Some refactoring to reuse the same graph for several trackings.

diff --git a/mtp.cc b/mtp.cc
index bd6d296..e330ce3 100644 (file)
--- a/mtp.cc
+++ b/mtp.cc
@@ -49,25 +49,30 @@ void find_best_paths(int nb_vertices,
 //////////////////////////////////////////////////////////////////////
 
 int main(int argc, char **argv) {
-  int nb_locations = 3;
-  int nb_time_steps = 4;
+  int nb_locations = 4;
+  int nb_time_steps = 3;
 
-  Tracker tracker(nb_time_steps, nb_locations);
+  {
+    Tracker tracker(nb_time_steps, nb_locations);
 
-  for(int l = 0; l < nb_locations; l++) {
-    for(int k = 0; k < nb_locations; k++) {
-      if(abs(l - k) <= 1) tracker.set_allowed_motion(l, k);
+    for(int l = 0; l < nb_locations; l++) {
+      for(int k = 0; k < nb_locations; k++) {
+        tracker.set_allowed_motion(l, k, abs(l - k) <= 1);
+      }
     }
-  }
 
-  for(int t = 0; t < nb_time_steps; t++) {
-    for(int l = 0; l < nb_locations; l++) {
-      tracker.set_detection_score(t, l, -1.0);
+    for(int t = 0; t < nb_time_steps; t++) {
+      for(int l = 0; l < nb_locations; l++) {
+        tracker.set_detection_score(t, l,
+                                    (drand48() < 0.95 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
+      }
+      tracker.set_detection_score(t, 0,
+                                  (drand48() < 0.95 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
     }
-    tracker.set_detection_score(t, 0, 1.0);
-  }
 
-  tracker.track();
+    tracker.build_graph();
+    tracker.track();
+  }
 
   exit(0);
 
@@ -100,10 +105,10 @@ int main(int argc, char **argv) {
                     source, sink,
                     result_edge_occupation);
 
-    dot_print(nb_vertices, nb_edges,
-              vertex_from, vertex_to, edge_lengths,
-              source, sink,
-              result_edge_occupation);
+    // dot_print(nb_vertices, nb_edges,
+              // vertex_from, vertex_to, edge_lengths,
+              // source, sink,
+              // result_edge_occupation);
 
     delete[] result_edge_occupation;
     delete[] edge_lengths;

diff --git a/mtp_graph.cc b/mtp_graph.cc
index eb4d3cc..c2a7fa3 100644 (file)
--- a/mtp_graph.cc
+++ b/mtp_graph.cc
@@ -67,33 +67,64 @@ void MTPGraph::print() {
   }
 }
 
+void MTPGraph::print_dot() {
+  cout << "digraph {" << endl;
+  cout << "  node[shape=circle];" << endl;
+  for(int n = 0; n < _nb_vertices; n++) {
+    int a = vertices[n].id;
+    for(Edge *e = vertices[n].root_edge; e; e = e->next) {
+      int b = e->terminal_vertex->id;
+      if(e->occupied) {
+        cout << "  " << b << " -> " << a << " [style=bold,color=black,label=\"" << -e->length << "\"];" << endl;
+      } else {
+        cout << "  " << a << " -> " << b << " [color=gray,label=\"" << e->length << "\"];" << endl;
+      }
+    }
+  }
+  cout << "}" << endl;
+}
+
+
+void dot_print(int nb_vertices,
+               int nb_edges, int *ea, int *eb, scalar_t *el,
+               int _source, int _sink,
+               int *edge_occupation) {
+  for(int e = 0; e < nb_edges; e++) {
+  }
+  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];
+  edges = new Edge[_nb_edges];
   vertices = new Vertex[_nb_vertices];
 
-  source = &vertices[src];
-  sink = &vertices[snk];
+  _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]];
+    vertices[from[e]].add_edge(&edges[e]);
+    edges[e].occupied = 0;
+    edges[e].id = e;
+    edges[e].terminal_vertex = &vertices[to[e]];
   }
+
+  _front = new Vertex *[_nb_vertices];
+  _new_front = new Vertex *[_nb_vertices];
 }
 
 MTPGraph::~MTPGraph() {
   delete[] vertices;
-  delete[] edge_heap;
+  delete[] edges;
+  delete[] _front;
+  delete[] _new_front;
 }
 
 void MTPGraph::initialize_work_lengths() {
@@ -119,7 +150,7 @@ void MTPGraph::update_work_length() {
   }
 }
 
-void MTPGraph::find_shortest_path(Vertex **front, Vertex **new_front) {
+void MTPGraph::find_shortest_path(Vertex **_front, Vertex **_new_front) {
   Vertex **tmp_front;
   int tmp_front_size;
   Vertex *v, *tv;
@@ -151,15 +182,15 @@ void MTPGraph::find_shortest_path(Vertex **front, Vertex **new_front) {
 
   int iteration = 0;
 
-  int front_size = 0, new_front_size;
-  front[front_size++] = source;
-  source->distance_from_source = 0;
+  int _front_size = 0, _new_front_size;
+  _front[_front_size++] = _source;
+  _source->distance_from_source = 0;
 
   do {
-    new_front_size = 0;
+    _new_front_size = 0;
     iteration++;
-    for(int f = 0; f < front_size; f++) {
-      v = front[f];
+    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;
@@ -168,52 +199,49 @@ void MTPGraph::find_shortest_path(Vertex **front, Vertex **new_front) {
           tv->pred_vertex = v;
           tv->pred_edge = e;
           if(tv->iteration < iteration) {
-            new_front[new_front_size++] = tv;
+            _new_front[_new_front_size++] = tv;
             tv->iteration = iteration;
           }
         }
       }
     }
 
