X-Git-Url: https://www.fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=mtp.git;a=blobdiff_plain;f=mtp_example.cc;h=14132c145ddd1e57f4bd921e3a71ff43b43065db;hp=4d2ac63e978572327342039e4ab8deadd0b8cc82;hb=HEAD;hpb=9490c76beeea6435b0d51dc2dc1c4c11f4054a2c

diff --git a/mtp_example.cc b/mtp_example.cc
index 4d2ac63..14132c1 100644
--- a/mtp_example.cc
+++ b/mtp_example.cc
@@ -1,63 +1,79 @@
 
-///////////////////////////////////////////////////////////////////////////
-// 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
@@ -67,26 +83,26 @@ int main(int argc, char **argv) {
   // 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
@@ -95,13 +111,13 @@ 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;
@@ -110,11 +126,64 @@ int main(int argc, char **argv) {
     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;
+    }
+  }
+}
 
-  // Does the tracking per se
+int main(int argc, char **argv) {
+  int stress_test;
+
+  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);
+  }
+
+  {
+    // 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);
+  }
 
-  ofstream out_tracker("tracker.dat");
-  tracker->write(&out_tracker);
+  // Performs the tracking per se
 
   tracker->track();
 
@@ -126,7 +195,7 @@ int main(int argc, char **argv) {
          << " starting at " << tracker->trajectory_entrance_time(t)
          << ", duration " << tracker->trajectory_duration(t)
          << ", score " << tracker->trajectory_score(t)
-         << ", through nodes ";
+         << ", through locations";
     for(int u = 0; u < tracker->trajectory_duration(t); u++) {
       cout << " " << tracker->trajectory_location(t, u);
     }