X-Git-Url: https://www.fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=mtp.git;a=blobdiff_plain;f=mtp.cc;h=15d0e083eb00ca5a4df6a9b7be964baa5a4e88eb;hp=b80f63b76706c35f6971bfa26f2792270236c071;hb=HEAD;hpb=5b85b5488da0952f823b2c2cfd3793669fc3ac95 diff --git a/mtp.cc b/mtp.cc index b80f63b..15d0e08 100644 --- a/mtp.cc +++ b/mtp.cc @@ -1,88 +1,217 @@ -/////////////////////////////////////////////////////////////////////////// -// 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 - -// 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 + * + * 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 -#include -#include -#include -#include +#include +#include +#include +#include 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 ] [-g|--graph-filename ] []" << 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; +} + +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(); + + 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; + } + + 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; + } + + 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(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; } + } -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); - graph.print_dot(); + delete tracker; } -////////////////////////////////////////////////////////////////////// +enum +{ + OPT_HELP_FORMATS = CHAR_MAX + 1 +}; + +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 } +}; int main(int argc, char **argv) { - int nb_locations = 6; - int nb_time_steps = 10; + int c; + int error = 0, show_help = 0; + + strncpy(global.trajectory_filename, "", FILENAME_SIZE); + strncpy(global.graph_filename, "", FILENAME_SIZE); + global.verbose = 0; + + while ((c = getopt_long(argc, argv, "t:g:hv", long_options, NULL)) != -1) { + + switch(c) { + + case 't': + strncpy(global.trajectory_filename, optarg, FILENAME_SIZE); + break; + + case 'g': + strncpy(global.graph_filename, optarg, FILENAME_SIZE); + break; - Tracker *tracker = new Tracker(nb_time_steps, nb_locations); + case 'h': + show_help = 1; + break; - 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); + case OPT_HELP_FORMATS: + print_help_formats(); + exit(EXIT_SUCCESS); + break; + + case 'v': + global.verbose = 1; + break; + + default: + error = 1; + break; } } - for(int r = 0; r < 10; r++) { - cout << "* ROUND " << r << endl; - 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); - } + if(error) { + usage(&cerr); + exit(EXIT_FAILURE); + } - tracker->build_graph(); - tracker->track(); + if(show_help) { + usage(&cout); + exit(EXIT_SUCCESS); + } - for(int t = 0; t < tracker->nb_trajectories(); t++) { - cout << "TRAJECTORY " << t << " :"; - for(int u = 0; u < tracker->trajectory_duration(t); u++) { - cout << " " << tracker->trajectory_location(t, u); - } - cout << endl; + 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 tracker; - exit(EXIT_SUCCESS); }