-///////////////////////////////////////////////////////////////////////////
-// 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
-
-// Takes the graph description file as input and produces a dot file.
-
-// EXAMPLE: ./mtp ./graph2.txt | dot -T pdf -o- | xpdf -
+/*
+ * 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;
-#include "mtp_graph.h"
-#include "tracker.h"
+#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;
+}
-//////////////////////////////////////////////////////////////////////
+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;
+}
-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) {
- MTPGraph graph(nb_vertices, nb_edges, ea, eb, source, sink);
- graph.find_best_paths(el, result_edge_occupation);
+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;
}
-//////////////////////////////////////////////////////////////////////
+void do_tracking(istream *in_tracker) {
+ timeval start_time, end_time;
+ MTPTracker *tracker = new MTPTracker();
-int main(int argc, char **argv) {
- // int nb_locations = 6;
- // int nb_time_steps = 5;
-
- // {
- // Tracker tracker(nb_time_steps, nb_locations);
-
- // for(int l = 0; l < nb_locations; l++) {
- // for(int k = 0; k < nb_locations; k++) {
- // tracker.set_allowed_motion(l, k, abs(l - k) <= 1);
- // }
- // }
-
- // for(int t = 0; t < nb_time_steps; t++) {
- // for(int l = 0; l < nb_locations; l++) {
- // tracker.set_detection_score(t, l,
- // (drand48() < 0.9 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
- // }
- // tracker.set_detection_score(t, 0,
- // (drand48() < 0.9 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
- // }
-
- // tracker.build_graph();
- // tracker.track();
- // }
-
- // exit(0);
-
- if(argc < 2) {
- cerr << argv[0] << " <graph file>" << endl;
- exit(EXIT_FAILURE);
+ if(global.verbose) { cout << "Reading the tracking parameters." << endl; }
+ tracker->read(in_tracker);
+
+ if(global.verbose) {
+ cout << "Building the graph ... "; cout.flush();
+ gettimeofday(&start_time, 0);
+ }
+ tracker->build_graph();
+ if(global.verbose) {
+ gettimeofday(&end_time, 0);
+ cout << "done (" << diff_in_second(&start_time, &end_time) << "s)." << endl;
}
- ifstream *file = new ifstream(argv[1]);
+ 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;
+ }
- int nb_edges, nb_vertices;
- int source, sink;
+ 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);
+ }
- if(file->good()) {
+ 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; }
+ }
- (*file) >> nb_vertices >> nb_edges;
- (*file) >> source >> sink;
+ delete tracker;
+}
- 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];
+enum
+{
+ OPT_HELP_FORMATS = CHAR_MAX + 1
+};
- for(int e = 0; e < nb_edges; e++) {
- (*file) >> vertex_from[e] >> vertex_to[e] >> edge_lengths[e];
- }
+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 }
+};
- find_best_paths(nb_vertices, nb_edges,
- vertex_from, vertex_to, edge_lengths,
- source, sink,
- result_edge_occupation);
+int main(int argc, char **argv) {
+ int c;
+ int error = 0, show_help = 0;
- // dot_print(nb_vertices, nb_edges,
- // vertex_from, vertex_to, edge_lengths,
- // source, sink,
- // result_edge_occupation);
+ strncpy(global.trajectory_filename, "", FILENAME_SIZE);
+ strncpy(global.graph_filename, "", FILENAME_SIZE);
+ global.verbose = 0;
- delete[] result_edge_occupation;
- delete[] edge_lengths;
- delete[] vertex_from;
- delete[] vertex_to;
+ while ((c = getopt_long(argc, argv, "t:g:hv", long_options, NULL)) != -1) {
- } else {
+ switch(c) {
+
+ case 't':
+ strncpy(global.trajectory_filename, optarg, FILENAME_SIZE);
+ break;
+
+ case 'g':
+ strncpy(global.graph_filename, optarg, FILENAME_SIZE);
+ break;
+
+ case 'h':
+ show_help = 1;
+ break;
- cerr << "Can not open " << argv[1] << endl;
+ case OPT_HELP_FORMATS:
+ print_help_formats();
+ exit(EXIT_SUCCESS);
+ break;
- delete file;
+ case 'v':
+ global.verbose = 1;
+ break;
+
+ default:
+ error = 1;
+ break;
+ }
+ }
+
+ if(error) {
+ usage(&cerr);
exit(EXIT_FAILURE);
+ }
+
+ if(show_help) {
+ usage(&cout);
+ exit(EXIT_SUCCESS);
+ }
+ 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);
+ }
+ delete file_in_tracker;
+ } else {
+ do_tracking(&cin);
}
- delete file;
exit(EXIT_SUCCESS);
}
projects / mtp.git / blobdiff