-///////////////////////////////////////////////////////////////////////////
-// 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 //
-///////////////////////////////////////////////////////////////////////////
-
-// Multi-Tracked Path
+/*
+ * mtp is the ``Multi Tracked Paths'', an implementation of the
+ * k-shortest paths algorithm for multi-target tracking.
+ *
+ * Copyright (c) 2012 Idiap Research Institute, http://www.idiap.ch/
+ * Written by Francois Fleuret <francois.fleuret@idiap.ch>
+ *
+ * This file is part of mtp.
+ *
+ * mtp is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 3 as
+ * published by the Free Software Foundation.
+ *
+ * mtp 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 selector. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
#include <iostream>
#include <fstream>
using namespace std;
-#include "tracker.h"
+#include "mtp_tracker.h"
-//////////////////////////////////////////////////////////////////////
+int main(int argc, char **argv) {
+ time_t start_time, end_time;
-scalar_t detection_score(scalar_t a, scalar_t b, scalar_t score_noise, scalar_t flip_noise) {
- if(drand48() > flip_noise) {
- return a + score_noise * (2.0 * drand48() - 1.0);
- } else {
- return b + score_noise * (2.0 * drand48() - 1.0);
+ if(argc < 2) {
+ cerr << argv[0] << " <tracker file>" << endl;
+ exit(EXIT_FAILURE);
}
-}
-int main(int argc, char **argv) {
- int nb_locations = 7;
- int nb_time_steps = 8;
- int motion_amplitude = 1;
-
- Tracker *tracker = new Tracker(nb_time_steps, nb_locations);
-
- for(int l = 0; l < nb_locations; l++) {
- for(int k = 0; k < nb_locations; k++) {
- tracker->allowed_motion[l][k] = abs(l - k) <= motion_amplitude;
- }
- tracker->entrances[0] = 1;
- tracker->exits[nb_locations - 1] = 1;
- }
+ ifstream *in_tracker = new ifstream(argv[1]);
- tracker->build_graph();
+ if(in_tracker->good()) {
- // We generate synthetic detection scores at location
- // nb_locations/2, with 5% false detection (FP or FN)
+ MTPTracker *tracker = new MTPTracker();
- scalar_t flip_noise = 0.01;
- scalar_t score_noise = 0.0;
+ cout << "Reading " << argv[1] << "." << endl;
+ tracker->read(in_tracker);
- for(int t = 0; t < nb_time_steps; t++) {
- for(int l = 0; l < nb_locations; l++) {
- tracker->detection_score[t][l] = detection_score(-1.0, 1.0, score_noise, flip_noise);
- }
- }
+ cout << "Building the graph ... "; cout.flush();
+ start_time = time(0);
+ tracker->build_graph();
+ end_time = time(0);
+ cout << "done (" << end_time - start_time << "s)." << endl;
- // for(int t = 0; t < nb_time_steps; t++) {
- // tracker->detection_score[t][nb_locations/2] = detection_score(1, score_noise, flip_noise);
- // }
-
- // Puts two target with the typical local minimum
-
- int la, lb;
- scalar_t sa, sb;
- for(int t = 0; t < nb_time_steps; t++) {
- // Target a moves from location 0 to the middle and comes back,
- // and is strongly detected on the first half, target b moves from
- // location nb_locations-1 to the middle and comes back, and is
- // strongly detected on the second half
- if(t < nb_time_steps/2) {
- la = t;
- lb = nb_locations - 1 - t;
- sa = detection_score(10.0, -1.0, score_noise, flip_noise);
- sb = detection_score( 1.0, -1.0, score_noise, flip_noise);
- } else {
- la = nb_time_steps - 1 - t;
- lb = t - nb_time_steps + nb_locations;
- sa = detection_score( 1.0, -1.0, score_noise, flip_noise);
- sb = detection_score(10.0, -1.0, score_noise, flip_noise);
- }
-
- if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
- if(lb < nb_locations/2 + 1) lb = nb_locations/2 + 1;
-
- tracker->detection_score[t][la] = sa;
- tracker->detection_score[t][lb] = sb;
- }
+ cout << "Tracking ... "; cout.flush();
+ start_time = time(0);
+ tracker->track();
+ end_time = time(0);
+ cout << "done (" << end_time - start_time << "s)." << endl;
- tracker->track();
-
- for(int t = 0; t < tracker->nb_trajectories(); t++) {
- cout << "TRAJECTORY "
- << t
- << " [starting " << tracker->trajectory_entrance_time(t)
- << ", score " << tracker->trajectory_score(t) << "]";
- for(int u = 0; u < tracker->trajectory_duration(t); u++) {
- cout << " " << tracker->trajectory_location(t, u);
- }
- cout << endl;
- }
+ ofstream out_traj("result.trj");
+ tracker->write_trajectories(&out_traj);
+ cout << "Wrote result.trj" << endl;
+
+ ofstream out_dot("graph.dot");
+ tracker->print_graph_dot(&out_dot);
+ cout << "Wrote graph.dot" << endl;
+
+ delete tracker;
+
+ } else {
+
+ cerr << "Can not open " << argv[1] << endl;
+ exit(EXIT_FAILURE);
- {
- ofstream dot("graph.dot");
- tracker->print_graph_dot(&dot);
- cout << "Wrote graph.dot." << endl;
}
- delete tracker;
+ delete in_tracker;
exit(EXIT_SUCCESS);
}
projects / mtp.git / blobdiff