X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=mtp.cc;h=957e56f997a7241d16a30df1ebda021ab80615a6;hb=f419bacb4b11f42f87e6e9bc9e8a4719499559f2;hp=c1387d94d28674c91b029435b94231ba15013e8b;hpb=852417aae1e0f64716fa49499176e300ab84d66f;p=mtp.git
diff --git a/mtp.cc b/mtp.cc
index c1387d9..957e56f 100644
--- a/mtp.cc
+++ b/mtp.cc
@@ -1,121 +1,155 @@
-///////////////////////////////////////////////////////////////////////////
-// 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
+/*
+ * 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
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 ] [-g|--graph-filename ] []" << 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();
- 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 << "Reading the tracking parameters." << endl; }
+ tracker->read(in_tracker);
+ if(verbose) { cout << "Building the graph ... "; cout.flush(); }
+ gettimeofday(&start_time, 0);
tracker->build_graph();
+ gettimeofday(&end_time, 0);
+ if(verbose) { cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl; }
- // We generate synthetic detection scores at location
- // nb_locations/2, with 5% false detection (FP or FN)
+ if(verbose) { cout << "Tracking ... "; cout.flush(); }
+ gettimeofday(&start_time, 0);
+ tracker->track();
+ gettimeofday(&end_time, 0);
+ if(verbose) { cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl; }
- scalar_t flip_noise = 0.05;
- scalar_t score_noise = 0.0;
+ 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);
+ }
- for(int t = 0; t < nb_time_steps; t++) {
- for(int l = 0; l < nb_locations; l++) {
- tracker->detection_score[t][l] = detection_score(-1.0, 1.0, score_noise, flip_noise);
- }
+ if(strcmp(graph_filename, "") != 0) {
+ ofstream out_dot(graph_filename);
+ tracker->print_graph_dot(&out_dot);
+ if(verbose) { cout << "Wrote " << graph_filename << "." << endl; }
}
- // for(int t = 0; t < nb_time_steps; t++) {
- // tracker->detection_score[t][nb_locations/2] = detection_score(1, score_noise, flip_noise);
- // }
-
- // Puts two target with the typical local minimum
-
- int la, lb;
- scalar_t sa, sb;
- for(int t = 0; t < nb_time_steps; t++) {
- // Target a moves from location 0 to the middle and comes back,
- // and is strongly detected on the first half, target b moves from
- // location nb_locations-1 to the middle and comes back, and is
- // strongly detected on the second half
- 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);
- }
+ delete tracker;
+}
- if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
- if(lb < nb_locations/2 + 1) lb = nb_locations/2 + 1;
+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 }
+};
- tracker->detection_score[t][la] = sa;
- tracker->detection_score[t][lb] = sb;
- }
+int main(int argc, char **argv) {
+ int c;
+ int error = 0, show_help = 0;
- tracker->track();
+ // strncpy(trajectory_filename, "result.trj", FILENAME_SIZE);
+ strncpy(trajectory_filename, "", FILENAME_SIZE);
+ strncpy(graph_filename, "", FILENAME_SIZE);
+ verbose = 0;
+
+ while ((c = getopt_long(argc, argv, "t:g:hv",
+ long_options, NULL)) != -1) {
+
+ switch(c) {
+
+ case 't':
+ strncpy(trajectory_filename, optarg, FILENAME_SIZE);
+ break;
+
+ case 'g':
+ strncpy(graph_filename, optarg, FILENAME_SIZE);
+ break;
+
+ case 'h':
+ show_help = 1;
+ break;
+
+ 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;
}
- {
- ofstream dot("graph.dot");
- tracker->print_graph_dot(&dot);
- cout << "Wrote graph.dot." << endl;
+ if(error) {
+ usage(&cerr);
+ exit(EXIT_FAILURE);
}
- delete tracker;
+ if(show_help) {
+ usage(&cout);
+ exit(EXIT_SUCCESS);
+ }
+
+ 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);
}