-///////////////////////////////////////////////////////////////////////////
-// 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 <http://www.gnu.org/licenses/>. //
-// //
-// Written by and Copyright (C) Francois Fleuret //
-// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
-///////////////////////////////////////////////////////////////////////////
-
-// Multi-Tracked Path
-
-// #define VERBOSE
+/*
+ * 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 <francois.fleuret@idiap.ch>
+ *
+ * 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 <http://www.gnu.org/licenses/>.
+ *
+ */
#include <iostream>
#include <fstream>
-#include <cmath>
-#include <stdio.h>
-#include <stdlib.h>
-#include <float.h>
+#include <sys/time.h>
+#include <getopt.h>
+#include <limits.h>
+#include <string.h>
using namespace std;
-typedef float scalar_t;
-
-#ifdef DEBUG
-#define ASSERT(x) if(!(x)) { \
- std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << endl; \
- abort(); \
+#include "mtp_tracker.h"
+
+#define FILENAME_SIZE 1024
+
+struct Global {
+ char trajectory_filename[FILENAME_SIZE];
+ char graph_filename[FILENAME_SIZE];
+ int verbose;
+} global;
+
+void usage(ostream *os) {
+ (*os) << "mtp [-h|--help] [--help-formats] [-v|--verbose] [-t|--trajectory-filename <trajectory filename>] [-g|--graph-filename <graph filename>] [<tracking parameter file>]" << endl;
+ (*os) << endl;
+ (*os) << "The mtp command processes a file containing the description of a topology" << endl;
+ (*os) << "and detection scores, and prints the optimal set of trajectories." << endl;
+ (*os) << endl;
+ (*os) << "If no filename is provided, it reads the parameters from the standard" << endl;
+ (*os) << "input. If no trajectory filename is provided, it writes the result to" << endl;
+ (*os) << "the standard output." << endl;
+ (*os) << endl;
+ (*os) << "Written by Francois Fleuret. (C) Idiap Research Institute, 2012." << endl;
}
-#else
-#define ASSERT(x)
-#endif
-
-class Vertex;
-
-class Edge {
-public:
- int id, occupied;
- scalar_t length, work_length;
- Vertex *terminal_vertex;
- Edge *next, *pred;
-};
-class Vertex {
-public:
- int id;
+void print_help_formats() {
+ cout << "The tracking parameters the command takes as input have the following" << endl;
+ cout << "format, where L is the number of locations and T is the number of time" << endl;
+ cout << "steps:" << endl;
+ cout << endl;
+ cout << "---------------------------- snip snip -------------------------------" << endl;
+ cout << " int:L int:T" << endl;
+ cout << endl;
+ cout << " bool:allowed_motion_from_1_to_1 ... bool:allowed_motion_from_1_to_L" << endl;
+ cout << " ..." << endl;
+ cout << " bool:allowed_motion_from_L_to_1 ... bool:allowed_motion_from_L_to_L" << endl;
+ cout << endl;
+ cout << " bool:entrance_1_1 ... bool:entrance_1_L" << endl;
+ cout << " ..." << endl;
+ cout << " bool:entrance_T_1 ... bool:entrance_T_L" << endl;
+ cout << endl;
+ cout << " bool:exit_1_1 ... bool:exit_1_L" << endl;
+ cout << " ..." << endl;
+ cout << " bool:exit_T_1 ... bool:exit_T_L" << endl;
+ cout << endl;
+ cout << " float:detection_score_1_1 ... float:detection_score_1_L" << endl;
+ cout << " ..." << endl;
+ cout << " float:detection_score_T_1 ... float:detection_score_T_L" << endl;
+ cout << "---------------------------- snip snip -------------------------------" << endl;
+ cout << endl;
+ cout << "As results, the command writes first the number of trajectories," << endl;
+ cout << "followed by one line per trajectory with the following structure:" << endl;
+ cout << endl;
+ cout << "---------------------------- snip snip -------------------------------" << endl;
+ cout << " int:traj_number int:entrance_time int:duration float:score int:location_1 ... int:location_duration" << endl;
+ cout << "---------------------------- snip snip -------------------------------" << endl;
+}
- Edge *root_edge;
- scalar_t distance_from_source;
+scalar_t diff_in_second(struct timeval *start, struct timeval *end) {
+ return
+ scalar_t(end->tv_sec - start->tv_sec) +
+ scalar_t(end->tv_usec - start->tv_usec)/1000000;
+}
- Vertex *pred_vertex;
- Edge *pred_edge;
+void do_tracking(istream *in_tracker) {
+ timeval start_time, end_time;
+ MTPTracker *tracker = new MTPTracker();
- Vertex() { root_edge = 0; }
+ if(global.verbose) { cout << "Reading the tracking parameters." << endl; }
+ tracker->read(in_tracker);
- inline void add_edge(Edge *e) {
- e->next = root_edge;
- e->pred = 0;
- if(root_edge) { root_edge->pred = e; }
- root_edge = e;
+ if(global.verbose) {
+ cout << "Building the graph ... "; cout.flush();
+ gettimeofday(&start_time, 0);
}
-
- inline void del_edge(Edge *e) {
