2 ///////////////////////////////////////////////////////////////////////////
3 // This program is free software: you can redistribute it and/or modify //
4 // it under the terms of the version 3 of the GNU General Public License //
5 // as published by the Free Software Foundation. //
7 // This program is distributed in the hope that it will be useful, but //
8 // WITHOUT ANY WARRANTY; without even the implied warranty of //
9 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
10 // General Public License for more details. //
12 // You should have received a copy of the GNU General Public License //
13 // along with this program. If not, see <http://www.gnu.org/licenses/>. //
15 // Written by and Copyright (C) Francois Fleuret //
16 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
17 ///////////////////////////////////////////////////////////////////////////
28 //////////////////////////////////////////////////////////////////////
30 scalar_t detection_score(scalar_t a, scalar_t b, scalar_t score_noise, scalar_t flip_noise) {
31 if(drand48() > flip_noise) {
32 return a + score_noise * (2.0 * drand48() - 1.0);
34 return b + score_noise * (2.0 * drand48() - 1.0);
38 int main(int argc, char **argv) {
40 int nb_time_steps = 8;
41 int motion_amplitude = 1;
43 Tracker *tracker = new Tracker(nb_time_steps, nb_locations);
45 for(int l = 0; l < nb_locations; l++) {
46 for(int k = 0; k < nb_locations; k++) {
47 tracker->allowed_motion[l][k] = abs(l - k) <= motion_amplitude;
49 tracker->entrances[0] = 1;
50 tracker->exits[nb_locations - 1] = 1;
53 tracker->build_graph();
55 // We generate synthetic detection scores at location
56 // nb_locations/2, with 5% false detection (FP or FN)
58 scalar_t flip_noise = 0.01;
59 scalar_t score_noise = 0.0;
61 for(int t = 0; t < nb_time_steps; t++) {
62 for(int l = 0; l < nb_locations; l++) {
63 tracker->detection_score[t][l] = detection_score(-1.0, 1.0, score_noise, flip_noise);
67 // for(int t = 0; t < nb_time_steps; t++) {
68 // tracker->detection_score[t][nb_locations/2] = detection_score(1, score_noise, flip_noise);
71 // Puts two target with the typical local minimum
75 for(int t = 0; t < nb_time_steps; t++) {
76 // Target a moves from location 0 to the middle and comes back,
77 // and is strongly detected on the first half, target b moves from
78 // location nb_locations-1 to the middle and comes back, and is
79 // strongly detected on the second half
80 if(t < nb_time_steps/2) {
82 lb = nb_locations - 1 - t;
83 sa = detection_score(10.0, -1.0, score_noise, flip_noise);
84 sb = detection_score( 1.0, -1.0, score_noise, flip_noise);
86 la = nb_time_steps - 1 - t;
87 lb = t - nb_time_steps + nb_locations;
88 sa = detection_score( 1.0, -1.0, score_noise, flip_noise);
89 sb = detection_score(10.0, -1.0, score_noise, flip_noise);
92 if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
93 if(lb < nb_locations/2 + 1) lb = nb_locations/2 + 1;
95 tracker->detection_score[t][la] = sa;
96 tracker->detection_score[t][lb] = sb;
101 for(int t = 0; t < tracker->nb_trajectories(); t++) {
102 cout << "TRAJECTORY "
104 << " [starting " << tracker->trajectory_entrance_time(t)
105 << ", score " << tracker->trajectory_score(t) << "]";
106 for(int u = 0; u < tracker->trajectory_duration(t); u++) {
107 cout << " " << tracker->trajectory_location(t, u);
113 ofstream dot("graph.dot");
114 tracker->print_graph_dot(&dot);
115 cout << "Wrote graph.dot." << endl;