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@@ -12,6 +12,8 @@
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#include "../algo/Berclaz.h"
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#include "../algo/KShortestPaths2.h"
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#include <boost/program_options.hpp>
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+#include <boost/graph/named_function_params.hpp>
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+#include <boost/graph/bellman_ford_shortest_paths.hpp>
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struct
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{
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@@ -113,14 +115,10 @@ void RunBerclaz(core::DetectionSequence& sequence,
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void Run(int argc, char** argv)
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{
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// Algorithm independent values
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- std::string input_file, output_file, images_folder, algorithm, config_path;
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+ std::string input_file, output_file, images_folder, algorithm, config_path, header, input_format;
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bool info, debug, display;
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-
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- // Input dependent variables
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- std::string header, input_format;
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- char input_delimiter;
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- double temporal_weight, spatial_weight, angular_weight;
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- double image_width, image_height;
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+ char input_delimiter, output_delimiter;
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+ double temporal_weight, spatial_weight, angular_weight, image_width, image_height;
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boost::program_options::options_description opts("Allowed options");
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opts.add_options()
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@@ -147,22 +145,17 @@ void Run(int argc, char** argv)
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("output-file",
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boost::program_options::value<std::string>(&output_file),
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"set the output file path")
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+ ("output-delimiter",
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+ boost::program_options::value<char>(&output_delimiter)
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+ ->default_value(';'),
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+ "the delimiter used to separate values in the specified output file")
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("images-folder",
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boost::program_options::value<std::string>(&images_folder),
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"set images folder path")
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("input-header",
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- boost::program_options::value<std::string>(&header)
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- ->default_value(""),
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+ boost::program_options::value<std::string>(&header),
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"sets the input header, this value is optional if the input file has a header labeling the values,"
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"the delimiter used for the header needs to be the same as for the rest of the file")
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- ("image-width",
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- boost::program_options::value<double>(&image_width)
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- ->default_value(1),
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- "the width of the image")
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- ("image-height",
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- boost::program_options::value<double>(&image_height)
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- ->default_value(1),
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- "the height of the image")
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("input-format",
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boost::program_options::value<std::string>(&input_format)
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->default_value("ObjectData"),
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@@ -172,6 +165,14 @@ void Run(int argc, char** argv)
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boost::program_options::value<char>(&input_delimiter)
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->default_value(';'),
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"the delimiter used to separate values in the specified input file")
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+ ("image-width",
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+ boost::program_options::value<double>(&image_width)
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+ ->default_value(1),
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+ "the width of the image")
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+ ("image-height",
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+ boost::program_options::value<double>(&image_height)
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+ ->default_value(1),
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+ "the height of the image")
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("algorithm",
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boost::program_options::value<std::string>(&algorithm),
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"set the algorithm to use, current viable options: n-stage berclaz")
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@@ -359,8 +360,11 @@ void Run(int argc, char** argv)
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end_time = time(0);
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util::Logger::LogInfo("Time measurement stopped");
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util::Logger::LogInfo("Time passed: "
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- + std::to_string(difftime(end_time, begin_time))
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- + " seconds");
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+ + std::to_string(difftime(end_time, begin_time) / 60.0)
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+ + " minutes");
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+
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+ // Write the output file
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+ //util::FileIO::WriteCSV(tracks, output_file, output_delimiter);
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// Display the tracking data
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if (display)
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@@ -448,28 +452,33 @@ void CreateTestGraph(DirectedGraph& graph, Vertex& source, Vertex& sink)
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for (int i = 1; i < vertices.size() - 1; ++i)
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{
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boost::add_edge(source, vertices[i], 0.0, graph);
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- boost::add_edge(vertices[i], sink, 0.0, graph);
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}
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boost::add_edge(vertices[1], vertices[4], -1.0, graph);
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boost::add_edge(vertices[1], vertices[5], -1.0, graph);
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+ boost::add_edge(vertices[1], vertices[10], 0.0, graph);
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boost::add_edge(vertices[4], vertices[7], -1.0, graph);
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boost::add_edge(vertices[4], vertices[8], -1.0, graph);
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-// boost::add_edge(vertices[7], vertices[10], -1.0, graph);
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+ boost::add_edge(vertices[4], vertices[10], 0.0, graph);
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+ boost::add_edge(vertices[7], vertices[10], -1.0, graph);
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boost::add_edge(vertices[2], vertices[4], -2.0, graph);
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boost::add_edge(vertices[2], vertices[5], -2.0, graph);
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boost::add_edge(vertices[2], vertices[6], -2.0, graph);
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+ boost::add_edge(vertices[2], vertices[10], 0.0, graph);
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boost::add_edge(vertices[5], vertices[7], -2.0, graph);
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boost::add_edge(vertices[5], vertices[8], -2.0, graph);
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boost::add_edge(vertices[5], vertices[9], -2.0, graph);
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-// boost::add_edge(vertices[8], vertices[10], -2.0, graph);
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+ boost::add_edge(vertices[5], vertices[10], 0.0, graph);
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+ boost::add_edge(vertices[8], vertices[10], -2.0, graph);
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boost::add_edge(vertices[3], vertices[5], -3.0, graph);
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boost::add_edge(vertices[3], vertices[6], -3.0, graph);
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+ boost::add_edge(vertices[3], vertices[10], 0.0, graph);
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boost::add_edge(vertices[6], vertices[8], -3.0, graph);
