Tracker::Tracker(int nb_time_steps, int nb_locations) {
_nb_locations = nb_locations;
_nb_time_steps = nb_time_steps;
- _detection_score = allocate_array<scalar_t>(nb_time_steps, nb_locations);
- _allowed_motion = allocate_array<int>(nb_locations, nb_locations);
+
+ _detection_score = 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++) {
+ _entrances[l] = 0;
+ _exits[l] = 0;
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;
+ }
+ }
+
+ _edge_lengths = 0;
+ _graph = 0;
}
Tracker::~Tracker() {
+ delete[] _edge_lengths;
+ delete _graph;
+ deallocate_array<scalar_t>(_detection_score);
+ deallocate_array<int>(_allowed_motion);
+ delete[] _exits;
+ delete[] _entrances;
+}
+
+void Tracker::set_allowed_motion(int from_location, int to_location, int v) {
+ ASSERT(from_location >= 0 && from_location < _nb_locations &&
+ to_location >= 0 && to_location < _nb_locations);
+ _allowed_motion[from_location][to_location] = v;
}
-void Tracker::set_allowed_motion(int from_location, int to_location) {
- _allowed_motion[from_location][to_location] = 1;
+void Tracker::set_as_entrance(int location, int v) {
+ ASSERT(location >= 0 && location < _nb_locations);
+ _entrances[location] = v;
+}
+
+void Tracker::set_as_exit(int location, int v) {
+ ASSERT(location >= 0 && location < _nb_locations);
+ _exits[location] = v;
}
void Tracker::set_detection_score(int time, int location, scalar_t score) {
+ ASSERT(time >= 0 && time < _nb_time_steps &&
+ location >= 0 && location < _nb_locations);
_detection_score[time][location] = score;
}
-void Tracker::track() {
-
- cerr << "Building graph." << endl;
+void Tracker::build_graph() {
+ // Delete existing graph
+ delete[] _edge_lengths;
+ delete _graph;
- int nb_motions = 0;
+ int nb_motions = 0, nb_exits = 0, nb_entrances = 0;
for(int l = 0; l < _nb_locations; l++) {
+ if(_exits[l]) nb_exits++;
+ if(_entrances[l]) nb_entrances++;
for(int m = 0; m < _nb_locations; m++) {
if(_allowed_motion[l][m]) nb_motions++;
}
}
int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
- int nb_edges = _nb_locations * 2 // From source and to sink
- + (_nb_time_steps - 1) * nb_motions // Motions
- + _nb_locations * _nb_time_steps; // Doubling of nodes to force
- // one target per location
+
+ int nb_edges =
+ _nb_locations * 2 +
+ (_nb_time_steps - 2) * (nb_exits + nb_entrances) +
+ (_nb_time_steps - 1) * nb_motions +
+ _nb_locations * _nb_time_steps;
int source = 0, sink = nb_vertices - 1;
int *node_from = new int[nb_edges];
int *node_to = new int[nb_edges];
- scalar_t *edge_lengths = new scalar_t[nb_edges];
int e = 0;
+ _edge_lengths = new scalar_t[nb_edges];
+
+ // We put the in-node edges first, since these are the ones whose
+ // lengths we will have to change according to the detection score
+
+ for(int t = 0; t < _nb_time_steps; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
+ node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
+ e++;
+ }
+ }
+
for(int l = 0; l < _nb_locations; l++) {
node_from[e] = source;
node_to[e] = 1 + l + 0 * _nb_locations;
- edge_lengths[e] = 0.0;
+ _edge_lengths[e] = 0.0;
e++;
}
for(int t = 0; t < _nb_time_steps; t++) {
for(int l = 0; l < _nb_locations; l++) {
- node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
- node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
- edge_lengths[e] = - _detection_score[t][l];
- e++;
if(t == _nb_time_steps - 1) {
node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
- node_to[e] = sink;
- edge_lengths[e] = 0.0;
+ 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] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k;
- edge_lengths[e] = 0.0;
+ _edge_lengths[e] = 0.0;
e++;
}
}
}
}
- cerr << "DEBUG e = " << e << " nb_edges = " << nb_edges << endl;
+ for(int t = 1; t < _nb_time_steps-1; t++) {
+ for(int l = 0; l < _nb_locations; l++) {
+ if(_entrances[l]) {
+ node_from[e] = source;
+ node_to[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l;
+ _edge_lengths[e] = 0.0;
+ e++;
+ }
+ if(_exits[l]) {
+ node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l;
+ node_to[e] = sink;
+ _edge_lengths[e] = 0.0;
+ e++;
+ }
+ }
+ }
- _graph = new MTPGraph(nb_vertices, nb_edges, node_from, node_to, source, sink);
+ _graph = new MTPGraph(nb_vertices, nb_edges,
+ node_from, node_to,
+ source, sink);
- int *edge_occupation = new int[nb_edges];
+ delete[] node_from;
+ delete[] node_to;
+}
- _graph->find_best_paths(edge_lengths, edge_occupation);
+void Tracker::print_dot_graph(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];
+ }
+ }
+ _graph->print_dot(os);
+}
- dot_print(nb_vertices, nb_edges, node_from, node_to, edge_lengths,
- source, sink,
- edge_occupation);
+void Tracker::track() {
+ 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];
+ }
+ }
- delete[] edge_occupation;
- delete _graph;
+ _graph->find_best_paths(_edge_lengths);
+ _graph->retrieve_disjoint_paths();
+
+#ifdef VERBOSE
+ for(int p = 0; p < _graph->nb_paths; p++) {
+ Path *path = _graph->paths[p];
+ cout << "PATH " << p << " [length " << path->length << "] " << path->nodes[0];
+ for(int n = 1; n < path->length; n++) {
+ cout << " -> " << path->nodes[n];
+ }
+ cout << endl;
+ }
+#endif
}
-// void Tracker::track() {
- // int e = _nb_locations;
- // for(int t = 0; t <= _nb_time_steps; t++) {
- // for(int l = 0; l < _nb_locations; l++) {
- // edge_lengths[e] = _detection_score[t][l];
- // e++;
- // if(t == _nb_time_steps) {
- // e++;
- // } else {
- // e += _nb_locations;
- // }
- // }
- // }
-// }
-
-// int Tracker::nb_trajectories() {
-// }
-
-// int Tracker::trajectory_start_time(int k) {
-// }
-
-// int Tracker::trajectory_end_time(int k) {
-// }
-
-// int Tracker::trajectory_location(int k, int time) {
-// }
+int Tracker::nb_trajectories() {
+ return _graph->nb_paths;
+}
+
+int Tracker::trajectory_entrance_time(int k) {
+ return (_graph->paths[k]->nodes[1] - 1) / (2 * _nb_locations);
+}
+
+int Tracker::trajectory_duration(int k) {
+ return (_graph->paths[k]->length - 2) / 2;
+}
+
+int Tracker::trajectory_location(int k, int time) {
+ return (_graph->paths[k]->nodes[2 * time + 1] - 1) % _nb_locations;
+}
projects / mtp.git / blobdiff