-From this setting, MTPTracker has methods to compute the best set of
-disjoint trajectories consistent with the topology, which maximizes
-the overall detection score (i.e. the sum of the detection scores of
-the nodes visited by the trajectories). If no trajectory of total
-positive detection score exists, this optimal set of trajectories will
-be empty.
-
-The MTPTracker is a wrapper around the MTPGraph class.
-
-From the defined spatial topology and number of time steps, it builds
-a graph with one source, one sink, and two nodes per location and
-time. This structure ensures that the trajectories computed by the
+ log( P(Y(l,t) = 1 | X) / P(Y(l,t) = 0 | X) )
+
+ where Y is the occupancy of location l at time t and X is the
+ available observation. Hence, this score is negative on locations
+ where the probability that the location is occupied is close to
+ 0, and positive when it is close to 1.
+
+From this parameters, an MTPTracker can compute the best set of
+disjoint trajectories consistent with the defined topology, which
+maximizes the overall detection score (i.e. the sum of the detection
+scores of the nodes visited by the trajectories). In particular, if no
+trajectory of total positive detection score exists, this optimal set
+of trajectories is empty.
+
+An MTPTracker is a wrapper around an MTPGraph. From the defined
+spatial topology and number of time steps, it builds a graph with one
+source, one sink, and two nodes per location and time. The edges from
+the source or to the sink, or between these pairs of nodes, are of
+length zero, and the edges between the two nodes of such a pair have
+negative lengths, equal to the opposite of the corresponding detection
+scores. This structure ensures that the trajectories computed by the