// Multi-Tracked Path
-// #define VERBOSE
-
#include <iostream>
#include <fstream>
-#include <cmath>
-#include <stdio.h>
-#include <stdlib.h>
-#include <float.h>
using namespace std;
-typedef float scalar_t;
-
-#ifdef DEBUG
-#define ASSERT(x) if(!(x)) { \
- std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << endl; \
- abort(); \
-}
-#else
-#define ASSERT(x)
-#endif
-
-class Vertex;
-
-class Edge {
-public:
- int occupied;
- scalar_t length, work_length;
- Vertex *terminal_vertex;
- Edge *next, *pred;
-};
-
-class Vertex {
-public:
- int id;
- // These are the leaving edges
- Edge *first_edge;
- scalar_t distance;
-
- Vertex *pred_vertex;
- Edge *pred_edge;
-
- Vertex() { first_edge = 0; }
+#include "tracker.h"
- inline void add_edge(Edge *e) {
- if(first_edge) { first_edge->pred = e; }
- e->next = first_edge;
- e->pred = 0;
- first_edge = e;
- }
+//////////////////////////////////////////////////////////////////////
- inline void del_edge(Edge *e) {
- if(e == first_edge) { first_edge = e->next; }
- if(e->pred) { e->pred->next = e->next; }
- if(e->next) { e->next->pred = e->pred; }
+scalar_t detection_score(scalar_t a, scalar_t b, scalar_t score_noise, scalar_t flip_noise) {
+ if(drand48() > flip_noise) {
+ return a + score_noise * (2.0 * drand48() - 1.0);
+ } else {
+ return b + score_noise * (2.0 * drand48() - 1.0);
}
-};
+}
-class Graph {
-public:
- int nb_vertices;
- Edge *edge_heap;
- Vertex *vertices;
- Vertex *source, *sink;
+int main(int argc, char **argv) {
+ int nb_locations = 7;
+ int nb_time_steps = 8;
+ int motion_amplitude = 1;
- Graph(int nb_vertices, int nb_edges, int *from, int *to, scalar_t *lengths,
- int source, int sink);
- ~Graph();
+ Tracker *tracker = new Tracker(nb_time_steps, nb_locations);
- void initialize_work_lengths();
- void update_work_length();
- void find_shortest_path();
- void find_best_paths();
- void print();
- void print_occupied_edges();
-};
+ // We define the spatial structures by stating what are the possible
+ // motions of targets, and what are the entrances and the
+ // exits.
-void Graph::print() {
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].first_edge; e; e = e->next) {
- cout << n << " -> " << e->terminal_vertex->id << " " << e->length << endl;
- }
- }
-}
+ // Here our example is a 1D space with motions from any location to
+ // any location less than motion_amplitude away, entrance at
+ // location 0 and exit at location nb_locations-1.
-void Graph::print_occupied_edges() {
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].first_edge; e; e = e->next) {
- if(e->occupied) {
- int a = n, b = e->terminal_vertex->id;
- if(a > b) { int c = a; a = b; b = c; }
- cout << a << " " << b << endl;
- }
+ for(int l = 0; l < nb_locations; l++) {
+ for(int k = 0; k < nb_locations; k++) {
+ tracker->allowed_motion[l][k] = abs(l - k) <= motion_amplitude;
}
+ tracker->entrances[0] = 1;
+ tracker->exits[nb_locations - 1] = 1;
}
-}
-
-Graph::Graph(int nb_vrt, int nb_edges,
- int *from, int *to, scalar_t *lengths,
- int src, int snk) {
- nb_vertices = nb_vrt;
- edge_heap = new Edge[nb_edges];
- vertices = new Vertex[nb_vertices];
+ // We construct the graph corresponding to this structure
- source = &vertices[src];
- sink = &vertices[snk];
+ tracker->build_graph();
- for(int v = 0; v < nb_vertices; v++) {
- vertices[v].id = v;
- }
+ // Then, we specify for every location and time step what is the
+ // detection score there.
- for(int e = 0; e < nb_edges; e++) {
- vertices[from[e]].add_edge(&edge_heap[e]);
- edge_heap[e].occupied = 0;
- edge_heap[e].length = lengths[e];
- edge_heap[e].terminal_vertex = &vertices[to[e]];
- }
-}
+ scalar_t flip_noise = 0.05;
+ scalar_t score_noise = 0.0;
-Graph::~Graph() {
- delete[] vertices;
- delete[] edge_heap;
-}
+ // We first put a background noise, with negative scores at every
+ // location.
