X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=mtp.git;a=blobdiff_plain;f=mtp_graph.cc;h=c456601d2c76bb9cc5ef939d561cda3bfaad44dc;hp=eb4d3cce05ff1da3f8cea077bdf6070d5d5eab4c;hb=2862b6274624729936ac877247029409a60137cf;hpb=455e5736828233445ac8aea8f15b3bde7e16e9bf

diff --git a/mtp_graph.cc b/mtp_graph.cc
index eb4d3cc..c456601 100644
--- a/mtp_graph.cc
+++ b/mtp_graph.cc
@@ -1,24 +1,30 @@
 
-///////////////////////////////////////////////////////////////////////////
-// 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 "mtp_graph.h"
 
-#include <iostream>
+// #include <iostream>
 #include <float.h>
 
 using namespace std;
@@ -26,229 +32,410 @@ using namespace std;
 class Edge {
 public:
   int id, occupied;
-  scalar_t length, work_length;
-  Vertex *terminal_vertex;
-  Edge *next, *pred;
+  scalar_t length, positivized_length;
+  Vertex *origin_vertex, *terminal_vertex;
+
+  // These are the links in the origin_vertex leaving edge list
+  Edge *next_leaving_edge, *pred_leaving_edge;
+
+  inline void invert();
 };
 
 class Vertex {
 public:
-  int id, iteration;
-  Edge *root_edge;
+  int id;
+  Edge *leaving_edges;
   scalar_t distance_from_source;
-  Vertex *pred_vertex;
-  Edge *pred_edge;
+  Edge *pred_edge_toward_source;
 
-  Vertex() { root_edge = 0; }
+  int last_change; // Used to mark which edges have already been
+                   // processed in some methods
 
-  inline void add_edge(Edge *e) {
-    e->next = root_edge;
-    e->pred = 0;
-    if(root_edge) { root_edge->pred = e; }
-    root_edge = e;
-  }
+  Vertex();
 
-  inline void del_edge(Edge *e) {
-    if(e == root_edge) { root_edge = e->next; }
-    if(e->pred) { e->pred->next = e->next; }
-    if(e->next) { e->next->pred = e->pred; }
-  }
+  inline void add_leaving_edge(Edge *e);
+  inline void del_leaving_edge(Edge *e);
 };
 
-void MTPGraph::print() {
-  for(int n = 0; n < _nb_vertices; n++) {
-    for(Edge *e = vertices[n].root_edge; e; e = e->next) {
-      cout << n << " -> " << e->terminal_vertex->id << " " << e->length;
-      if(e->occupied) {
-        cout << " *";
-      }
-      cout << endl;
-    }
+//////////////////////////////////////////////////////////////////////
+
+void Edge::invert() {
+  length = - length;
+  positivized_length = - positivized_length;
+  origin_vertex->del_leaving_edge(this);
+  terminal_vertex->add_leaving_edge(this);
+  Vertex *t = terminal_vertex;
+  terminal_vertex = origin_vertex;
+  origin_vertex = t;
+}
+
+//////////////////////////////////////////////////////////////////////
+
+Vertex::Vertex() {
+  leaving_edges = 0;
+}
+
+void Vertex::add_leaving_edge(Edge *e) {
+  e->next_leaving_edge = leaving_edges;
+  e->pred_leaving_edge = 0;
+  if(leaving_edges) { leaving_edges->pred_leaving_edge = e; }
+  leaving_edges = e;
+}
+
+void Vertex::del_leaving_edge(Edge *e) {
+  if(e == leaving_edges) {
+    leaving_edges = e->next_leaving_edge;
+  }
+  if(e->pred_leaving_edge) {
+    e->pred_leaving_edge->next_leaving_edge = e->next_leaving_edge;
+  }
+  if(e->next_leaving_edge) {
+    e->next_leaving_edge->pred_leaving_edge = e->pred_leaving_edge;
   }
 }
 
