├── .gitignore
├── img
    └── example.png
├── .gitmodules
├── include
    ├── plot.h
    ├── ukf.h
    ├── ekf.h
    ├── state.h
    ├── filter.h
    ├── obj.h
    ├── Tracker.h
    └── Tracking.h
├── src
    ├── state.cpp
    ├── filter.cpp
    ├── obj.cpp
    ├── plot.cpp
    ├── Tracker.cpp
    ├── ekf.cpp
    ├── ukf.cpp
    └── Tracking.cpp
├── demo
    └── main.cpp
├── CMakeLists.txt
├── README.md
├── data
    ├── prova.txt
    ├── gt_000002.txt
    ├── test.txt
    ├── prova_pixel.txt
    └── test_ll.txt
├── cmake
    └── CompilerWarnings.cmake
└── LICENSE


/.gitignore:
--------------------------------------------------------------------------------
1 | *~
2 | build
3 | *vscode*
4 | 


--------------------------------------------------------------------------------
/img/example.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mive93/class-tracker/HEAD/img/example.png


--------------------------------------------------------------------------------
/.gitmodules:
--------------------------------------------------------------------------------
1 | [submodule "geodetic_utils"]
2 | 	path = geodetic_utils
3 | 	url = https://github.com/ethz-asl/geodetic_utils
4 | [submodule "matplotlib-cpp"]
5 | 	path = matplotlib-cpp
6 | 	url = https://github.com/lava/matplotlib-cpp
7 | 


--------------------------------------------------------------------------------
/include/plot.h:
--------------------------------------------------------------------------------
 1 | #ifdef USE_MATPLOTLIB
 2 | 
 3 | #ifndef PLOT_H
 4 | #define PLOT_H
 5 | 
 6 | #include "matplotlibcpp.h"
 7 | #include "ukf.h"
 8 | #include "obj.h"
 9 | #include <deque>
10 | 
11 | void testMatplotlib();
12 | void plotTrajectory(std::deque<tracking::obj_m> trajectory);
13 | void plotTruthvsPred(std::deque<tracking::state> groudtruth, std::deque<tracking::state> prediction);
14 | 
15 | #endif /*PLOT_H*/
16 | 
17 | #endif /*USE_MATPLOTLIB*/


--------------------------------------------------------------------------------
/include/ukf.h:
--------------------------------------------------------------------------------
 1 | #ifndef UKF_H
 2 | #define UKF_H
 3 | 
 4 | #include <eigen3/Eigen/LU>
 5 | #include <eigen3/Eigen/Cholesky>
 6 | 
 7 | #include <iomanip>
 8 | #include <cmath>
 9 | 
10 | #include "filter.h"
11 | 
12 | namespace tracking{
13 | 
14 | class UKF : public Filter
15 | {
16 | public:
17 | 
18 |   UKF();
19 |   UKF(const int n_states, const float dt_, const FMatrixF &Q_, const FMatrixF &R_, const state &in_state);
20 |   ~UKF();
21 |   void step(const FMatrixF &H_, const Eigen::VectorXf &z);
22 | 
23 | private:
24 |   state stateTransition(const state &x);
25 | };
26 | 
27 | }
28 | 
29 | #endif /*UKF_H*/
30 | 


--------------------------------------------------------------------------------
/src/state.cpp:
--------------------------------------------------------------------------------
 1 | #include "state.h"
 2 | 
 3 | namespace tracking{
 4 | 
 5 | void state::print(){
 6 |       std::cout << "x: " << x << "\ty: " << y << "\tyaw: " << yaw << "\tv: " << vel << "\tyaw rate: " << yawRate << std::endl;
 7 | }
 8 | 
 9 | Eigen::VectorXf StateIntoVector(const state &x, int n_states)
10 | {
11 |     Eigen::VectorXf v(n_states);
12 |     v(0) = x.x;
13 |     v(1) = x.y;
14 |     v(2) = x.yaw;
15 |     v(3) = x.vel;
16 |     v(4) = x.yawRate;
17 |     return v;
18 | }
19 | 
20 | state VectorIntoState(const Eigen::VectorXf &v)
21 | {
22 |     state x(v(0), v(1), v(2), v(3), v(4));
23 |     return x;
24 | }
25 | 
26 | }


