+++ /dev/null
-
-/*
- * 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 "tracker.h"
-
-#include <iostream>
-
-using namespace std;
-
-void Tracker::free() {
- delete[] _edge_lengths;
- delete _graph;
- deallocate_array<scalar_t>(detection_scores);
- deallocate_array<int>(allowed_motion);
- delete[] exits;
- delete[] entrances;
-}
-
-void Tracker::allocate(int nb_time_steps, int nb_locations) {
- free();
-
- _nb_locations = nb_locations;
- _nb_time_steps = nb_time_steps;
-
- detection_scores = allocate_array<scalar_t>(_nb_time_steps, _nb_locations);
- allowed_motion = allocate_array<int>(_nb_locations, _nb_locations);
-
- entrances = new int[_nb_locations];
- exits = new int[_nb_locations];
-
- for(int l = 0; l < _nb_locations; l++) {
- entrances[l] = 0;
- exits[l] = 0;
- for(int m = 0; m < _nb_locations; m++) {
- allowed_motion[l][m] = 0;
- }
- }
-
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- detection_scores[t][l] = 0.0;
- }
- }
-
- _edge_lengths = 0;
- _graph = 0;
-}
-
-void Tracker::write(ostream *os) {
- (*os) << _nb_locations << " " << _nb_time_steps <<endl;
-
- (*os) << endl;
-
- for(int l = 0; l < _nb_locations; l++) {
- for(int m = 0; m < _nb_locations; m++) {
- (*os) << allowed_motion[l][m];
- if(m < _nb_locations - 1) (*os) << " "; else (*os) << endl;
- }
- }
-
- (*os) << endl;
-
- for(int l = 0; l < _nb_locations; l++) {
- (*os) << entrances[l];
- if(l < _nb_locations - 1) (*os) << " "; else (*os) << endl;
- }
-
- (*os) << endl;
-
- for(int l = 0; l < _nb_locations; l++) {
- (*os) << exits[l];
- if(l < _nb_locations - 1) (*os) << " "; else (*os) << endl;
- }
-
- (*os) << endl;
-
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- (*os) << detection_scores[t][l];
- if(l < _nb_locations - 1) (*os) << " "; else (*os) << endl;
- }
- }
-}
-
-void Tracker::read(istream *is) {
- int nb_locations, nb_time_steps;
-
- (*is) >> nb_locations >> nb_time_steps;
-
- allocate(nb_time_steps, nb_locations);
-
- for(int l = 0; l < _nb_locations; l++) {
- for(int m = 0; m < _nb_locations; m++) {
- (*is) >> allowed_motion[l][m];
- }
- }
-
- for(int l = 0; l < _nb_locations; l++) {
- (*is) >> entrances[l];
- }
-
- for(int l = 0; l < _nb_locations; l++) {
- (*is) >> exits[l];
- }
-
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- (*is) >> detection_scores[t][l];
- }
- }
-}
-
-void Tracker::write_trajectories(ostream *os) {
- for(int t = 0; t < nb_trajectories(); t++) {
- (*os) << t
- << " " << trajectory_entrance_time(t)
- << " " << trajectory_duration(t)
- << " " << trajectory_score(t);
- for(int u = 0; u < trajectory_duration(t); u++) {
- (*os) << " " << trajectory_location(t, u);
- }
- (*os) << endl;
- }
-}
-
-Tracker::Tracker() {
- _nb_locations = 0;
- _nb_time_steps = 0;
-
- detection_scores = 0;
- allowed_motion = 0;
-
- entrances = 0;
- exits = 0;
-
- _edge_lengths = 0;
- _graph = 0;
-}
-
-Tracker::~Tracker() {
- delete[] _edge_lengths;
- delete _graph;
- deallocate_array<scalar_t>(detection_scores);
- deallocate_array<int>(allowed_motion);
- delete[] exits;
- delete[] entrances;
-}
-
-int Tracker::early_pair_node(int t, int l) {
- return 1 + (2 * (t + 0) + 0) * _nb_locations + l;
-}
-
-int Tracker::late_pair_node(int t, int l) {
- return 1 + (2 * (t + 0) + 1) * _nb_locations + l;
-}
-
-void Tracker::build_graph() {
- // Delete the existing graph if there was one
- delete[] _edge_lengths;
- delete _graph;
-
- int nb_motions = 0, nb_exits = 0, nb_entrances = 0;
-
- for(int l = 0; l < _nb_locations; l++) {
- if(exits[l]) nb_exits++;
- if(entrances[l]) nb_entrances++;
- for(int m = 0; m < _nb_locations; m++) {
- if(allowed_motion[l][m]) nb_motions++;
- }
- }
-