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boost::add_edge(vertices[6], vertices[9], -3.0, graph);
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-// boost::add_edge(vertices[9], vertices[10], -3.0, graph);
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+ boost::add_edge(vertices[6], vertices[10], 0.0, graph);
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+ boost::add_edge(vertices[9], vertices[10], -3.0, graph);
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// Connect all with source and sink
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@@ -490,22 +499,48 @@ void CreateTestGraph(DirectedGraph& graph, Vertex& source, Vertex& sink)
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// boost::add_edge(vertices[8], vertices[7], 0.0, graph);
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}
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-void TestKSP()
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+void TestKSP(DirectedGraph& graph, Vertex& source, Vertex& sink, size_t n_paths)
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{
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- Vertex source, sink;
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- DirectedGraph graph;
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+ algo::KShortestPaths2 ksp;
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+ MultiPredecessorMap paths = ksp.Run(graph, source, sink, n_paths);
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- util::Logger::SetDebug(true);
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- util::Logger::SetInfo(true);
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+ util::FileIO::WriteCSVMatlab(paths, source, sink, "/home/wrede/Dokumente/paths_ksp.csv");
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+}
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- CreateTestGraph(graph, source, sink);
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+void TestKBellmanFord(DirectedGraph& graph, Vertex& source, Vertex& sink, size_t n_paths)
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+{
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+ util::FileIO::WriteCSVMatlab(graph, "/home/wrede/Dokumente/graph_kbf.csv");
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- algo::KShortestPaths2 ksp;
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- MultiPredecessorMap paths = ksp.Run(graph, source, sink, 10);
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+ MultiPredecessorMap paths;
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+ for (size_t i = 0; i < n_paths; ++i)
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+ {
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+ // Prepare variables for path finding
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+ size_t graph_size = boost::num_vertices(graph);
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+ std::vector<Vertex> pred_list(graph_size);
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+ std::vector<double> dist_list(graph_size);
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+ VertexIndexMap graph_indices = boost::get(boost::vertex_index, graph);
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+ EdgeWeightMap weight_map = boost::get(boost::edge_weight, graph);
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+ PredecessorMap pred_map(&pred_list[0], graph_indices);
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+ DistanceMap dist_map(&dist_list[0], graph_indices);
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+
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+ // Find the shortest path
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+ boost::bellman_ford_shortest_paths(graph, graph_size,
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+ boost::root_vertex(source)
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+ .weight_map(weight_map)
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+ .predecessor_map(pred_map)
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+ .distance_map(dist_map));
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+
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+ // Add path
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+ for (Vertex u = sink, v = pred_map[u]; u != v; u = v, v = pred_map[v])
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+ {
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+ paths[u].insert(v);
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- util::FileIO::WriteCSVMatlab(graph, "/home/wrede/Dokumente/graph.csv");
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- util::FileIO::WriteCSVMatlab(paths, source, sink,
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- "/home/wrede/Dokumente/paths.csv");
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+ if (u != sink && u != source)
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+ boost::clear_out_edges(u, graph);
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+ }
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+ }
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+
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+ util::FileIO::WriteCSVMatlab(paths, source, sink, "/home/wrede/Dokumente/paths_kbf.csv");
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}
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void TestGrid()
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@@ -569,7 +604,7 @@ void TestGrid()
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}
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}
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-void TestBerclazGraph()
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+void CreateBerclazGraph(DirectedGraph& graph, Vertex& source, Vertex& sink)
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{
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util::Logger::SetDebug(true);
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util::Logger::SetInfo(true);
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@@ -625,7 +660,7 @@ void TestBerclazGraph()
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util::Logger::LogDebug("add vertices");
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// Add grid vertices
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- DirectedGraph graph;
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+ graph.clear();
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for (int z = 0; z < grid.GetDepthCount(); ++z)
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{
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for (int y = 0; y < grid.GetHeightCount(); ++y)
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@@ -641,8 +676,8 @@ void TestBerclazGraph()
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util::Logger::LogDebug("edge count " + std::to_string(boost::num_edges(graph)));
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// Add source and sink vertex
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- Vertex source = boost::add_vertex(core::ObjectDataPtr(new core::ObjectData()), graph);
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- Vertex sink = boost::add_vertex(core::ObjectDataPtr(new core::ObjectData()), graph);
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+ source = boost::add_vertex(core::ObjectDataPtr(new core::ObjectData()), graph);
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+ sink = boost::add_vertex(core::ObjectDataPtr(new core::ObjectData()), graph);
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util::Logger::LogDebug("add edges");
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@@ -714,27 +749,26 @@ void TestBerclazGraph()
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util::Logger::LogDebug("vertex count " + std::to_string(boost::num_vertices(graph)));
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util::Logger::LogDebug("edge count " + std::to_string(boost::num_edges(graph)));
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-
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- // Running KSP with 5 possible paths although only 3 are worth it
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- algo::KShortestPaths2 ksp;
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- MultiPredecessorMap ksp_result = ksp.Run(graph, source, sink, 5);
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-
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- util::FileIO::WriteCSVMatlab(graph, "/home/wrede/Dokumente/graph.csv");
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- util::FileIO::WriteCSVMatlab(ksp_result, source, sink,
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- "/home/wrede/Dokumente/paths.csv");
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}
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int main(int argc, char** argv)
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{
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+ //TODO load with frame offset
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+
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Run(argc, argv);
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- //TestTracklet();
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+// TestTracklet();
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+
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+// DirectedGraph graph;
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+// Vertex source, sink;
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+// CreateBerclazGraph(graph, source, sink);
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- //TestKSP();
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+// util::FileIO::WriteCSVMatlab(graph, "/home/wrede/Dokumente/graph.csv");
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- //TestGrid();
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+// TestKBellmanFord(graph, source, sink, 3);
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+// TestKSP(graph, source, sink, 10);
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- //TestBerclazGraph();
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+// TestGrid();
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return 0;
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}
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Helge Wrede