X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=tracker.cc;h=0d1d781ede1febbc57ad39fe50dc48451dcf83f0;hb=c8a37f33eb29f651fed648a48918390f0da1eefb;hp=0a76e08670966ea7e357b623e62bbc0b6fdb6f2e;hpb=0f54e5005de0f05d4bc400f23181301eb40f469e;p=mtp.git

diff --git a/tracker.cc b/tracker.cc
index 0a76e08..0d1d781 100644
--- a/tracker.cc
+++ b/tracker.cc
@@ -18,106 +18,215 @@
 
 #include "tracker.h"
 
-Tracker::Tracker(int nb_locations, int nb_time_steps) {
+#include <iostream>
+
+using namespace std;
+
+Tracker::Tracker(int nb_time_steps, int nb_locations) {
   _nb_locations = nb_locations;
   _nb_time_steps = nb_time_steps;
-  _detection_score = allocate_array<scalar_t>(nb_locations, nb_time_steps);
-  _allowed_motion = allocate_array<int>(nb_locations, nb_locations);
+
+  _detection_score = allocate_array<scalar_t>(_nb_time_steps, _nb_locations);
+  _allowed_motion = allocate_array<int>(_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_score[t][l] = 0.0;
+    }
+  }
+
+  _edge_lengths = 0;
+  _graph = 0;
 }
 
 Tracker::~Tracker() {
+  delete[] _edge_lengths;
+  delete _graph;
+  deallocate_array<scalar_t>(_detection_score);
+  deallocate_array<int>(_allowed_motion);
+  delete[] _exits;
+  delete[] _entrances;
 }
 
-void Tracker::set_allowed_motion(int from_location, int to_location) {
-  _allowed_motion[from_location][to_location] = 1;
+void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
+  ASSERT(from_location >= 0 && from_location < _nb_locations &&
+         to_location >= 0 && to_location < _nb_locations);
+  _allowed_motion[from_location][to_location] = v;
 }
 
-void Tracker::set_detection_score(int location, int time, scalar_t score) {
+void Tracker::set_as_entrance(int location, int v) {
+  ASSERT(location >= 0 && location < _nb_locations);
+  _entrances[location] = v;
 }
 
-void Tracker::track() {
+void Tracker::set_as_exit(int location, int v) {
+  ASSERT(location >= 0 && location < _nb_locations);
+  _exits[location] = v;
+}
+
+void Tracker::set_detection_score(int time, int location, scalar_t score) {
+  ASSERT(time >= 0 && time < _nb_time_steps &&
+         location >= 0 && location < _nb_locations);
+  _detection_score[time][location] = score;
+}
 
-  cout << "Building graph." << endl;
+void Tracker::build_graph() {
+  // Delete existing graph if there was one
+  delete[] _edge_lengths;
+  delete _graph;
+
+  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++;
     }
   }
 
-  int nb_vertices = 2 + 2 * (_nb_time_steps + 1) * _nb_locations;
-  int nb_edges = _nb_locations * 2    // From source and to sink
-    + _nb_time_steps * nb_motions     // Motions
-    + _nb_locations * _nb_time_steps; // Doubling of nodes to force
-                                      // one target per location
+  int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
+
+  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 exists
+    // to the sink (in every time frames but the first and last)
+    (_nb_time_steps - 1) * (nb_exits + nb_entrances) +
+    // The edges for the motions, between every pair of successive
+    // frames
+    (_nb_time_steps - 1) * nb_motions +
+    // The edges inside the duplicated nodes
+    _nb_locations * _nb_time_steps;
 
-  int source = 0, sink = nb_vertices - 1;
   int *node_from = new int[nb_edges];
   int *node_to = new int[nb_edges];
-  scalar_t *edge_length = 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 according to the detection score
+
+  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;
+      e++;
+    }
+  }
+
   for(int l = 0; l < _nb_locations; l++) {
     node_from[e] = source;
     node_to[e] = 1 + l + 0 * _nb_locations;
-    edge_length[e] = 0.0;
+    _edge_lengths[e] = 0.0;
     e++;
   }
 
-  for(int t = 0; t <= _nb_time_steps; t++) {
+  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_length[e] = _detection_score[t][l];
-      e++;
-      if(t == _nb_time_steps) {
-        node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
-        node_to[e] =   sink;
-        edge_length[e] = 0;
+      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;
         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_length[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++) {
+      if(t > 0 && _entrances[l]) {
+        node_from[e] = source;
+        node_to[e] =   1 + (2 * (t + 0) + 0) * _nb_locations + l;
+        _edge_lengths[e] = 0.0;
+        e++;
+      }
+      if(t < _nb_time_steps - 1 && _exits[l]) {
+        node_from[e] =   1 + (2 * (t + 0) + 1) * _nb_locations + l;
+        node_to[e] = sink;
+        _edge_lengths[e] = 0.0;
+        e++;
+      }
+    }
+  }
+
+  _graph = new MTPGraph(nb_vertices, nb_edges,
+                        node_from, node_to,
+                        source, sink);
+
+  delete[] node_from;
+  delete[] node_to;
+}
+
+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_score[t][l];
+    }
+  }
+  _graph->print_dot(os);
 }
 
-// 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_length[e] = _detection_score[t][l];
-      // e++;
-      // if(t == _nb_time_steps) {
-        // e++;
-      // } else {
-        // e += _nb_locations;
-      // }
-    // }
-  // }
-// }
+void Tracker::track() {
+  int e = 0;
+  for(int t = 0; t < _nb_time_steps; t++) {
+    for(int l = 0; l < _nb_locations; l++) {
+      _edge_lengths[e++] = - _detection_score[t][l];
+    }
+  }
+
+  _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->length << "] " << path->nodes[0];
+    for(int n = 1; n < path->length; n++) {
+      cout << " -> " << path->nodes[n];
+    }
+    cout << endl;
+  }
+#endif
+}
 
 int Tracker::nb_trajectories() {
+  return _graph->nb_paths;
 }
 
-int Tracker::trajectory_start_time(int k) {
+int Tracker::trajectory_entrance_time(int k) {
+  return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
 }
 
-int Tracker::trajectory_end_time(int k) {
+int Tracker::trajectory_duration(int k) {
+  return (_graph->paths[k]->length - 2) / 2;
 }
 
 int Tracker::trajectory_location(int k, int time) {
+  return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;
 }