2 ///////////////////////////////////////////////////////////////////////////
3 // This program is free software: you can redistribute it and/or modify //
4 // it under the terms of the version 3 of the GNU General Public License //
5 // as published by the Free Software Foundation. //
7 // This program is distributed in the hope that it will be useful, but //
8 // WITHOUT ANY WARRANTY; without even the implied warranty of //
9 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
10 // General Public License for more details. //
12 // You should have received a copy of the GNU General Public License //
13 // along with this program. If not, see <http://www.gnu.org/licenses/>. //
15 // Written by and Copyright (C) Francois Fleuret //
16 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
17 ///////////////////////////////////////////////////////////////////////////
25 Tracker::Tracker(int nb_time_steps, int nb_locations) {
26 _nb_locations = nb_locations;
27 _nb_time_steps = nb_time_steps;
28 _detection_score = allocate_array<scalar_t>(_nb_time_steps, _nb_locations);
29 _allowed_motion = allocate_array<int>(_nb_locations, _nb_locations);
30 _entrances = new int[_nb_locations];
31 _exits = new int[_nb_locations];
33 for(int l = 0; l < nb_locations; l++) {
36 for(int m = 0; m < nb_locations; m++) {
37 _allowed_motion[l][m] = 0;
46 delete[] _edge_lengths;
48 deallocate_array<scalar_t>(_detection_score);
49 deallocate_array<int>(_allowed_motion);
54 void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
55 _allowed_motion[from_location][to_location] = v;
58 void Tracker::set_as_entrance(int location, int v) {
59 _entrances[location] = v;
62 void Tracker::set_as_exit(int location, int v) {
66 void Tracker::set_detection_score(int time, int location, scalar_t score) {
67 _detection_score[time][location] = score;
70 void Tracker::build_graph() {
71 // Delete existing graph
72 delete[] _edge_lengths;
75 int nb_motions = 0, nb_exits = 0, nb_entrances = 0;
76 for(int l = 0; l < _nb_locations; l++) {
77 if(_exits[l]) nb_exits++;
78 if(_entrances[l]) nb_entrances++;
79 for(int m = 0; m < _nb_locations; m++) {
80 if(_allowed_motion[l][m]) nb_motions++;
84 int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
88 (_nb_time_steps - 2) * (nb_exits + nb_entrances) +
89 (_nb_time_steps - 1) * nb_motions +
90 _nb_locations * _nb_time_steps;
92 int source = 0, sink = nb_vertices - 1;
93 int *node_from = new int[nb_edges];
94 int *node_to = new int[nb_edges];
97 _edge_lengths = new scalar_t[nb_edges];
99 // We put the in-node edges first, since these are the ones whose
100 // lengths we will have to change according to the detection score
102 for(int t = 0; t < _nb_time_steps; t++) {
103 for(int l = 0; l < _nb_locations; l++) {
104 node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
105 node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
110 // We put the other edges after
111 for(int l = 0; l < _nb_locations; l++) {
112 node_from[e] = source;
113 node_to[e] = 1 + l + 0 * _nb_locations;
114 _edge_lengths[e] = 0.0;
118 for(int t = 0; t < _nb_time_steps; t++) {
119 for(int l = 0; l < _nb_locations; l++) {
120 if(t == _nb_time_steps - 1) {
121 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
123 _edge_lengths[e] = 0.0;
126 for(int k = 0; k < _nb_locations; k++) {
127 if(_allowed_motion[l][k]) {
128 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
129 node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
130 _edge_lengths[e] = 0.0;
138 for(int t = 1; t < _nb_time_steps-1; t++) {
139 for(int l = 0; l < _nb_locations; l++) {
141 node_from[e] = source;
142 node_to[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
143 _edge_lengths[e] = 0.0;
147 node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
149 _edge_lengths[e] = 0.0;
155 _graph = new MTPGraph(nb_vertices, nb_edges,
163 void Tracker::print_dot_graph(ostream *os) {
164 _graph->print_dot(os);
167 void Tracker::track() {
169 for(int t = 0; t < _nb_time_steps; t++) {
170 for(int l = 0; l < _nb_locations; l++) {
171 _edge_lengths[e++] = - _detection_score[t][l];
175 _graph->find_best_paths(_edge_lengths);
176 _graph->retrieve_disjoint_paths();
179 for(int p = 0; p < _graph->nb_paths; p++) {
180 Path *path = _graph->paths[p];
181 cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
182 for(int n = 1; n < path->length; n++) {
183 cout << " -> " << path->nodes[n];
190 int Tracker::nb_trajectories() {
191 return _graph->nb_paths;
194 int Tracker::trajectory_entrance_time(int k) {
195 return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
198 int Tracker::trajectory_duration(int k) {
199 return (_graph->paths[k]->length - 2) / 2;
202 int Tracker::trajectory_location(int k, int time) {
203 return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;