--------------------------------------------------------------------------------
/include/ekf.h:
--------------------------------------------------------------------------------
 1 | #ifndef EKF_H
 2 | #define EKF_H
 3 | 
 4 | #include <vector>
 5 | #include <eigen3/Eigen/Core>
 6 | #include <eigen3/Eigen/LU>
 7 | #include <iostream>
 8 | 
 9 | #include <iomanip>
10 | 
11 | #include "state.h"
12 | #include "filter.h"
13 | 
14 | namespace tracking{
15 | class EKF : public Filter
16 | {
17 | public:
18 | 
19 |   EKF();
20 |   EKF(const int n_states, const float dt_, const FMatrixF &Q_, const FMatrixF &R_, const state &in_state);
21 |   ~EKF();
22 |   void step(const FMatrixF &H_, const Eigen::VectorXf &z);
23 | 
24 | private:
25 | 
26 |   state stateTransition();
27 |   FMatrixF jacobian(const state &x);
28 | };
29 | 
30 | }
31 | 
32 | #endif /*EKF_H*/
33 | 


--------------------------------------------------------------------------------
/include/state.h:
--------------------------------------------------------------------------------
 1 | #ifndef STATE_H
 2 | #define STATE_H
 3 | 
 4 | #include <vector>
 5 | #include <eigen3/Eigen/Core>
 6 | #include <iostream>
 7 | 
 8 | namespace tracking{
 9 | 
10 | struct state
11 | {
12 |   float x          = 0.0f;
13 |   float y          = 0.0f;
14 |   float yaw        = 0.0f;
15 |   float vel        = 0.0f;
16 |   float yawRate    = 0.0f;
17 | 
18 |   state() {}
19 |   state(const float x_, const float y_, const float yaw_, const float vel_, 
20 |         const float yaw_rate): x(x_), y(y_), yaw(yaw_), vel(vel_), 
21 |         yawRate(yaw_rate) {}
22 |   void print();
23 | };
24 | 
25 | Eigen::VectorXf StateIntoVector(const state &x, int n_states);
26 | state VectorIntoState(const Eigen::VectorXf &v);
27 | 
28 | }
29 | 
30 | #endif /*STATE_H*/
31 | 


--------------------------------------------------------------------------------
/src/filter.cpp:
--------------------------------------------------------------------------------
 1 | #include "filter.h"
 2 | 
 3 | namespace tracking{
 4 | 
 5 | void Filter::printInternalState(){
 6 |     std::cout << "***************Internal state*********************" << std::endl;
 7 |     std::cout << "n_states: " << nStates << std::endl;
 8 |     std::cout << "dt: " << dt << std::endl;
 9 |     std::cout << "P: \n"
10 |             << P << std::endl;
11 |     std::cout << "Q: \n"
12 |             << Q << std::endl;
13 |     std::cout << "R: \n"
14 |             << R << std::endl;
15 |     std::cout << "H: \n"
16 |             << H << std::endl;
17 |     xEst.print();
18 |     std::cout << "**************************************************" << std::endl;
19 | }
20 | 
21 | state Filter::getEstimatedState(){ return xEst; }
22 | 
23 | FMatrixF Filter::getCovarianceMatrix(){ return P;}
24 | 
25 | }
26 | 


