X-Git-Url: https://www.fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=mtp_example.cc;h=fffeacb4ee5ee7d7bcf0791af1d8df4ec6d89f41;hb=2b42f849b86f2517e7e0fbaf498e307c1d48dd2a;hp=13cd4f106d0e1d4a4ccca22dbdd2d8232d0ebb8d;hpb=9665f6b8d842f02facda1590200742482d4362fa;p=mtp.git
diff --git a/mtp_example.cc b/mtp_example.cc
index 13cd4f1..fffeacb 100644
--- a/mtp_example.cc
+++ b/mtp_example.cc
@@ -1,37 +1,42 @@
-///////////////////////////////////////////////////////////////////////////
-// This program is free software: you can redistribute it and/or modify //
-// it under the terms of the version 3 of the GNU General Public License //
-// as published by the Free Software Foundation. //
-// //
-// This program is distributed in the hope that it will be useful, but //
-// WITHOUT ANY WARRANTY; without even the implied warranty of //
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
-// General Public License for more details. //
-// //
-// You should have received a copy of the GNU General Public License //
-// along with this program. If not, see . //
-// //
-// Written by and Copyright (C) Francois Fleuret //
-// Contact for comments & bug reports //
-///////////////////////////////////////////////////////////////////////////
-
-// Multi-Tracked Path
+/*
+ * mtp is the ``Multi Tracked Paths'', an implementation of the
+ * k-shortest paths algorithm for multi-target tracking.
+ *
+ * Copyright (c) 2012 Idiap Research Institute, http://www.idiap.ch/
+ * Written by Francois Fleuret
+ *
+ * This file is part of mtp.
+ *
+ * mtp is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 3 as
+ * published by the Free Software Foundation.
+ *
+ * mtp is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
+ * License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with selector. If not, see .
+ *
+ */
#include
#include
using namespace std;
-#include "tracker.h"
+#include "mtp_tracker.h"
//////////////////////////////////////////////////////////////////////
-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);
+scalar_t noisy_score(scalar_t true_score, scalar_t erroneous_score,
+ scalar_t score_noise, scalar_t flip_noise) {
+ if(drand48() < flip_noise) {
+ return erroneous_score + score_noise * (2.0 * drand48() - 1.0);
} else {
- return b + score_noise * (2.0 * drand48() - 1.0);
+ return true_score + score_noise * (2.0 * drand48() - 1.0);
}
}
@@ -40,13 +45,12 @@ int main(int argc, char **argv) {
int nb_time_steps = 8;
int motion_amplitude = 1;
- Tracker *tracker = new Tracker();
+ MTPTracker *tracker = new MTPTracker();
tracker->allocate(nb_time_steps, nb_locations);
- // We define the spatial structures by stating what are the possible
- // motions of targets, and what are the entrances and the
- // exits.
+ // We define the spatial structure by stating what are the possible
+ // motions of targets, and what are the entrances and the exits.
// Here our example is a 1D space with motions from any location to
// any location less than motion_amplitude away, entrance at
@@ -75,18 +79,18 @@ int main(int argc, char **argv) {
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);
+ tracker->detection_scores[t][l] = noisy_score(-1.0, 1.0, score_noise, flip_noise);
}
}
- // Then we two targets with the typical local minimum:
+ // Then we add two targets with a typical tracking 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
+ // while, and comes back. It 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
+ // there for a while, and comes back. It is strongly detected on
// the second half
int la, lb; // Target locations
@@ -95,13 +99,13 @@ int main(int argc, char **argv) {
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);
+ sa = noisy_score(10.0, -1.0, score_noise, flip_noise);
+ sb = noisy_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);
+ sa = noisy_score( 1.0, -1.0, score_noise, flip_noise);
+ sb = noisy_score(10.0, -1.0, score_noise, flip_noise);
}
if(la > nb_locations/2 - 1) la = nb_locations/2 - 1;
@@ -111,45 +115,31 @@ int main(int argc, char **argv) {
tracker->detection_scores[t][lb] = sb;
}
- // Does the tracking per se
-
- {
- ofstream out_tracker("/tmp/tracker.dat");
+ { // Write down the tracker setting, so that we can use it as an
+ // example for the mtp command line
+ ofstream out_tracker("tracker.dat");
tracker->write(&out_tracker);
-
- ifstream in_tracker("/tmp/tracker.dat");
- Tracker tracker2;
- tracker2.read(&in_tracker);
- tracker2.build_graph();
- tracker2.track();
- ofstream out_traj("/tmp/result.trj");
- tracker2.write_trajectories(&out_traj);
}
+ // Performs the tracking per se
+
tracker->track();
// Prints the detected trajectories
for(int t = 0; t < tracker->nb_trajectories(); t++) {
- cout << "TRAJECTORY "
+ cout << "Trajectory "
<< t
- << " [starting " << tracker->trajectory_entrance_time(t)
- << ", score " << tracker->trajectory_score(t) << "]";
+ << " starting at " << tracker->trajectory_entrance_time(t)
+ << ", duration " << tracker->trajectory_duration(t)
+ << ", score " << tracker->trajectory_score(t)
+ << ", through nodes ";
for(int u = 0; u < tracker->trajectory_duration(t); u++) {
cout << " " << tracker->trajectory_location(t, u);
}
cout << endl;
}
- // 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 tracker;
exit(EXIT_SUCCESS);