X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=tracker.cc;h=d3397cf4736a9c14c5aaa1b3d8bf5335f267a1ed;hb=852417aae1e0f64716fa49499176e300ab84d66f;hp=e0b0903af548d6427a6966fe37f20791a867fbc7;hpb=455e5736828233445ac8aea8f15b3bde7e16e9bf;p=mtp.git

diff --git a/tracker.cc b/tracker.cc
index e0b0903..d3397cf 100644
--- a/tracker.cc
+++ b/tracker.cc
@@ -25,73 +25,118 @@ 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_time_steps, nb_locations);
-  _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;
+      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;
+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 exists
+    // 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 +144,80 @@ 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);
 
-  int *edge_occupation = new int[nb_edges];
+  delete[] node_from;
+  delete[] node_to;
+}
 
-  _graph->find_best_paths(edge_lengths, edge_occupation);
+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);
+}
 
-  dot_print(nb_vertices, nb_edges, node_from, node_to, edge_lengths,
-            source, sink,
-            edge_occupation);
+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];
+    }
+  }
 
-  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;
+}