X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=tracker.cc;h=0bb14491d95fe19a231f8238e11b048fed3ce8b9;hb=68d9c4f175f774d851a32f6069ad04b31924bfac;hp=e0b0903af548d6427a6966fe37f20791a867fbc7;hpb=455e5736828233445ac8aea8f15b3bde7e16e9bf;p=mtp.git
diff --git a/tracker.cc b/tracker.cc
index e0b0903..0bb1449 100644
--- a/tracker.cc
+++ b/tracker.cc
@@ -1,20 +1,26 @@
-///////////////////////////////////////////////////////////////////////////
-// 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 //
-///////////////////////////////////////////////////////////////////////////
+/*
+ * mtp is the ``Multi Tracked Path'', an implementation of the
+ * k-shortest path 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 "tracker.h"
@@ -22,76 +28,223 @@
using namespace std;
-Tracker::Tracker(int nb_time_steps, int nb_locations) {
+void Tracker::free() {
+ delete[] _edge_lengths;
+ delete _graph;
+ deallocate_array(detection_scores);
+ deallocate_array(allowed_motion);
+ delete[] exits;
+ delete[] entrances;
+}
+
+void Tracker::allocate(int nb_time_steps, int nb_locations) {
+ free();
+
_nb_locations = nb_locations;
_nb_time_steps = nb_time_steps;
- _detection_score = allocate_array(nb_time_steps, nb_locations);
- _allowed_motion = allocate_array(nb_locations, nb_locations);
- for(int l = 0; l < nb_locations; l++) {
- for(int m = 0; m < nb_locations; m++) {
- _allowed_motion[l][m] = 0;
+
+ detection_scores = allocate_array(_nb_time_steps, _nb_locations);
+ allowed_motion = allocate_array(_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;
}
}
+
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ detection_scores[t][l] = 0.0;
+ }
+ }
+
+ _edge_lengths = 0;
+ _graph = 0;
+}
+
+void Tracker::write(ostream *os) {
+ (*os) << _nb_locations << " " << _nb_time_steps <> nb_locations >> nb_time_steps;
+
+ allocate(nb_time_steps, nb_locations);
+
+ for(int l = 0; l < _nb_locations; l++) {
+ for(int m = 0; m < _nb_locations; m++) {
+ (*is) >> allowed_motion[l][m];
+ }
+ }
+
+ for(int l = 0; l < _nb_locations; l++) {
+ (*is) >> entrances[l];
+ }
+
+ for(int l = 0; l < _nb_locations; l++) {
+ (*is) >> exits[l];
+ }
+
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ (*is) >> detection_scores[t][l];
+ }
+ }
+}
+
+void Tracker::write_trajectories(ostream *os) {
+ for(int t = 0; t < nb_trajectories(); t++) {
+ (*os) << t
+ << " " << trajectory_entrance_time(t)
+ << " " << trajectory_duration(t)
+ << " " << trajectory_score(t);
+ for(int u = 0; u < trajectory_duration(t); u++) {
+ (*os) << " " << trajectory_location(t, u);
+ }
+ (*os) << endl;
+ }
+}
+
+Tracker::Tracker() {
+ _nb_locations = 0;
+ _nb_time_steps = 0;
+
+ detection_scores = 0;
+ allowed_motion = 0;
+
+ entrances = 0;
+ exits = 0;
+
+ _edge_lengths = 0;
+ _graph = 0;
}
Tracker::~Tracker() {
+ delete[] _edge_lengths;
+ delete _graph;
+ deallocate_array(detection_scores);
+ deallocate_array(allowed_motion);
+ delete[] exits;
+ delete[] entrances;
}
-void Tracker::set_allowed_motion(int from_location, int to_location) {
- _allowed_motion[from_location][to_location] = 1;
+int Tracker::early_pair_node(int t, int l) {
+ return 1 + (2 * (t + 0) + 0) * _nb_locations + l;
}
-void Tracker::set_detection_score(int time, int location, scalar_t score) {
- _detection_score[time][location] = score;
+int Tracker::late_pair_node(int t, int l) {
+ return 1 + (2 * (t + 0) + 1) * _nb_locations + l;
}
-void Tracker::track() {
+void Tracker::build_graph() {
+ // Delete the existing graph if there was one
+ delete[] _edge_lengths;
+ delete _graph;
- cerr << "Building graph." << endl;
+ 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 // From source and to sink
- + (_nb_time_steps - 1) * nb_motions // Motions
- + _nb_locations * _nb_time_steps; // Doubling of nodes to force
- // one target per location