- if(e == root_edge) { root_edge = e->next; }
- if(e->pred) { e->pred->next = e->next; }
- if(e->next) { e->next->pred = e->pred; }
+ tracker->build_graph();
+ if(global.verbose) {
+ gettimeofday(&end_time, 0);
+ cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
}
-};
-
-class Graph {
- void initialize_work_lengths();
- void update_work_length();
- void find_shortest_path(Vertex **front, Vertex **new_front);
-
- int nb_vertices;
- Edge *edge_heap;
- Vertex *vertices;
- Vertex *source, *sink;
-public:
- Graph(int nb_vertices, int nb_edges, int *from, int *to, scalar_t *lengths,
- int source, int sink);
-
- ~Graph();
-
- void find_best_paths(int *result_edge_occupation);
- void print();
-};
-
-void Graph::print() {
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].root_edge; e; e = e->next) {
- cout << n << " -> " << e->terminal_vertex->id << " " << e->length;
- if(e->occupied) {
- cout << " *";
- }
- cout << endl;
- }
+ if(global.verbose) {
+ cout << "Tracking ... "; cout.flush();
+ gettimeofday(&start_time, 0);
+ }
+ tracker->track();
+ if(global.verbose) {
+ gettimeofday(&end_time, 0);
+ cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
}
-}
-
-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];
-
- source = &vertices[src];
- sink = &vertices[snk];
- for(int v = 0; v < nb_vertices; v++) {
- vertices[v].id = v;
+ if(global.trajectory_filename[0]) {
+ ofstream out_traj(global.trajectory_filename);
+ tracker->write_trajectories(&out_traj);
+ if(global.verbose) { cout << "Wrote " << global.trajectory_filename << "." << endl; }
+ } else {
+ tracker->write_trajectories(&cout);
}
- for(int e = 0; e < nb_edges; e++) {
- vertices[from[e]].add_edge(&edge_heap[e]);
- edge_heap[e].occupied = 0;
- edge_heap[e].id = e;
- edge_heap[e].length = lengths[e];
- edge_heap[e].terminal_vertex = &vertices[to[e]];
+ if(global.graph_filename[0]) {
+ ofstream out_dot(global.graph_filename);
+ tracker->print_graph_dot(&out_dot);
+ if(global.verbose) { cout << "Wrote " << global.graph_filename << "." << endl; }
}
-}
-Graph::~Graph() {
- delete[] vertices;
- delete[] edge_heap;
+ delete tracker;
}
-void Graph::initialize_work_lengths() {
- scalar_t length_min = 0;
- for(int n = 0; n < nb_vertices; n++) {
- for(Edge *e = vertices[n].root_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].root_edge; e; e = e->next) {
- e->work_length = e->length - length_min;
- }
- }
-}
+enum
+{
+ OPT_HELP_FORMATS = CHAR_MAX + 1
+};
-void Graph::update_work_length() {
- for(int n = 0; n < nb_vertices; n++) {
- scalar_t d = vertices[n].distance_from_source;
- for(Edge *e = vertices[n].root_edge; e; e = e->next) {
- e->work_length += d - e->terminal_vertex->distance_from_source;
- }
- }
-}
+static struct option long_options[] = {
+ { "trajectory-file", 1, 0, 't' },
+ { "graph-file", 1, 0, 'g' },
+ { "help", no_argument, 0, 'h' },
+ { "verbose", no_argument, 0, 'v' },
+ { "help-formats", no_argument, 0, OPT_HELP_FORMATS },
+ { 0, 0, 0, 0 }
+};
-void Graph::find_shortest_path(Vertex **front, Vertex **new_front) {
- 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].root_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
+int main(int argc, char **argv) {
+ int c;
+ int error = 0, show_help = 0;
- for(int v = 0; v < nb_vertices; v++) {
- vertices[v].distance_from_source = FLT_MAX;
- vertices[v].pred_vertex = 0;
- vertices[v].pred_edge = 0;
- }
+ strncpy(global.trajectory_filename, "", FILENAME_SIZE);
+ strncpy(global.graph_filename, "", FILENAME_SIZE);
+ global.verbose = 0;
- int front_size = 0, new_front_size;
- front[front_size++] = source;
- source->distance_from_source = 0;
-
- do {
- new_front_size = 0;
- for(int f = 0; f < front_size; f++) {
- v = front[f];
- for(Edge *e = v->root_edge; e; e = e->next) {
- d = v->distance_from_source + e->work_length;
- tv = e->terminal_vertex;
- if(d < tv->distance_from_source) {
- tv->distance_from_source = d;
- tv->pred_vertex = v;
- tv->pred_edge = e;
- new_front[new_front_size++] = tv;
- }
- }
- }
+ while ((c = getopt_long(argc, argv, "t:g:hv", long_options, NULL)) != -1) {
- tmp_front = new_front;
- new_front = front;
- front = tmp_front;
+ switch(c) {
- tmp_front_size = new_front_size;
- new_front_size = front_size;
- front_size = tmp_front_size;
- } while(front_size > 0);
-}
+ case 't':
+ strncpy(global.trajectory_filename, optarg, FILENAME_SIZE);
+ break;
-void Graph::find_best_paths(int *result_edge_occupation) {
- Vertex **front = new Vertex *[nb_vertices];
- Vertex **new_front = new Vertex *[nb_vertices];
-
- scalar_t total_length;
-
- initialize_work_lengths();
-
- do {
- total_length = 0.0;
- find_shortest_path(front, new_front);
- update_work_length();
-
- // Do we reach the sink?
