From 455e5736828233445ac8aea8f15b3bde7e16e9bf Mon Sep 17 00:00:00 2001 From: Francois Fleuret Date: Tue, 21 Aug 2012 17:22:12 -0700 Subject: [PATCH] The tracker seems to work. --- mtp.cc | 36 ++++++++++++++++------------ mtp_graph.cc | 16 +++++++++++++ mtp_graph.h | 5 ++++ tracker.cc | 66 ++++++++++++++++++++++++++++++++++------------------ tracker.h | 13 +++++------ 5 files changed, 91 insertions(+), 45 deletions(-) diff --git a/mtp.cc b/mtp.cc index 118e521..bd6d296 100644 --- a/mtp.cc +++ b/mtp.cc @@ -34,6 +34,7 @@ using namespace std; #include "mtp_graph.h" +#include "tracker.h" ////////////////////////////////////////////////////////////////////// @@ -45,25 +46,30 @@ void find_best_paths(int nb_vertices, graph.find_best_paths(el, result_edge_occupation); } -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; +////////////////////////////////////////////////////////////////////// + +int main(int argc, char **argv) { + int nb_locations = 3; + int nb_time_steps = 4; + + Tracker tracker(nb_time_steps, nb_locations); + + for(int l = 0; l < nb_locations; l++) { + for(int k = 0; k < nb_locations; k++) { + if(abs(l - k) <= 1) tracker.set_allowed_motion(l, k); } } - cout << "}" << endl; -} -////////////////////////////////////////////////////////////////////// + for(int t = 0; t < nb_time_steps; t++) { + for(int l = 0; l < nb_locations; l++) { + tracker.set_detection_score(t, l, -1.0); + } + tracker.set_detection_score(t, 0, 1.0); + } -int main(int argc, char **argv) { + tracker.track(); + + exit(0); if(argc < 2) { cerr << argv[0] << " " << endl; diff --git a/mtp_graph.cc b/mtp_graph.cc index fe74dd1..eb4d3cc 100644 --- a/mtp_graph.cc +++ b/mtp_graph.cc @@ -236,3 +236,19 @@ void MTPGraph::find_best_paths(scalar_t *lengths, int *result_edge_occupation) { } } } + +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; + } + } + cout << "}" << endl; +} diff --git a/mtp_graph.h b/mtp_graph.h index 072eeec..9c14ea2 100644 --- a/mtp_graph.h +++ b/mtp_graph.h @@ -43,4 +43,9 @@ public: void print(); }; +void dot_print(int nb_vertices, + int nb_edges, int *ea, int *eb, scalar_t *el, + int source, int sink, + int *edge_occupation); + #endif diff --git a/tracker.cc b/tracker.cc index 0a76e08..e0b0903 100644 --- a/tracker.cc +++ b/tracker.cc @@ -18,10 +18,14 @@ #include "tracker.h" -Tracker::Tracker(int nb_locations, int nb_time_steps) { +#include + +using namespace std; + +Tracker::Tracker(int nb_time_steps, int nb_locations) { _nb_locations = nb_locations; _nb_time_steps = nb_time_steps; - _detection_score = allocate_array(nb_locations, nb_time_steps); + _detection_score = allocate_array(nb_time_steps, nb_locations); _allowed_motion = allocate_array(nb_locations, nb_locations); for(int l = 0; l < nb_locations; l++) { for(int m = 0; m < nb_locations; m++) { @@ -37,12 +41,13 @@ void Tracker::set_allowed_motion(int from_location, int to_location) { _allowed_motion[from_location][to_location] = 1; } -void Tracker::set_detection_score(int location, int time, scalar_t score) { +void Tracker::set_detection_score(int time, int location, scalar_t score) { + _detection_score[time][location] = score; } void Tracker::track() { - cout << "Building graph." << endl; + cerr << "Building graph." << endl; int nb_motions = 0; for(int l = 0; l < _nb_locations; l++) { @@ -51,55 +56,70 @@ void Tracker::track() { } } - int nb_vertices = 2 + 2 * (_nb_time_steps + 1) * _nb_locations; + int nb_vertices = 2 + 2 * _nb_time_steps * _nb_locations; int nb_edges = _nb_locations * 2 // From source and to sink - + _nb_time_steps * nb_motions // Motions + + (_nb_time_steps - 1) * nb_motions // Motions + _nb_locations * _nb_time_steps; // Doubling of nodes to force // one target per location int source = 0, sink = nb_vertices - 1; int *node_from = new int[nb_edges]; int *node_to = new int[nb_edges]; - scalar_t *edge_length = new scalar_t[nb_edges]; + scalar_t *edge_lengths = new scalar_t[nb_edges]; int e = 0; for(int l = 0; l < _nb_locations; l++) { node_from[e] = source; node_to[e] = 1 + l + 0 * _nb_locations; - edge_length[e] = 0.0; + edge_lengths[e] = 0.0; e++; } - for(int t = 0; t <= _nb_time_steps; t++) { + for(int t = 0; t < _nb_time_steps; t++) { for(int l = 0; l < _nb_locations; l++) { node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l; node_to[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l; - edge_length[e] = _detection_score[t][l]; + edge_lengths[e] = - _detection_score[t][l]; e++; - if(t == _nb_time_steps) { - node_from[e] = 1 + (2 * (t + 0) + 0) * _nb_locations + l; + if(t == _nb_time_steps - 1) { + node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l; node_to[e] = sink; - edge_length[e] = 0; + edge_lengths[e] = 0.0; e++; } else { for(int k = 0; k < _nb_locations; k++) { if(_allowed_motion[l][k]) { node_from[e] = 1 + (2 * (t + 0) + 1) * _nb_locations + l; node_to[e] = 1 + (2 * (t + 1) + 0) * _nb_locations + k; - edge_length[e] = 0.0; + edge_lengths[e] = 0.0; e++; } } } } } + + cerr << "DEBUG e = " << e << " nb_edges = " << nb_edges << endl; + + _graph = new MTPGraph(nb_vertices, nb_edges, node_from, node_to, source, sink); + + int *edge_occupation = new int[nb_edges]; + + _graph->find_best_paths(edge_lengths, edge_occupation); + + dot_print(nb_vertices, nb_edges, node_from, node_to, edge_lengths, + source, sink, + edge_occupation); + + delete[] edge_occupation; + delete _graph; } // void Tracker::track() { // int e = _nb_locations; // for(int t = 0; t <= _nb_time_steps; t++) { // for(int l = 0; l < _nb_locations; l++) { - // edge_length[e] = _detection_score[t][l]; + // edge_lengths[e] = _detection_score[t][l]; // e++; // if(t == _nb_time_steps) { // e++; @@ -110,14 +130,14 @@ void Tracker::track() { // } // } -int Tracker::nb_trajectories() { -} +// int Tracker::nb_trajectories() { +// } -int Tracker::trajectory_start_time(int k) { -} +// int Tracker::trajectory_start_time(int k) { +// } -int Tracker::trajectory_end_time(int k) { -} +// int Tracker::trajectory_end_time(int k) { +// } -int Tracker::trajectory_location(int k, int time) { -} +// int Tracker::trajectory_location(int k, int time) { +// } diff --git a/tracker.h b/tracker.h index d37e46a..4143cf5 100644 --- a/tracker.h +++ b/tracker.h @@ -29,19 +29,18 @@ class Tracker { int **_allowed_motion; public: - Tracker(int nb_locations, int nb_time_steps); + Tracker(int nb_time_steps, int nb_locations); ~Tracker(); void set_allowed_motion(int from_location, int to_location); - void set_detection_score(int location, int time, scalar_t score); - void make_graph(); + void set_detection_score(int time, int location, scalar_t score); void track(); - int nb_trajectories(); - int trajectory_start_time(int k); - int trajectory_end_time(int k); - int trajectory_location(int k, int time); + // int nb_trajectories(); + // int trajectory_start_time(int k); + // int trajectory_end_time(int k); + // int trajectory_location(int k, int time); }; #endif -- 2.20.1