Cosmetics, adding comments.

[mtp.git] / tracker.cc

diff --git a/tracker.cc b/tracker.cc
index 3a311cd..ce4dfc2 100644 (file)
--- a/tracker.cc
+++ b/tracker.cc
@@ -25,8 +25,10 @@ using namespace std;
 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);
+
   _entrances = new int[_nb_locations];
   _exits = new int[_nb_locations];
 
@@ -38,6 +40,12 @@ Tracker::Tracker(int nb_time_steps, int nb_locations) {
     }
   }
 
+  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;
 }
@@ -52,28 +60,34 @@ Tracker::~Tracker() {
 }
 
 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_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::build_graph() {
-
-  // Delete existing graph
+  // Delete existing graph if there was one
   delete[] _edge_lengths;
   delete _graph;
 
   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++;
@@ -85,14 +99,22 @@ void Tracker::build_graph() {
   int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations;
 
   int nb_edges =
+    // The edges from the source to the first frame, and from the last
+    // frame to the sink
     _nb_locations * 2 +
-    _nb_time_steps * (nb_exits + nb_entrances) +
+    // The edges from the source to the entrances and from the exists
+    // to the sink (in every time frames but the first and last)
+    (_nb_time_steps - 2) * (nb_exits + nb_entrances) +
+    // The edges for the motions, between every pair of successive
+    // frames
     (_nb_time_steps - 1) * nb_motions +
+    // The edges inside the duplicated nodes
     _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];
+
+  int source = 0, sink = nb_vertices - 1;
   int e = 0;
 
   _edge_lengths = new scalar_t[nb_edges];
@@ -108,8 +130,6 @@ void Tracker::build_graph() {
     }
   }
 
-  // We put the other edges after
-
   for(int l = 0; l < _nb_locations; l++) {
     node_from[e] = source;
     node_to[e] = 1 + l + 0 * _nb_locations;
@@ -137,7 +157,7 @@ void Tracker::build_graph() {
     }
   }
 
-  for(int t = 0; t < _nb_time_steps; t++) {
+  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;
@@ -147,7 +167,7 @@ void Tracker::build_graph() {
       }
       if(_exits[l]) {
         node_from[e] =   1 + (2 * (t + 0) + 1) * _nb_locations + l;
-        node_from[e] = sink;
+        node_to[e] = sink;
         _edge_lengths[e] = 0.0;
         e++;
       }
@@ -163,6 +183,12 @@ void Tracker::build_graph() {
 }
 
 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);
 }
 
@@ -176,12 +202,27 @@ void Tracker::track() {
 
   _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
 }
 
 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;
 }