-///////////////////////////////////////////////////////////////////////////
-// 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
-
-// Takes the graph description file as input and produces a dot file.
-
-// EXAMPLE: ./mtp ./graph2.txt | dot -T pdf -o- | xpdf -
+/*
+ * 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>
-#include <cmath>
-#include <stdio.h>
-#include <stdlib.h>
-#include <float.h>
using namespace std;
-#include "mtp_graph.h"
-#include "tracker.h"
-
-//////////////////////////////////////////////////////////////////////
-
-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) {
- MTPGraph graph(nb_vertices, nb_edges, ea, eb, source, sink);
- graph.find_best_paths(el, result_edge_occupation);
-}
-
-//////////////////////////////////////////////////////////////////////
+#include "mtp_tracker.h"
int main(int argc, char **argv) {
- // int nb_locations = 6;
- // int nb_time_steps = 5;
-
- // {
- // Tracker tracker(nb_time_steps, nb_locations);
-
- // 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,
- // (drand48() < 0.9 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
- // }
- // tracker.set_detection_score(t, 0,
- // (drand48() < 0.9 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
- // }
-
- // tracker.build_graph();
- // tracker.track();
- // }
-
- // exit(0);
+ time_t start_time, end_time;
if(argc < 2) {
- cerr << argv[0] << " <graph file>" << endl;
+ cerr << argv[0] << " <tracker file>" << endl;
exit(EXIT_FAILURE);
}
- ifstream *file = new ifstream(argv[1]);
+ ifstream *in_tracker = new ifstream(argv[1]);
- int nb_edges, nb_vertices;
- int source, sink;
+ if(in_tracker->good()) {
- if(file->good()) {
+ MTPTracker *tracker = new MTPTracker();
- (*file) >> nb_vertices >> nb_edges;
- (*file) >> source >> sink;
+ cout << "Reading " << argv[1] << "." << endl;
+ tracker->read(in_tracker);
- scalar_t *edge_lengths = new scalar_t[nb_edges];
- int *vertex_from = new int[nb_edges];
- int *vertex_to = new int[nb_edges];
- int *result_edge_occupation = new int[nb_edges];
+ 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 e = 0; e < nb_edges; e++) {
- (*file) >> vertex_from[e] >> vertex_to[e] >> edge_lengths[e];
- }
+ cout << "Tracking ... "; cout.flush();
+ start_time = time(0);
+ tracker->track();
+ end_time = time(0);
+ cout << "done (" << end_time - start_time << "s)." << endl;
- find_best_paths(nb_vertices, nb_edges,
- vertex_from, vertex_to, edge_lengths,
- source, sink,
- result_edge_occupation);
+ ofstream out_traj("result.trj");
+ tracker->write_trajectories(&out_traj);
+ cout << "Wrote result.trj" << endl;
- // dot_print(nb_vertices, nb_edges,
- // vertex_from, vertex_to, edge_lengths,
- // source, sink,
- // result_edge_occupation);
+ ofstream out_dot("graph.dot");
+ tracker->print_graph_dot(&out_dot);
+ cout << "Wrote graph.dot" << endl;
- delete[] result_edge_occupation;
- delete[] edge_lengths;
- delete[] vertex_from;
- delete[] vertex_to;
+ delete tracker;
} else {
cerr << "Can not open " << argv[1] << endl;
-
- delete file;
exit(EXIT_FAILURE);
}
- delete file;
+ delete in_tracker;
+
exit(EXIT_SUCCESS);
}
projects / mtp.git / blobdiff