+//////////////////////////////////////////////////////////////////////
+
 MTPGraph::MTPGraph(int nb_vertices, int nb_edges,
-                   int *from, int *to,
-                   int src, int snk) {
+                   int *vertex_from, int *vertex_to,
+                   int source, int sink) {
   _nb_vertices = nb_vertices;
   _nb_edges = nb_edges;
 
-  edge_heap = new Edge[_nb_edges];
-  vertices = new Vertex[_nb_vertices];
+  _edges = new Edge[_nb_edges];
+  _vertices = new Vertex[_nb_vertices];
+  _front = new Vertex *[_nb_vertices];
+  _new_front = new Vertex *[_nb_vertices];
 
-  source = &vertices[src];
-  sink = &vertices[snk];
+  _source = &_vertices[source];
+  _sink = &_vertices[sink];
 
-  for(int v = 0; v < _nb_vertices; v++) {
-    vertices[v].id = v;
+  for(int k = 0; k < _nb_vertices; k++) {
+    _vertices[k].id = k;
   }
 
   for(int e = 0; e < nb_edges; e++) {
-    vertices[from[e]].add_edge(&edge_heap[e]);
-    edge_heap[e].occupied = 0;
-    edge_heap[e].id = e;
-    edge_heap[e].terminal_vertex = &vertices[to[e]];
+    _vertices[vertex_from[e]].add_leaving_edge(_edges + e);
+    _edges[e].occupied = 0;
+    _edges[e].id = e;
+    _edges[e].origin_vertex = _vertices + vertex_from[e];
+    _edges[e].terminal_vertex = _vertices + vertex_to[e];
   }
+
+  paths = 0;
+  nb_paths = 0;
 }
 
 MTPGraph::~MTPGraph() {
-  delete[] vertices;
-  delete[] edge_heap;
+  delete[] _vertices;
+  delete[] _edges;
+  delete[] _front;
+  delete[] _new_front;
+  for(int p = 0; p < nb_paths; p++) delete paths[p];
+  delete[] paths;
 }
 
-void MTPGraph::initialize_work_lengths() {
-  scalar_t length_min = 0;
-  for(int n = 0; n < _nb_vertices; n++) {
-    for(Edge *e = vertices[n].root_edge; e; e = e->next) {
-      length_min = min(e->length, length_min);
-    }
-  }
-  for(int n = 0; n < _nb_vertices; n++) {
-    for(Edge *e = vertices[n].root_edge; e; e = e->next) {
-      e->work_length = e->length - length_min;
+//////////////////////////////////////////////////////////////////////
+
+void MTPGraph::print(ostream *os) {
+  for(int k = 0; k < _nb_edges; k++) {
+    Edge *e = _edges + k;
+    (*os) << e->origin_vertex->id
+         << " -> "
+         << e->terminal_vertex->id
+         << " "
+         << e->length;
+    if(e->occupied) {
+      (*os) << " *";
     }
+    (*os) << endl;
   }
 }
 
-void MTPGraph::update_work_length() {
-  for(int n = 0; n < _nb_vertices; n++) {
-    scalar_t d = vertices[n].distance_from_source;
-    for(Edge *e = vertices[n].root_edge; e; e = e->next) {
-      e->work_length += d - e->terminal_vertex->distance_from_source;
+void MTPGraph::print_dot(ostream *os) {
+  (*os) << "digraph {" << endl;
+  (*os) << "        rankdir=\"LR\";" << endl;
+  (*os) << "        node [shape=circle,width=0.75,fixedsize=true];" << endl;
+  (*os) << "        edge [color=gray,arrowhead=open]" << endl;
+  (*os) << "        " << _source->id << " [peripheries=2];" << endl;
+  (*os) << "        " << _sink->id << " [peripheries=2];" << endl;
+  for(int k = 0; k < _nb_edges; k++) {
+    Edge *e = _edges + k;
+    // (*os) << "  " << e->origin_vertex->id << " -> " << e->terminal_vertex->id
+    // << ";"
+    // << endl;
+    (*os) << "        " << e->origin_vertex->id << " -> " << e->terminal_vertex->id
+          << " [";
+    if(e->occupied) {
+      (*os) << "style=bold,color=black,";
     }
+    (*os) << "label=\"" << e->length << "\"];" << endl;
   }
+  (*os) << "}" << endl;
 }
 