- 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 exits
+ // to the sink (in every time frames but the first for the
+ // entrances, and last for the exits)
+ (_nb_time_steps - 1) * (nb_exits + nb_entrances) +
+ // The edges for the motions, between every 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];
- scalar_t *edge_lengths = new scalar_t[nb_edges];
+
+ int source = 0, sink = nb_vertices - 1;
int e = 0;
+ _edge_lengths = new scalar_t[nb_edges];
+
+ // We put the in-node edges first, since these are the ones whose
+ // lengths we will have to change before tracking, according to the
+ // detection scores
+
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ node_from[e] = early_pair_node(t, l);
+ node_to[e] = late_pair_node(t, l);
+ e++;
+ }
+ }
+
for(int l = 0; l < _nb_locations; l++) {
node_from[e] = source;
node_to[e] = 1 + l + 0 * _nb_locations;
- edge_lengths[e] = 0.0;
+ _edge_lengths[e] = 0.0;
e++;
}
for(int t = 0; t < _nb_time_steps; t++) {
for(int l = 0; l < _nb_locations; l++) {
- node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
- node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
- edge_lengths[e] = - _detection_score[t][l];
- e++;
if(t == _nb_time_steps - 1) {
- node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
- node_to[e] = sink;
- edge_lengths[e] = 0.0;
+ node_from[e] = late_pair_node(t, l);
+ node_to[e] = sink;
+ _edge_lengths[e] = 0.0;
e++;
} else {
for(int k = 0; k < _nb_locations; 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;
+ if(allowed_motion[l][k]) {
+ node_from[e] = late_pair_node(t, l);
+ node_to[e] = early_pair_node(t+1, k);
+ _edge_lengths[e] = 0.0;
e++;
}
}
@@ -99,45 +252,82 @@ void Tracker::track() {
}
}
- cerr << "DEBUG e = " << e << " nb_edges = " << nb_edges << endl;
+ 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] = early_pair_node(t, l);
+ _edge_lengths[e] = 0.0;
+ e++;
+ }
+ if(t < _nb_time_steps - 1 && exits[l]) {
+ node_from[e] = late_pair_node(t, l);
+ node_to[e] = sink;
+ _edge_lengths[e] = 0.0;
+ e++;
+ }
+ }
+ }
+
+ _graph = new MTPGraph(nb_vertices, nb_edges,
+ node_from, node_to,
+ source, sink);
- _graph = new MTPGraph(nb_vertices, nb_edges, node_from, node_to, source, sink);
+ delete[] node_from;
+ delete[] node_to;
+}
- int *edge_occupation = new int[nb_edges];
+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_scores[t][l];
+ }
+ }
+ _graph->print_dot(os);
+}
- _graph->find_best_paths(edge_lengths, edge_occupation);
+void Tracker::track() {
+ ASSERT(_graph);
- dot_print(nb_vertices, nb_edges, node_from, node_to, edge_lengths,
- source, sink,
- edge_occupation);
+ int e = 0;
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ _edge_lengths[e++] = - detection_scores[t][l];
+ }
+ }
- delete[] edge_occupation;
- delete _graph;
+ _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
+}
+
+int Tracker::nb_trajectories() {
+ return _graph->nb_paths;
}
-// void Tracker::track() {
- // int e = _nb_locations;
- // 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++;
- // if(t == _nb_time_steps) {
- // e++;
- // } else {
- // e += _nb_locations;
- // }
- // }
- // }
-// }
-
-// int Tracker::nb_trajectories() {
-// }
-
-// int Tracker::trajectory_start_time(int k) {
-// }
-
-// int Tracker::trajectory_end_time(int k) {
-// }
-
-// int Tracker::trajectory_location(int k, int time) {
-// }
+scalar_t Tracker::trajectory_score(int k) {
+ return -_graph->paths[k]->length;
+}
+
+int Tracker::trajectory_entrance_time(int k) {
+ return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
+}
+
+int Tracker::trajectory_duration(int k) {
+ return (_graph->paths[k]->nb_nodes - 2) / 2;
+}
+
+int Tracker::trajectory_location(int k, int time_from_entry) {
+ return (_graph->paths[k]->nodes[2 * time_from_entry + 1] - 1) % _nb_locations;
+}