-///////////////////////////////////////////////////////////////////////////
-// 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
+/*
+ * 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 <stdlib.h>
+#include <string.h>
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 * (2.0f * scalar_t(drand48()) - 1.0f);
} else {
- return b + score_noise * (2.0 * drand48() - 1.0);
+ return true_score + score_noise * (2.0f * scalar_t(drand48()) - 1.0f);
}
}
-int main(int argc, char **argv) {
+void create_light_test(MTPTracker *tracker) {
int nb_locations = 7;
int nb_time_steps = 8;
int motion_amplitude = 1;
- Tracker *tracker = new Tracker();
-
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
- // location 0 and exit at location nb_locations-1.
+ // location 0 (or in the first time frame, i.e. targets can already
+ // be in the scene when the sequence starts) and exit at location
+ // nb_locations-1 (or from the last time frame, i.e. targets can
+ // still be present when the sequence finishes)
for(int l = 0; l < nb_locations; l++) {
- for(int k = 0; k < nb_locations; k++) {
- tracker->allowed_motion[l][k] = abs(l - k) <= motion_amplitude;
+ for(int m = 0; m < nb_locations; m++) {
+ tracker->allowed_motions[l][m] = abs(l - m) <= motion_amplitude;
+ }
+ }
+
+ for(int t = 0; t < nb_time_steps; t++) {
+ for(int l = 0; l < nb_locations; l++) {
+ // We allow targets to enter in the first time frame, or in
+ // location 0
+ tracker->entrances[t][l] = (t == 0 || l == 0);
+ // We allow targets to leave from the last time frame, or from
+ // location nb_locations-1
+ tracker->exits[t][l] = (t == nb_time_steps - 1 || l == nb_locations-1);
}
- tracker->entrances[0] = 1;
- tracker->exits[nb_locations - 1] = 1;
}
// We construct the graph corresponding to this structure
// Then, we specify for every location and time step what is the
// detection score there.
- scalar_t flip_noise = 0.05;
- scalar_t score_noise = 0.0;
+ scalar_t flip_noise = 0.05f;
+ scalar_t score_noise = 0.0f;
// We first put a background noise, with negative scores at every
// location.
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
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;
tracker->detection_scores[t][la] = sa;
tracker->detection_scores[t][lb] = sb;
}
+}
+
+void create_heavy_test(MTPTracker *tracker) {
+ int nb_locations = 100;
+ int nb_time_steps = 1000;
+
+ tracker->allocate(nb_time_steps, nb_locations);
+
+ for(int l = 0; l < nb_locations; l++) {
+ for(int m = 0; m < nb_locations; m++) {
+ tracker->allowed_motions[l][m] = (drand48() < 0.1);
+ }
+ }
+
+ for(int t = 0; t < nb_time_steps; t++) {
+ for(int l = 0; l < nb_locations; l++) {
+ tracker->entrances[t][l] = drand48() < 0.01;
+ tracker->exits[t][l] = drand48() < 0.01;
+ }
+ }
+
+ tracker->build_graph();
+
+ for(int t = 0; t < nb_time_steps; t++) {
+ for(int l = 0; l < nb_locations; l++) {
+ tracker->detection_scores[t][l] = scalar_t(drand48()) - 0.95f;
+ }
+ }
+}
+
+int main(int argc, char **argv) {
+ int stress_test;
- // Does the tracking per se
+ if(argc == 1) {
+ stress_test = 0;
+ } else if(argc == 2 && strcmp(argv[1], "stress") == 0) {
+ stress_test = 1;
+ } else {
+ cerr << "mtp_examples [stress]" << endl;
+ exit(EXIT_FAILURE);
+ }
+
+ MTPTracker *tracker = new MTPTracker();
+
+ if(stress_test) {
+ create_heavy_test(tracker);
+ } else {
+ create_light_test(tracker);
+ }
{
- 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 locations";
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);
projects / mtp.git / blobdiff