-void MTPGraph::find_shortest_path(Vertex **front, Vertex **new_front) {
-  Vertex **tmp_front;
-  int tmp_front_size;
-  Vertex *v, *tv;
-  scalar_t d;
+//////////////////////////////////////////////////////////////////////
+
+void MTPGraph::update_positivized_lengths() {
+  for(int k = 0; k < _nb_edges; k++) {
+    Edge *e = _edges + k;
+    e->positivized_length +=
+      e->origin_vertex->distance_from_source - e->terminal_vertex->distance_from_source;
+  }
+}
 
+void MTPGraph::force_positivized_lengths() {
 #ifdef VERBOSE
   scalar_t residual_error = 0.0;
+  scalar_t max_error = 0.0;
 #endif
-  for(int n = 0; n < _nb_vertices; n++) {
-    for(Edge *e = vertices[n].root_edge; e; e = e->next) {
-      if(e->work_length < 0) {
+  for(int k = 0; k < _nb_edges; k++) {
+    Edge *e = _edges + k;
+
+    if(e->positivized_length < 0) {
+
 #ifdef VERBOSE
-        residual_error -= e->work_length;
-#endif
-        e->work_length = 0.0;
+      if((e->origin_vertex->last_change < 0 && e->terminal_vertex->last_change >= 0) ||
+         (e->origin_vertex->last_change >= 0 && e->terminal_vertex->last_change < 0)) {
+        cout << "Inconsistent non-connexity (this should never happen)." << endl;
+        abort();
+      }
+      if(e->origin_vertex->last_change >= 0 &&
+         e->terminal_vertex->last_change >= 0 &&
+         e->positivized_length < 0) {
+        residual_error -= e->positivized_length;
+        max_error = max(max_error, - e->positivized_length);
       }
+#endif
+      e->positivized_length = 0.0;
     }
   }
 #ifdef VERBOSE
-  cerr << "residual_error " << residual_error << endl;
+  cerr << "residual_error " << residual_error << " max_error " << residual_error << endl;
 #endif
+}
+
+int MTPGraph::is_dag() {
+  Vertex *v;
+  Edge *e;
 
-  for(int v = 0; v < _nb_vertices; v++) {
-    vertices[v].distance_from_source = FLT_MAX;
-    vertices[v].pred_vertex = 0;
-    vertices[v].pred_edge = 0;
-    vertices[v].iteration = 0;
+  // We put everybody in the front
+  for(int k = 0; k < _nb_vertices; k++) {
+    _vertices[k].last_change = -1;
+    _front[k] = &_vertices[k];
+  }
+
+  int iteration = 0;
+  int front_size = _nb_vertices, pred_front_size;
+
+  do {
+    // We set the last_change field of all the vertices with incoming
+    // edges to the current iteration value
+    for(int f = 0; f < front_size; f++) {
+      v = _front[f];
+      for(e = v->leaving_edges; e; e = e->next_leaving_edge) {
+        e->terminal_vertex->last_change = iteration;
+      }
+    }
+
+    pred_front_size = front_size;
+    front_size = 0;
+
+    // We keep all the vertices with incoming nodes
+    for(int f = 0; f < pred_front_size; f++) {
+      v = _front[f];
+      if(v->last_change == iteration) {
+        _front[front_size++] = v;
+      }
+    }
+
+    iteration++;
+  } while(front_size < pred_front_size);
+
+  return front_size == 0;
+}
+
+// This method does not change the edge occupation. It only set
+// properly, for every vertex, the fields distance_from_source and
+// pred_edge_toward_source.
+
+void MTPGraph::find_shortest_path() {
+  Vertex **tmp_front;
+  Vertex *v, *tv;
+  Edge *e;
+  scalar_t d;
+
+#ifdef DEBUG
+  if(is_dag()) {
+    cout << "find_shortest_path: DAG -> ok" << endl;
+  } else {
+    for(int e = 0; e < _nb_edges; e++) {
+      if(_edges[e].positivized_length < 0)  abort();
+    }
+    cout << "find_shortest_path: All positivized_length are positive -> ok" << endl;
+  }
+#endif
+
+  for(int k = 0; k < _nb_vertices; k++) {
+    _vertices[k].distance_from_source = FLT_MAX;
+    _vertices[k].pred_edge_toward_source = 0;
+    _vertices[k].last_change = -1;
   }
 