- int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
-
- int nb_edges =
- // The edges from the source to the first frame, and from the last
- // frame to the sink
- _nb_locations * 2 +
- // The edges from the source to the entrances and from the exits
- // to the sink (in every time frames but the first for the
- // entrances, and last for the exits)
- (_nb_time_steps - 1) * (nb_exits + nb_entrances) +
- // The edges for the motions, between every successive frames
- (_nb_time_steps - 1) * nb_motions +
- // The edges inside the duplicated nodes
- _nb_locations * _nb_time_steps;
-
- int *node_from = new int[nb_edges];
- int *node_to = new int[nb_edges];
-
- int source = 0, sink = nb_vertices - 1;
- int e = 0;
-
- _edge_lengths = new scalar_t[nb_edges];
-
- // We put the in-node edges first, since these are the ones whose
- // lengths we will have to change before tracking, according to the
- // detection scores
-
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- node_from[e] = early_pair_node(t, l);
- node_to[e] = late_pair_node(t, l);
- e++;
- }
- }
-
- // The edges from the source to the first time frame
-
- 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;
- e++;
- }
-
- // The edges from the last frame to the sink
-
- for(int l = 0; l < _nb_locations; l++) {
- node_from[e] = late_pair_node(_nb_time_steps - 1, l);
- node_to[e] = sink;
- _edge_lengths[e] = 0.0;
- e++;
- }
-
- // The edges between frames, corresponding to allowed motions
-
- for(int t = 0; t < _nb_time_steps - 1; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- for(int k = 0; k < _nb_locations; k++) {
- if(allowed_motion[l][k]) {
- node_from[e] = late_pair_node(t, l);
- node_to[e] = early_pair_node(t+1, k);
- _edge_lengths[e] = 0.0;
- e++;
- }
- }
- }
- }
-
- // The edges from the source to the entrances, and from the exits to
- // the sink
-
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- if(t > 0 && entrances[l]) {
- node_from[e] = source;
- node_to[e] = early_pair_node(t, l);
- _edge_lengths[e] = 0.0;
- e++;
- }
- if(t < _nb_time_steps - 1 && exits[l]) {
- node_from[e] = late_pair_node(t, l);
- node_to[e] = sink;
- _edge_lengths[e] = 0.0;
- e++;
- }
- }
- }
-
- // We are done, build the graph
-
- _graph = new MTPGraph(nb_vertices, nb_edges,
- node_from, node_to,
- source, sink);
-
- delete[] node_from;
- delete[] node_to;
-}
-
-void Tracker::print_graph_dot(ostream *os) {
- int e = 0;
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- _edge_lengths[e++] = - detection_scores[t][l];
- }
- }
- _graph->print_dot(os);
-}
-
-void Tracker::track() {
- ASSERT(_graph);
-
- int e = 0;
- for(int t = 0; t < _nb_time_steps; t++) {
- for(int l = 0; l < _nb_locations; l++) {
- _edge_lengths[e++] = - detection_scores[t][l];
- }
- }
-
- _graph->find_best_paths(_edge_lengths);
- _graph->retrieve_disjoint_paths();
-
-#ifdef VERBOSE
- for(int p = 0; p < _graph->nb_paths; p++) {
- Path *path = _graph->paths[p];
- cout << "PATH " << p << " [length " << path->nb_nodes << "] " << path->nodes[0];
- for(int n = 1; n < path->nb_nodes; n++) {
- cout << " -> " << path->nodes[n];
- }
- cout << endl;
- }
-#endif
-}
-
-int Tracker::nb_trajectories() {
- return _graph->nb_paths;
-}
-
-scalar_t Tracker::trajectory_score(int k) {
- return -_graph->paths[k]->length;
-}
-
-int Tracker::trajectory_entrance_time(int k) {
- return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
-}
-
-int Tracker::trajectory_duration(int k) {
- return (_graph->paths[k]->nb_nodes - 2) / 2;
-}
-
-int Tracker::trajectory_location(int k, int time_from_entry) {
- return (_graph->paths[k]->nodes[2 * time_from_entry + 1] - 1) % _nb_locations;
-}
projects / mtp.git / blobdiff