-void Graph::initialize_work_lengths() {
- scalar_t length_min = 0;
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].first_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].first_edge; e; e = e->next) {
- e->work_length = e->length - length_min;
+ for(int t = 0; t < nb_time_steps; t++) {
+ for(int l = 0; l < nb_locations; l++) {
+ tracker->detection_scores[t][l] = detection_score(-1.0, 1.0, score_noise, flip_noise);
}
}
-}
-void Graph::update_work_length() {
- for(int n = 0; n < nb_vertices; n++) {
- scalar_t d = vertices[n].distance;
- for(Edge *e = vertices[n].first_edge; e; e = e->next) {
- e->work_length += d - e->terminal_vertex->distance;
+ // Then we two targets with the typical local minimum:
+ //
+ // * Target A moves from location 0 to the middle, stays there for a
+ // while, and comes back, and is strongly detected on the first
+ // half
+ //
+ // * Target B moves from location nb_locations-1 to the middle, stay
+ // there for a while, and comes back, and is strongly detected on
+ // the second half
+
+ int la, lb; // Target locations
+ scalar_t sa, sb; // Target detection scores
+ for(int t = 0; t < nb_time_steps; t++) {
+ if(t < nb_time_steps/2) {
+ la = t;
+ lb = nb_locations - 1 - t;
+ sa = detection_score(10.0, -1.0, score_noise, flip_noise);
+ sb = detection_score( 1.0, -1.0, score_noise, flip_noise);
+ } else {
+ la = nb_time_steps - 1 - t;
+ lb = t - nb_time_steps + nb_locations;
+ sa = detection_score( 1.0, -1.0, score_noise, flip_noise);
+ sb = detection_score(10.0, -1.0, score_noise, flip_noise);
}
- }
-}
-
-void Graph::find_shortest_path() {
- Vertex **front = new Vertex *[nb_vertices];
- Vertex **new_front = new Vertex *[nb_vertices];
- Vertex **tmp_front;
- int tmp_front_size;
- Vertex *v, *tv;
- scalar_t d;
-#ifdef DEBUG
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].first_edge; e; e = e->next) {
- if(e->work_length < 0) {
- cerr << "DEBUG error in find_shortest_path: Edge fixed lengths have to be positive."
- << endl;
- abort();
- }
- }
- }
-#endif
+ if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
+ if(lb < nb_locations/2 + 1) lb = nb_locations/2 + 1;
- for(int v = 0; v < nb_vertices; v++) {
- vertices[v].distance = FLT_MAX;
- vertices[v].pred_vertex = 0;
- vertices[v].pred_edge = 0;
+ tracker->detection_scores[t][la] = sa;
+ tracker->detection_scores[t][lb] = sb;
}
- int front_size = 0, new_front_size;
- front[front_size++] = source;
- source->distance = 0;
-
- do {
- new_front_size = 0;
- for(int f = 0; f < front_size; f++) {
- v = front[f];
- for(Edge *e = v->first_edge; e; e = e->next) {
- d = v->distance + e->work_length;
- tv = e->terminal_vertex;
- if(d < tv->distance) {
- tv->distance = d;
- tv->pred_vertex = v;
- tv->pred_edge = e;
- new_front[new_front_size++] = tv;
- }
- }
- }
+ // Does the tracking per se
- tmp_front = new_front;
- new_front = front;
- front = tmp_front;
+ tracker->track();
- tmp_front_size = new_front_size;
- new_front_size = front_size;
- front_size = tmp_front_size;
- } while(front_size > 0);
+ // Prints the detected trajectories
- delete[] front;
- delete[] new_front;
-}
-
-void Graph::find_best_paths() {
- scalar_t total_length;
-
- initialize_work_lengths();
-
- do {
-#ifdef VERBOSE
- print();
-#endif
-
- total_length = 0.0;
- find_shortest_path();
- update_work_length();
-
- // Do we reach the sink?
- if(sink->pred_edge) {
-
-#ifdef VERBOSE
- cout << "VERBOSE there is a path reaching the sink" << endl;
-#endif
-
- // 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;
- }
-
-#ifdef VERBOSE
- cout << "VERBOSE total_length " << total_length << endl;
-#endif
-
- // If that length is negative
- if(total_length < 0.0) {
- // 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;
- 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);
- }
- }
+ for(int t = 0; t < tracker->nb_trajectories(); t++) {
+ cout << "TRAJECTORY "
+ << t
+ << " [starting " << tracker->trajectory_entrance_time(t)
+ << ", score " << tracker->trajectory_score(t) << "]";
+ for(int u = 0; u < tracker->trajectory_duration(t); u++) {
+ cout << " " << tracker->trajectory_location(t, u);
}
- } while(total_length < 0.0);
-}
-
-//////////////////////////////////////////////////////////////////////
-
-int main(int argc, char **argv) {
-
- if(argc < 2) {
- cerr << argv[0] << " <graph file>" << endl;
- exit(EXIT_FAILURE);
+ cout << endl;
}
- ifstream *file = new ifstream(argv[1]);
-
- int nb_edges, nb_vertices;
- int source, sink;
-
- if(file->good()) {
-
- (*file) >> nb_vertices >> nb_edges;
- (*file) >> source >> sink;
-
- cout << "INPUT nb_edges " << nb_edges << endl;
- cout << "INPUT nb_vertices " << nb_vertices << endl;
- cout << "INPUT source " << source << endl;
- cout << "INPUT sink " << sink << endl;
-
- scalar_t *el = new scalar_t[nb_edges];
- int *ea = new int[nb_edges];
- int *eb = new int[nb_edges];
-
- for(int e = 0; e < nb_edges; e++) {
- (*file) >> ea[e] >> eb[e] >> el[e];
- cout << "INPUT_EDGE " << ea[e] << " " << eb[e] << " " << el[e] << endl;
- }
-
- Graph graph(nb_vertices, nb_edges, ea, eb, el, source, sink);
-
- graph.find_best_paths();
- graph.print_occupied_edges();
-
- delete[] el;
- delete[] ea;
- delete[] eb;
-
- } else {
-
- cerr << "Can not open " << argv[1] << endl;
-
- delete file;
- exit(EXIT_FAILURE);
+ // Save the underlying graph in the dot format, with occupied edges
+ // marked in bold.
+ {
+ ofstream dot("graph.dot");
+ tracker->print_graph_dot(&dot);
+ cout << "Wrote graph.dot." << endl;
}
- delete file;
+ delete tracker;
+
exit(EXIT_SUCCESS);
}
projects / mtp.git / blobdiff