ... "; cout.flush();
+    gettimeofday(&start_time, 0);
+  }
+  tracker->build_graph();
+  if(verbose) { 
+    gettimeofday(&end_time, 0);
+    cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
+  }
 
-  for(int l = 0; l < nb_locations; l++) {
-    for(int k = 0; k < nb_locations; k++) {
-      tracker->allowed_motion[l][k] = abs(l - k) <= motion_amplitude;
-    }
-    tracker->entrances[0] = 1;
-    tracker->exits[nb_locations - 1] = 1;
+  if(verbose) {
+    cout << "Tracking ... "; cout.flush();
+    gettimeofday(&start_time, 0);
+  }
+  tracker->track();
+  if(verbose) {
+    gettimeofday(&end_time, 0);
+    cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
   }
 
-  // We construct the graph corresponding to this structure
+  if(strcmp(trajectory_filename, "")) {
+    ofstream out_traj(trajectory_filename);
+    tracker->write_trajectories(&out_traj);
+    if(verbose) { cout << "Wrote " << trajectory_filename << "." << endl; }
+  } else {
+    tracker->write_trajectories(&cout);
+  }
 
-  tracker->build_graph();
+  if(strcmp(graph_filename, "") != 0) {
+    ofstream out_dot(graph_filename);
+    tracker->print_graph_dot(&out_dot);
+    if(verbose) { cout << "Wrote " << graph_filename << "." << endl; }
+  }
 
-  // Then, we specify for every location and time step what is the
-  // detection score there.
+  delete tracker;
+}
 
-  scalar_t flip_noise = 0.05;
-  scalar_t score_noise = 0.0;
+static struct option long_options[] = {
+  { "trajectory-file", 1, 0, 't' },
+  { "graph-file", 1, 0, 'g' },
+  { "help", no_argument, 0, 'h' },
+  { "verbose", no_argument, 0, 'v' },
+  { 0, 0, 0, 0 }
+};
 
-  // We first put a background noise, with negative scores at every
-  // location.
+int main(int argc, char **argv) {
+  int c;
+  int error = 0, show_help = 0;
 
-  for(int t = 0; t < nb_time_steps; t++) {
-    for(int l = 0; l < nb_locations; l++) {
-      tracker->detection_scores[t][l] = detection_score(-1.0, 1.0, score_noise, flip_noise);
-    }
-  }
+  strncpy(trajectory_filename, "", FILENAME_SIZE);
+  strncpy(graph_filename, "", FILENAME_SIZE);
+  verbose = 0;
 
-  // Then we two targets with the typical local minimum:
-  //
-  // * Target A moves from location 0 to the middle, stays there for a
-  //   while, and comes back, and is strongly detected on the first
-  //   half
-  //
-  // * Target B moves from location nb_locations-1 to the middle, stay
-  //   there for a while, and comes back, and is strongly detected on
-  //   the second half
-
-  int la, lb; // Target locations
-  scalar_t sa, sb; // Target detection scores
-  for(int t = 0; t < nb_time_steps; t++) {
-    if(t < nb_time_steps/2) {
-      la = t;
-      lb = nb_locations - 1 - t;
-      sa = detection_score(10.0, -1.0, score_noise, flip_noise);
-      sb = detection_score( 1.0, -1.0, score_noise, flip_noise);
-    } else {
-      la = nb_time_steps - 1 - t;
-      lb = t - nb_time_steps + nb_locations;
-      sa = detection_score( 1.0, -1.0, score_noise, flip_noise);
-      sb = detection_score(10.0, -1.0, score_noise, flip_noise);
-    }
+  while ((c = getopt_long(argc, argv, "t:g:hv",
+                          long_options, NULL)) != -1) {
 
-    if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
-    if(lb < nb_locations/2 + 1) lb = nb_locations/2 + 1;
+    switch(c) {
 
-    tracker->detection_scores[t][la] = sa;
-    tracker->detection_scores[t][lb] = sb;
-  }
+    case 't':
+      strncpy(trajectory_filename, optarg, FILENAME_SIZE);
+      break;
 
-  // Does the tracking per se
+    case 'g':
+      strncpy(graph_filename, optarg, FILENAME_SIZE);
+      break;
 
-  tracker->track();
+    case 'h':
+      show_help = 1;
+      break;
 
-  // Prints the detected trajectories
+    case 'v':
+      verbose = 1;
+      break;
 
-  for(int t = 0; t < tracker->nb_trajectories(); t++) {
-    cout << "TRAJECTORY "
-         << t
-         << " [starting " << tracker->trajectory_entrance_time(t)
-         << ", score " << tracker->trajectory_score(t) << "]";
-    for(int u = 0; u < tracker->trajectory_duration(t); u++) {
-      cout << " " << tracker->trajectory_location(t, u);
+    default:
+      error = 1;
+      break;
     }
-    cout << endl;
   }
 
-  // Save the underlying graph in the dot format, with occupied edges
-  // marked in bold.
+  if(error) {
+    usage(&cerr);
+    exit(EXIT_FAILURE);
+  }
 
-  {
-    ofstream dot("graph.dot");
-    tracker->print_graph_dot(&dot);
-    cout << "Wrote graph.dot." << endl;
+  if(show_help) {
+    usage(&cout);
+    exit(EXIT_SUCCESS);
   }
 
-  delete tracker;
+  if(optind < argc) {
+    ifstream *file_in_tracker = new ifstream(argv[optind]);
+    if(file_in_tracker->good()) {
+      do_tracking(file_in_tracker);
+    } else {
+      cerr << "Can not open " << argv[optind] << endl;
+      exit(EXIT_FAILURE);
+    }
+    delete file_in_tracker;
+  } else {
+    do_tracking(&cin);
+  }
 
   exit(EXIT_SUCCESS);
 }