#########################################################################
ifeq ($(STATIC),yes)
- LDFLAGS=-static -lm -ljpeg -lpng -lz -lcairo
+ LDFLAGS=-static -lm
else
- LDFLAGS=-lm -ljpeg -lpng -lcairo
+ LDFLAGS=-lm
endif
ifeq ($(DEBUG),yes)
PROFILE_FLAG = -pg
endif
-CXXFLAGS = -Wall -I/usr/include/cairo $(OPTIMIZE_FLAG) $(PROFILE_FLAG) $(CXXGLPK)
+CXXFLAGS = -Wall $(OPTIMIZE_FLAG) $(PROFILE_FLAG)
all: mtp random-graph
$(CXX) $(CXXFLAGS) -o $@ $^ $(LDFLAGS)
mtp: \
+ mtp_graph.o \
+ tracker.o \
mtp.o
$(CXX) $(CXXFLAGS) -o $@ $^ $(LDFLAGS)
using namespace std;
-typedef float scalar_t;
+#include "mtp_graph.h"
-#ifdef DEBUG
-#define ASSERT(x) if(!(x)) { \
- std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << endl; \
- abort(); \
-}
-#else
-#define ASSERT(x)
-#endif
-
-class Vertex;
-
-class Edge {
-public:
- int id, occupied;
- scalar_t length, work_length;
- Vertex *terminal_vertex;
- Edge *next, *pred;
-};
-
-class Vertex {
-public:
- int id, iteration;
- Edge *root_edge;
- scalar_t distance_from_source;
- Vertex *pred_vertex;
- Edge *pred_edge;
-
- Vertex() { root_edge = 0; }
-
- inline void add_edge(Edge *e) {
- e->next = root_edge;
- e->pred = 0;
- if(root_edge) { root_edge->pred = e; }
- root_edge = e;
- }
-
- inline void del_edge(Edge *e) {
- if(e == root_edge) { root_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(int *result_edge_occupation);
- void print();
-};
-
-void Graph::print() {
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].root_edge; e; e = e->next) {
- cout << n << " -> " << e->terminal_vertex->id << " " << e->length;
- if(e->occupied) {
- cout << " *";
- }
- 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].id = e;
- 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].root_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].root_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].root_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 VERBOSE
- scalar_t residual_error = 0.0;
-#endif
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].root_edge; e; e = e->next) {
- if(e->work_length < 0) {
-#ifdef VERBOSE
- residual_error -= e->work_length;
-#endif
- e->work_length = 0.0;
- }
- }
- }
-#ifdef VERBOSE
- cerr << "residual_error " << residual_error << endl;
-#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;
- vertices[v].iteration = 0;
- }
-
- int iteration = 0;
-
- int front_size = 0, new_front_size;
- front[front_size++] = source;
- source->distance_from_source = 0;
-
- do {
- new_front_size = 0;
- iteration++;
- for(int f = 0; f < front_size; f++) {
- v = front[f];
- for(Edge *e = v->root_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;
- if(tv->iteration < iteration) {
- new_front[new_front_size++] = tv;
- tv->iteration = iteration;
- }
- }
- }
- }
-
- 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(int *result_edge_occupation) {
- 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);
-
- delete[] front;
- delete[] new_front;
-
- for(int n = 0; n < nb_vertices; n++) {
- Vertex *v = &vertices[n];
- for(Edge *e = v->root_edge; e; e = e->next) {
- result_edge_occupation[e->id] = e->occupied;
- }
- }
-}
+//////////////////////////////////////////////////////////////////////
void find_best_paths(int nb_vertices,
int nb_edges, int *ea, int *eb, scalar_t *el,
int source, int sink,
int *result_edge_occupation) {
- Graph graph(nb_vertices, nb_edges, ea, eb, el, source, sink);
- graph.find_best_paths(result_edge_occupation);
+ MTPGraph graph(nb_vertices, nb_edges, ea, eb, source, sink);
+ graph.find_best_paths(el, result_edge_occupation);
}
void dot_print(int nb_vertices,
--- /dev/null
+
+///////////////////////////////////////////////////////////////////////////