- if(sink->pred_edge) {
-
- // 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;
- }
-
- // 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);
- }
- }
- }
- } while(total_length < 0.0);
+ case 'g':
+ strncpy(global.graph_filename, optarg, FILENAME_SIZE);
+ break;
- delete[] front;
- delete[] new_front;
+ case 'h':
+ show_help = 1;
+ break;
- for(int n = 0; n < nb_vertices; n++) {
- Vertex *v = &vertices[n];
- for(Edge *e = v->root_edge; e; e = e->next) {
- result_edge_occupation[e->id] = e->occupied;
- }
- }
-}
+ case OPT_HELP_FORMATS:
+ print_help_formats();
+ exit(EXIT_SUCCESS);
+ break;
-void find_best_paths(int nb_vertices,
- int nb_edges, int *ea, int *eb, scalar_t *el,
- int source, int sink,
- int *result_edge_occupation) {
- Graph graph(nb_vertices, nb_edges, ea, eb, el, source, sink);
- graph.find_best_paths(result_edge_occupation);
-}
+ case 'v':
+ global.verbose = 1;
+ break;
-void dot_print(int nb_vertices,
- int nb_edges, int *ea, int *eb, scalar_t *el,
- int source, int sink,
- int *edge_occupation) {
- cout << "digraph {" << endl;
- cout << " node[shape=circle];" << endl;
- for(int e = 0; e < nb_edges; e++) {
- if(edge_occupation[e]) {
- cout << " " << ea[e] << " -> " << eb[e] << " [style=bold,color=black,label=\"" << el[e] << "\"];" << endl;
- } else {
- cout << " " << ea[e] << " -> " << eb[e] << " [color=gray,label=\"" << el[e] << "\"];" << endl;
+ default:
+ error = 1;
+ break;
}
}
- cout << "}" << endl;
-}
-
-//////////////////////////////////////////////////////////////////////
-
-int main(int argc, char **argv) {
- if(argc < 2) {
- cerr << argv[0] << " <graph file>" << endl;
+ if(error) {
+ usage(&cerr);
exit(EXIT_FAILURE);
}
- 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;
-
- scalar_t *edge_lengths = new scalar_t[nb_edges];
- int *vertex_from = new int[nb_edges];
- int *vertex_to = new int[nb_edges];
- int *result_edge_occupation = new int[nb_edges];
+ if(show_help) {
+ usage(&cout);
+ exit(EXIT_SUCCESS);
+ }
- for(int e = 0; e < nb_edges; e++) {
- (*file) >> vertex_from[e] >> vertex_to[e] >> edge_lengths[e];
+ if(optind < argc) {
+ ifstream *file_in_tracker = new ifstream(argv[optind]);
+ if(file_in_tracker->good()) {
+ do_tracking(file_in_tracker);
+ } else {
+ cerr << "Can not open " << argv[optind] << endl;
+ exit(EXIT_FAILURE);
}
-
- find_best_paths(nb_vertices, nb_edges,
- vertex_from, vertex_to, edge_lengths,
- source, sink,
- result_edge_occupation);
-
- dot_print(nb_vertices, nb_edges,
- vertex_from, vertex_to, edge_lengths,
- source, sink,
- result_edge_occupation);
-
- delete[] result_edge_occupation;
- delete[] edge_lengths;
- delete[] vertex_from;
- delete[] vertex_to;
-
+ delete file_in_tracker;
} else {
-
- cerr << "Can not open " << argv[1] << endl;
-
- delete file;
- exit(EXIT_FAILURE);
-
+ do_tracking(&cin);
}
- delete file;
exit(EXIT_SUCCESS);
}
projects / mtp.git / blobdiff