X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=mtp.git;a=blobdiff_plain;f=tracker.cc;h=d19093b1860a2bb038ff69492f25196fc20eab8b;hp=d3397cf4736a9c14c5aaa1b3d8bf5335f267a1ed;hb=ddbc8b15ea4ff788e10cffd2d3977b65462dd1a7;hpb=9dba69873c4b22f885a70740df7f57b0d6a37fd6

diff --git a/tracker.cc b/tracker.cc
index d3397cf..d19093b 100644
--- a/tracker.cc
+++ b/tracker.cc
@@ -1,20 +1,26 @@
 
-///////////////////////////////////////////////////////////////////////////
-// 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"
 
@@ -22,27 +28,38 @@
 
 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);
+  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++) {
+  for(int l = 0; l < _nb_locations; l++) {
     entrances[l] = 0;
     exits[l] = 0;
-    for(int m = 0; m < nb_locations; m++) {
+    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;
     }
   }
 
@@ -50,10 +67,101 @@ Tracker::Tracker(int nb_time_steps, int nb_locations) {
   _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_score);
+  deallocate_array<scalar_t>(detection_scores);
   deallocate_array<int>(allowed_motion);
   delete[] exits;
   delete[] entrances;
@@ -88,7 +196,7 @@ void Tracker::build_graph() {
     // 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
+    // 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) +
@@ -117,6 +225,8 @@ void Tracker::build_graph() {
     }
   }
 
+  // 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;
@@ -124,26 +234,33 @@ void Tracker::build_graph() {
     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] = late_pair_node(t, 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] = late_pair_node(t, l);
-            node_to[e] = early_pair_node(t+1, 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++;
         }
       }
     }
   }
 
+  // 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]) {
@@ -161,6 +278,8 @@ void Tracker::build_graph() {
     }
   }
 
+  // We are done, build the graph
+
   _graph = new MTPGraph(nb_vertices, nb_edges,
                         node_from, node_to,
                         source, sink);
@@ -173,17 +292,19 @@ 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];
     }
   }