   int iteration = 0;
 
   int front_size = 0, new_front_size;
-  front[front_size++] = source;
-  source->distance_from_source = 0;
+  _front[front_size++] = _source;
+  _source->distance_from_source = 0;
 
   do {
     new_front_size = 0;
-    iteration++;
+
     for(int f = 0; f < front_size; f++) {
-      v = front[f];
-      for(Edge *e = v->root_edge; e; e = e->next) {
-        d = v->distance_from_source + e->work_length;
+      v = _front[f];
+      for(e = v->leaving_edges; e; e = e->next_leaving_edge) {
+        d = v->distance_from_source + e->positivized_length;
         tv = e->terminal_vertex;
         if(d < tv->distance_from_source) {
           tv->distance_from_source = d;
-          tv->pred_vertex = v;
-          tv->pred_edge = e;
-          if(tv->iteration < iteration) {
-            new_front[new_front_size++] = tv;
-            tv->iteration = iteration;
+          tv->pred_edge_toward_source = e;
+          if(tv->last_change < iteration) {
+            _new_front[new_front_size++] = tv;
+            tv->last_change = iteration;
           }
         }
       }
     }
 
-    tmp_front = new_front;
-    new_front = front;
-    front = tmp_front;
+    tmp_front = _new_front; _new_front = _front; _front = tmp_front;
+
+    front_size = new_front_size;
 
-    tmp_front_size = new_front_size;
-    new_front_size = front_size;
-    front_size = tmp_front_size;
+    iteration++;
   } while(front_size > 0);
 }
 
-void MTPGraph::find_best_paths(scalar_t *lengths, int *result_edge_occupation) {
-  Vertex **front = new Vertex *[_nb_vertices];
-  Vertex **new_front = new Vertex *[_nb_vertices];
-
+void MTPGraph::find_best_paths(scalar_t *lengths) {
   scalar_t total_length;
+  Vertex *v;
+  Edge *e;
 
   for(int e = 0; e < _nb_edges; e++) {
-    edge_heap[e].length = lengths[e];
+    _edges[e].length = lengths[e];
+    _edges[e].occupied = 0;
+    _edges[e].positivized_length = _edges[e].length;
   }
 
-  initialize_work_lengths();
+  // We call find_shortest_path here to set properly the distances to
+  // the source, so that we can make all the edge lengths positive at
+  // the first iteration.
+  find_shortest_path();
 
   do {
+    update_positivized_lengths();
+    force_positivized_lengths();
+    find_shortest_path();
+
     total_length = 0.0;
-    find_shortest_path(front, new_front);
-    update_work_length();
 