+// 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 <http://www.gnu.org/licenses/>. //
+// //
+// Written by and Copyright (C) Francois Fleuret //
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
+///////////////////////////////////////////////////////////////////////////
+
+#include "mtp_graph.h"
+
+#include <iostream>
+#include <float.h>
+
+using namespace std;
+
+class Edge {
+public:
+ int id, occupied;
+ scalar_t length, work_length;
+ Vertex *terminal_vertex;
+ Edge *next, *pred;
+};
+
+class Vertex {
+public:
+ int id, iteration;
+ Edge *root_edge;
+ scalar_t distance_from_source;
+ Vertex *pred_vertex;
+ Edge *pred_edge;
+
+ Vertex() { root_edge = 0; }
+
+ inline void add_edge(Edge *e) {
+ e->next = root_edge;
+ e->pred = 0;
+ if(root_edge) { root_edge->pred = e; }
+ root_edge = e;
+ }
+
+ inline void del_edge(Edge *e) {
+ if(e == root_edge) { root_edge = e->next; }
+ if(e->pred) { e->pred->next = e->next; }
+ if(e->next) { e->next->pred = e->pred; }
+ }
+};
+
+void MTPGraph::print() {
+ for(int n = 0; n < _nb_vertices; n++) {
+ for(Edge *e = vertices[n].root_edge; e; e = e->next) {
+ cout << n << " -> " << e->terminal_vertex->id << " " << e->length;
+ if(e->occupied) {
+ cout << " *";
+ }
+ cout << endl;
+ }
+ }
+}
+
+MTPGraph::MTPGraph(int nb_vertices, int nb_edges,
+ int *from, int *to,
+ int src, int snk) {
+ _nb_vertices = nb_vertices;
+ _nb_edges = nb_edges;
+
+ 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].id = e;
+ edge_heap[e].terminal_vertex = &vertices[to[e]];
+ }
+}
+
+MTPGraph::~MTPGraph() {
+ delete[] vertices;
+ delete[] edge_heap;
+}
+
+void MTPGraph::initialize_work_lengths() {
+ scalar_t length_min = 0;
+ for(int n = 0; n < _nb_vertices; n++) {
+ for(Edge *e = vertices[n].root_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].root_edge; e; e = e->next) {
+ e->work_length = e->length - length_min;
+ }
+ }
+}
+
+void MTPGraph::update_work_length() {
+ for(int n = 0; n < _nb_vertices; n++) {
+ scalar_t d = vertices[n].distance_from_source;
+ for(Edge *e = vertices[n].root_edge; e; e = e->next) {
+ e->work_length += d - e->terminal_vertex->distance_from_source;
+ }
+ }
+}
+
+void MTPGraph::find_shortest_path(Vertex **front, Vertex **new_front) {
+ Vertex **tmp_front;
+ int tmp_front_size;
+ Vertex *v, *tv;
+ scalar_t d;
+
+#ifdef VERBOSE
+ scalar_t residual_error = 0.0;
+#endif
+ for(int n = 0; n < _nb_vertices; n++) {
+ for(Edge *e = vertices[n].root_edge; e; e = e->next) {
+ if(e->work_length < 0) {
+#ifdef VERBOSE
+ residual_error -= e->work_length;
+#endif
+ e->work_length = 0.0;
+ }
+ }
+ }
+#ifdef VERBOSE
+ cerr << "residual_error " << residual_error << endl;
+#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;
+ vertices[v].iteration = 0;
+ }
+
+ int iteration = 0;
+
+ int front_size = 0, new_front_size;
+ front[front_size++] = source;
+ source->distance_from_source = 0;
+
+ do {
+ new_front_size = 0;
+ iteration++;
+ for(int f = 0; f < front_size; f++) {
+ v = front[f];
+ for(Edge *e = v->root_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;
+ if(tv->iteration < iteration) {
+ new_front[new_front_size++] = tv;
+ tv->iteration = iteration;
+ }
+ }
+ }
+ }
+
+ 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 MTPGraph::find_best_paths(scalar_t *lengths, int *result_edge_occupation) {
+ Vertex **front = new Vertex *[_nb_vertices];
+ Vertex **new_front = new Vertex *[_nb_vertices];
+
+ scalar_t total_length;
+
+ for(int e = 0; e < _nb_edges; e++) {
+ edge_heap[e].length = lengths[e];
+ }
+
+ 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);
+
+ delete[] front;
+ delete[] new_front;
+
+ for(int n = 0; n < _nb_vertices; n++) {
