-///////////////////////////////////////////////////////////////////////////
-// 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 //
-///////////////////////////////////////////////////////////////////////////
+/*
+ * 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"
using namespace std;
-Tracker::Tracker(int nb_time_steps, int nb_locations) {
+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_score = allocate_array<scalar_t>(_nb_time_steps, _nb_locations);
- _allowed_motion = allocate_array<int>(_nb_locations, _nb_locations);
+ 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];
+ 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 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_score[t][l] = 0.0;
+ detection_scores[t][l] = 0.0;
}
}
_graph = 0;
}
-Tracker::~Tracker() {
- delete[] _edge_lengths;
- delete _graph;
- deallocate_array<scalar_t>(_detection_score);
- deallocate_array<int>(_allowed_motion);
- delete[] _exits;
- delete[] _entrances;
+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::set_allowed_motion(int from_location, int to_location, int v) {
- ASSERT(from_location >= 0 && from_location < _nb_locations &&
- to_location >= 0 && to_location < _nb_locations);
- _allowed_motion[from_location][to_location] = v;
+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;
}
-void Tracker::set_as_entrance(int location, int v) {
- ASSERT(location >= 0 && location < _nb_locations);
- _entrances[location] = v;
+Tracker::~Tracker() {
+ delete[] _edge_lengths;
+ delete _graph;
+ deallocate_array<scalar_t>(detection_scores);
+ deallocate_array<int>(allowed_motion);
+ delete[] exits;
+ delete[] entrances;
}
-void Tracker::set_as_exit(int location, int v) {
- ASSERT(location >= 0 && location < _nb_locations);
- _exits[location] = v;
+int Tracker::early_pair_node(int t, int l) {
+ return 1 + (2 * (t + 0) + 0) * _nb_locations + l;
}
-void Tracker::set_detection_score(int time, int location, scalar_t score) {
- ASSERT(time >= 0 && time < _nb_time_steps &&
- location >= 0 && location < _nb_locations);
- _detection_score[time][location] = score;
+int Tracker::late_pair_node(int t, int l) {
+ return 1 + (2 * (t + 0) + 1) * _nb_locations + l;
}
void Tracker::build_graph() {
- // Delete existing graph if there was one
+ // 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++;
+ 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++;
+ if(allowed_motion[l][m]) nb_motions++;
}
}
// 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 exists
- // to the sink (in every time frames but the first and last)
- (_nb_time_steps - 2) * (nb_exits + nb_entrances) +
- // The edges for the motions, between every pair of successive
- // frames
+ // 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;
_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 according to the detection score
+ // 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] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
- node_to[e] = 1 + (2 * (t + 0) + 1) * _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;
e++;
}
- for(int t = 0; t < _nb_time_steps; t++) {
+ // 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++) {
- 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;
- 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;
- e++;
- }
+ 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++;
}
}
}
}
- for(int t = 1; t < _nb_time_steps-1; t++) {
+ // 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(_entrances[l]) {
+ if(t > 0 && entrances[l]) {
node_from[e] = source;
- node_to[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
+ node_to[e] = early_pair_node(t, l);
_edge_lengths[e] = 0.0;
e++;
}
- if(_exits[l]) {
- node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
+ 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_to;
}
-void Tracker::print_dot_graph(ostream *os) {
+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_score[t][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_score[t][l];
+ _edge_lengths[e++] = - detection_scores[t][l];
}
}
#ifdef VERBOSE
for(int p = 0; p < _graph->nb_paths; p++) {
Path *path = _graph->paths[p];
- cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
- for(int n = 1; n < path->length; n++) {
+ 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;
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]->length - 2) / 2;
+ return (_graph->paths[k]->nb_nodes - 2) / 2;
}
-int Tracker::trajectory_location(int k, int time) {
- return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;
+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