-    tmp_front = new_front;
-    new_front = front;
-    front = tmp_front;
+    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);
+    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];
+    edges[e].length = lengths[e];
   }
 
   initialize_work_lengths();
 
   do {
     total_length = 0.0;
-    find_shortest_path(front, new_front);
+    find_shortest_path(_front, _new_front);
     update_work_length();
 
-    // Do we reach the sink?
-    if(sink->pred_edge) {
+    // 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) {
+      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) {
+        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;
@@ -226,9 +254,6 @@ void MTPGraph::find_best_paths(scalar_t *lengths, int *result_edge_occupation) {
     }
   } 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) {
@@ -236,19 +261,3 @@ void MTPGraph::find_best_paths(scalar_t *lengths, int *result_edge_occupation) {
     }
   }
 }
-
-void dot_print(int nb_vertices,
-               int nb_edges, int *ea, int *eb, scalar_t *el,
-               int source, int sink,
-               int *edge_occupation) {
-  cout << "digraph {" << endl;
-  cout << "  node[shape=circle];" << endl;
-  for(int e = 0; e < nb_edges; e++) {
-    if(edge_occupation[e]) {
-      cout << "  " << ea[e] << " -> " << eb[e] << " [style=bold,color=black,label=\"" << el[e] << "\"];" << endl;
-    } else {
-      cout << "  " << ea[e] << " -> " << eb[e] << " [color=gray,label=\"" << el[e] << "\"];" << endl;
-    }
-  }
-  cout << "}" << endl;
-}

diff --git a/mtp_graph.h b/mtp_graph.h
index 9c14ea2..699ee16 100644 (file)
--- a/mtp_graph.h
+++ b/mtp_graph.h
@@ -30,10 +30,12 @@ class MTPGraph {
   void find_shortest_path(Vertex **front, Vertex **new_front);
 
   int _nb_vertices, _nb_edges;
-  Edge *edge_heap;
-  Vertex *vertices;
-  Vertex *source, *sink;
+  Vertex *_source, *_sink;
+  Vertex **_front, **_new_front;
 public:
+  Edge *edges;
+  Vertex *vertices;
+
   MTPGraph(int nb_vertices, int nb_edges, int *from, int *to,
            int source, int sink);
 
@@ -41,11 +43,7 @@ public:
 
   void find_best_paths(scalar_t *lengths, int *result_edge_occupation);
   void print();
+  void print_dot();
 };
 
-void dot_print(int nb_vertices,
-               int nb_edges, int *ea, int *eb, scalar_t *el,
-               int source, int sink,
-               int *edge_occupation);
-
 #endif

diff --git a/tracker.cc b/tracker.cc
index e0b0903..8490d6f 100644 (file)
--- a/tracker.cc
+++ b/tracker.cc
@@ -32,22 +32,32 @@ Tracker::Tracker(int nb_time_steps, int nb_locations) {
       _allowed_motion[l][m] = 0;
     }
   }
+
+  _edge_lengths = 0;
+  _graph = 0;
+  _edge_occupation = 0;
 }
 
 Tracker::~Tracker() {
+  delete[] _edge_lengths;
+  delete _graph;
+  delete[] _edge_occupation;
+  deallocate_array<scalar_t>(_detection_score);
+  deallocate_array<int>(_allowed_motion);
 }
 
-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) {
+  _allowed_motion[from_location][to_location] = v;
 }
 
 void Tracker::set_detection_score(int time, int location, scalar_t score) {
   _detection_score[time][location] = score;
 }
 
-void Tracker::track() {
-
-  cerr << "Building graph." << endl;
+void Tracker::build_graph() {
+  delete[] _edge_lengths;
+  delete[] _graph;
+  delete[] _edge_occupation;
 
   int nb_motions = 0;
   for(int l = 0; l < _nb_locations; l++) {
@@ -57,41 +67,51 @@ void Tracker::track() {
   }
 
   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 nb_edges = _nb_locations * 2
+    + (_nb_time_steps - 1) * nb_motions
+    + _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_lengths = new scalar_t[nb_edges];
   int e = 0;
 
+  _edge_lengths = new scalar_t[nb_edges];
+  _edge_occupation = new int[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++;
+    }
+  }
+
+  // We put the other edges after
+
   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_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;
+            _edge_lengths[e] = 0.0;
             e++;
           }
         }
@@ -99,35 +119,29 @@ void Tracker::track() {
     }
   }
 
-  cerr << "DEBUG e = " << e << " nb_edges = " << nb_edges << endl;
+  _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::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];
+      e++;
+    }
+  }
 
-  dot_print(nb_vertices, nb_edges, node_from, node_to, edge_lengths,
-            source, sink,
-            edge_occupation);
+  _graph->find_best_paths(_edge_lengths, _edge_occupation);
 
-  delete[] edge_occupation;
-  delete _graph;
+  _graph->print_dot();
 }
 
 // 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() {

diff --git a/tracker.h b/tracker.h
index 4143cf5..d8cb811 100644 (file)
--- a/tracker.h
+++ b/tracker.h
@@ -24,15 +24,19 @@
 
 class Tracker {
   int _nb_locations, _nb_time_steps;
-  MTPGraph *_graph;
   scalar_t **_detection_score;
   int **_allowed_motion;
 
+  MTPGraph *_graph;
+  int *_edge_occupation;
+  scalar_t *_edge_lengths;
 public:
   Tracker(int nb_time_steps, int nb_locations);
   ~Tracker();
 
-  void set_allowed_motion(int from_location, int to_location);
+  void set_allowed_motion(int from_location, int to_location, int v);
+  void build_graph();
+
   void set_detection_score(int time, int location, scalar_t score);
 
   void track();