X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=mtp.cc;h=61dcc21692df4a0e69b9e315e8abc66998697683;hb=9847d704169e8631b223af71be40cfa5337e832f;hp=94dde642d2566a825d17251dbb5e73d7661829f9;hpb=58f6c3e7578dcef2007819bbdad95d144e547d44;p=mtp.git
diff --git a/mtp.cc b/mtp.cc
index 94dde64..61dcc21 100644
--- a/mtp.cc
+++ b/mtp.cc
@@ -1,356 +1,88 @@
-///////////////////////////////////////////////////////////////////////////
-// 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 . //
-// //
-// Written by and Copyright (C) Francois Fleuret //
-// Contact for comments & bug reports //
-///////////////////////////////////////////////////////////////////////////
-
-// Multi-Tracked Path
-
-// #define VERBOSE
+/*
+ * 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
+ *
+ * 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 .
+ *
+ */
#include
#include
-#include
-#include
-#include
-#include
+#include
using namespace std;
-typedef float scalar_t;
+#include "mtp_tracker.h"
-#ifdef DEBUG
-#define ASSERT(x) if(!(x)) { \
- std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << endl; \
- abort(); \
+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;
}
-#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;
-
- 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;
- }
- }
-}
-
-void Graph::find_shortest_path(Vertex **front, Vertex **new_front) {
- Vertex **tmp_front;
- int tmp_front_size;
- Vertex *v, *tv;
- scalar_t d;
-
-#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();
- }
- }
- }
-#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;
- }
-
- int front_size = 0, new_front_size;
- front[front_size++] = source;
- source->distance_from_source = 0;
-
- 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;
- }
- }
- }
-
- 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) {
-
- // 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);
- }
- }
- }
- } 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) {
+ timeval start_time, end_time;
if(argc < 2) {
- cerr << argv[0] << " " << endl;
+ cerr << argv[0] << " " << endl;
exit(EXIT_FAILURE);
}
- ifstream *file = new ifstream(argv[1]);
+ ifstream *in_tracker = new ifstream(argv[1]);
- int nb_edges, nb_vertices;
- int source, sink;
+ if(in_tracker->good()) {
- if(file->good()) {
+ MTPTracker *tracker = new MTPTracker();
- (*file) >> nb_vertices >> nb_edges;
- (*file) >> source >> sink;
+ cout << "Reading " << argv[1] << "." << endl;
+ tracker->read(in_tracker);
- // cout << "INPUT nb_edges " << nb_edges << endl;
- // cout << "INPUT nb_vertices " << nb_vertices << endl;
- // cout << "INPUT source " << source << endl;
- // cout << "INPUT sink " << sink << endl;
+ cout << "Building the graph ... "; cout.flush();
+ gettimeofday(&start_time, 0);
+ tracker->build_graph();
+ gettimeofday(&end_time, 0);
+ cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
- scalar_t *el = new scalar_t[nb_edges];
- int *ea = new int[nb_edges];
- int *eb = new int[nb_edges];
+ cout << "Tracking ... "; cout.flush();
+ gettimeofday(&start_time, 0);
+ tracker->track();
+ gettimeofday(&end_time, 0);
+ cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
- for(int e = 0; e < nb_edges; e++) {
- (*file) >> ea[e] >> eb[e] >> el[e];
- }
+ ofstream out_traj("result.trj");
+ tracker->write_trajectories(&out_traj);
+ cout << "Wrote result.trj" << endl;
- // for(int e = 0; e < nb_edges; e++) {
- // cout << "INPUT_EDGE " << ea[e] << " " << eb[e] << " " << el[e] << endl;
- // }
+ ofstream out_dot("graph.dot");
+ tracker->print_graph_dot(&out_dot);
+ cout << "Wrote graph.dot" << 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;
+ delete tracker;
} else {
cerr << "Can not open " << argv[1] << endl;
-
- delete file;
exit(EXIT_FAILURE);
}
- delete file;
+ delete in_tracker;
+
exit(EXIT_SUCCESS);
}