+ Vertex *v = &vertices[n];
+ for(Edge *e = v->root_edge; e; e = e->next) {
+ result_edge_occupation[e->id] = e->occupied;
+ }
+ }
+}
--- /dev/null
+
+///////////////////////////////////////////////////////////////////////////
+// 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 <http://www.gnu.org/licenses/>. //
+// //
+// Written by and Copyright (C) Francois Fleuret //
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
+///////////////////////////////////////////////////////////////////////////
+
+#ifndef MTP_GRAPH_H
+#define MTP_GRAPH_H
+
+#include "misc.h"
+
+class Vertex;
+class Edge;
+
+class MTPGraph {
+ void initialize_work_lengths();
+ void update_work_length();
+ void find_shortest_path(Vertex **front, Vertex **new_front);
+
+ int _nb_vertices, _nb_edges;
+ Edge *edge_heap;
+ Vertex *vertices;
+ Vertex *source, *sink;
+public:
+ MTPGraph(int nb_vertices, int nb_edges, int *from, int *to,
+ int source, int sink);
+
+ ~MTPGraph();
+
+ void find_best_paths(scalar_t *lengths, int *result_edge_occupation);
+ void print();
+};
+
+#endif
--- /dev/null
+
+///////////////////////////////////////////////////////////////////////////
+// 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 <http://www.gnu.org/licenses/>. //
+// //
+// Written by and Copyright (C) Francois Fleuret //
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
+///////////////////////////////////////////////////////////////////////////
+
+#include "tracker.h"
+
+Tracker::Tracker(int nb_locations, int nb_time_steps) {
+ _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);
+ for(int l = 0; l < nb_locations; l++) {
+ for(int m = 0; m < nb_locations; m++) {
+ _allowed_motion[l][m] = 0;
+ }
+ }
+}
+
+Tracker::~Tracker() {
+}
+
+void Tracker::set_allowed_motion(int from_location, int to_location) {
+ _allowed_motion[from_location][to_location] = 1;
+}
+
+void Tracker::set_detection_score(int location, int time, scalar_t score) {
+}
+
+void Tracker::track() {
+
+ cout << "Building graph." << endl;
+
+ int nb_motions = 0;
+ for(int l = 0; l < _nb_locations; l++) {
+ 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 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 e = 0;
+
+ 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;
+ 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_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;
+ 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;
+ e++;
+ }
+ }
+ }
+ }
+ }
+}
+
+// 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;
+ // }
+ // }
+ // }
+// }
+
+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) {
+}
--- /dev/null
+
+///////////////////////////////////////////////////////////////////////////
+// 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 <http://www.gnu.org/licenses/>. //
+// //
+// Written by and Copyright (C) Francois Fleuret //
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
+///////////////////////////////////////////////////////////////////////////
+
+#ifndef TRACKER_H
+#define TRACKER_H
+
+#include "misc.h"
+#include "mtp_graph.h"
+
+class Tracker {
+ int _nb_locations, _nb_time_steps;
+ MTPGraph *_graph;
+ scalar_t **_detection_score;
+ int **_allowed_motion;
+
+public:
+ Tracker(int nb_locations, int nb_time_steps);
+ ~Tracker();
+
+ void set_allowed_motion(int from_location, int to_location);
+ void set_detection_score(int location, int time, scalar_t score);
+ void make_graph();
+
+ void track();
+
+ int nb_trajectories();
+ int trajectory_start_time(int k);
+ int trajectory_end_time(int k);
+ int trajectory_location(int k, int time);
+};
+
+#endif
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