     // Do we reach the sink?
-    if(sink->pred_edge) {
-
-      // If yes, compute the length of the best path
-      for(Vertex *v = sink; v->pred_edge; v = v->pred_vertex) {
-        total_length += v->pred_edge->length;
+    if(_sink->pred_edge_toward_source) {
+      // If yes, compute the length of the best path according to the
+      // original edge lengths
+      v = _sink;
+      while(v->pred_edge_toward_source) {
+        total_length += v->pred_edge_toward_source->length;
+        v = v->pred_edge_toward_source->origin_vertex;
       }
-
       // If that length is negative
       if(total_length < 0.0) {
+#ifdef VERBOSE
+        cerr << "Found a path of length " << total_length << endl;
+#endif
         // Invert all the edges along the best path
-        for(Vertex *v = sink; v->pred_edge; v = v->pred_vertex) {
-          Edge *e = v->pred_edge;
-          e->terminal_vertex = v->pred_vertex;
+        v = _sink;
+        while(v->pred_edge_toward_source) {
+          e = v->pred_edge_toward_source;
+          v = e->origin_vertex;
+          e->invert();
+          // This is the only place where we change the occupations of
+          // edges
           e->occupied = 1 - e->occupied;
-          e->length = - e->length;
-          e->work_length = - e->work_length;
-          v->pred_vertex->del_edge(e);
-          v->add_edge(e);
         }
       }
     }
+
   } while(total_length < 0.0);
 
-  delete[] front;
-  delete[] new_front;
+  // Put back the graph in its original state (i.e. invert edges which
+  // have been inverted in the process)
+  for(int k = 0; k < _nb_edges; k++) {
+    e = _edges + k;
+    if(e->occupied) { e->invert(); }
+  }
+}
 
-  for(int n = 0; n < _nb_vertices; n++) {
-    Vertex *v = &vertices[n];
-    for(Edge *e = v->root_edge; e; e = e->next) {
-      result_edge_occupation[e->id] = e->occupied;
+int MTPGraph::retrieve_one_path(Edge *e, Path *path) {
+  Edge *f, *next = 0;
+  int l = 0;
+
+  if(path) {
+    path->nodes[l++] = e->origin_vertex->id;
+    path->length = e->length;
+  } else l++;
+
+  while(e->terminal_vertex != _sink) {
+    if(path) {
+      path->nodes[l++] = e->terminal_vertex->id;
+      path->length += e->length;
+    } else l++;
+    int nb_choices = 0;
+    for(f = e->terminal_vertex->leaving_edges; f; f = f->next_leaving_edge) {
+      if(f->occupied) { nb_choices++; next = f; }
+    }
+
+#ifdef DEBUG
+    if(nb_choices == 0) {
+      cerr << "retrieve_one_path: Non-sink end point." << endl;
+      abort();
+    }
+    if(nb_choices > 1) {
+      cerr << "retrieve_one_path: Non node-disjoint paths." << endl;
+      abort();
     }
+#endif
+
+    e = next;
   }
+
+  if(path) {
+    path->nodes[l++] = e->terminal_vertex->id;
+    path->length += e->length;
+  } else l++;
+
+  return l;
 }
 
-void dot_print(int nb_vertices,
-               int nb_edges, int *ea, int *eb, scalar_t *el,
-               int source, int sink,
-               int *edge_occupation) {
-  cout << "digraph {" << endl;
-  cout << "  node[shape=circle];" << endl;
-  for(int e = 0; e < nb_edges; e++) {
-    if(edge_occupation[e]) {
-      cout << "  " << ea[e] << " -> " << eb[e] << " [style=bold,color=black,label=\"" << el[e] << "\"];" << endl;
-    } else {
-      cout << "  " << ea[e] << " -> " << eb[e] << " [color=gray,label=\"" << el[e] << "\"];" << endl;
+void MTPGraph::retrieve_disjoint_paths() {
+  Edge *e;
+
+  for(int p = 0; p < nb_paths; p++) delete paths[p];
+  delete[] paths;
+
+  nb_paths = 0;
+  for(e = _source->leaving_edges; e; e = e->next_leaving_edge) {
+    if(e->occupied) { nb_paths++; }
+  }
+
+  paths = new Path *[nb_paths];
+
+  int p = 0;
+  for(e = _source->leaving_edges; e; e = e->next_leaving_edge) {
+    if(e->occupied) {
+      int l = retrieve_one_path(e, 0);
+      paths[p] = new Path(l);
+      retrieve_one_path(e, paths[p]);
+      p++;
     }
   }
-  cout << "}" << endl;
 }