--------------------------------------------------------------------------------
/include/filter.h:
--------------------------------------------------------------------------------
 1 | #ifndef FILTER_H
 2 | #define FILTER_H
 3 | 
 4 | #include <vector>
 5 | #include <eigen3/Eigen/Core>
 6 | #include <iostream>
 7 | 
 8 | #include "state.h"
 9 | 
10 | namespace tracking{
11 | 
12 | using FMatrixF = Eigen::Matrix<float, -1, -1>;
13 | enum Filters_t {EKF_t, UKF_t};
14 | 
15 | class Filter{
16 | 
17 |     public:
18 |     
19 |     Filter(){};
20 |     virtual ~Filter() = default;
21 |     void printInternalState();
22 |     state getEstimatedState();
23 |     FMatrixF getCovarianceMatrix();
24 |     virtual void step(const FMatrixF &H_, const Eigen::VectorXf &z) = 0;
25 |     
26 |     protected:
27 | 
28 |     int nStates;
29 |     float dt;
30 |     state xEst;
31 |     FMatrixF Q;
32 |     FMatrixF R;
33 |     FMatrixF P;
34 |     FMatrixF H;
35 | 
36 | };
37 | }
38 | 
39 | #endif /*FILTER_H*/
40 | 


--------------------------------------------------------------------------------
/include/obj.h:
--------------------------------------------------------------------------------
 1 | #ifndef TRACKUTILS_H
 2 | #define TRACKUTILS_H
 3 | 
 4 | #include <vector>
 5 | #include <fstream>
 6 | #include <iostream>
 7 | #include <iomanip>
 8 | #include "geodetic_conv.hpp"
 9 | 
10 | namespace tracking{
11 | /*Object in meters*/
12 | struct obj_m{
13 |     float x         = 0;
14 |     float y         = 0;
15 |     int frame       = -1;
16 |     int cl          = -1;
17 |     int w           = 0;
18 |     int h           = 0;
19 |     float error     = 0.0;
20 | 
21 |     obj_m(){}
22 |     obj_m(const float x_, const float y_, const int frame_, const int cl_, const int width, const int height, const float error_) : x(x_), y(y_), frame(frame_), cl(cl_), w(width), h(height), error(error_){}
23 |     void print();
24 | };
25 | }
26 | 
27 | std::vector<tracking::obj_m> readDataFromFile(const std::string filename);
28 | 
29 | #endif /*TRACKUTILS_H*/
30 | 


--------------------------------------------------------------------------------
/include/Tracker.h:
--------------------------------------------------------------------------------
 1 | #ifndef TRACKER_H
 2 | #define TRACKER_H
 3 | 
 4 | #include "ukf.h"
 5 | #include "ekf.h"
 6 | #include "obj.h"
 7 | #include <cstdlib>
 8 | #include <deque>
 9 | 
10 | #define MAX_HISTORY 50 
11 | 
12 | namespace tracking {
13 | class Tracker
14 | {
15 | public:
16 |     std::deque<obj_m> traj;
17 |     std::deque<obj_m> trajFilter;
18 |     std::deque<state> zList;
19 |     std::deque<state> predList;
20 |     Filter *filter = nullptr;
21 |     int age;
22 |     int r;
23 |     int g;
24 |     int b;
25 |     int cl;
26 |     int id;
27 | 
28 |     Tracker(const obj_m &first_point, const int initial_age, const float dt, const int n_states, const int id_, Filters_t filter_type);
29 |     Tracker(const std::deque<obj_m>& traj_,const std::deque<state>& zList_, const std::deque<state>& predList_,Filter* filter_,const int age_, const int r_, const int g_, const int b_, const int cl_, const int id_);
30 | 
31 | private:
32 |     Tracker();
33 |     Filter* filterInitialize(const float dt, const int n_states, const obj_m &first_point, Filters_t filter_type);
34 | };
35 | 
36 | }
37 | 
38 | #endif /*TRACKER_H*/


--------------------------------------------------------------------------------
/src/obj.cpp:
--------------------------------------------------------------------------------
 1 | #include "obj.h"
 2 | 
 3 | namespace tracking{
 4 | void obj_m::print(){
 5 |     std::cout << std::setprecision(10) << "x: " << x << "\ty: " << y << "\tf: " << frame << "\tc: " << cl << std::endl;
 6 | }
 7 | }
 8 | 
 9 | std::vector<tracking::obj_m> readDataFromFile(const std::string filename){
10 |     std::ifstream file;
11 |     file.open(filename);
12 | 
13 |     tracking::obj_m d;
14 |     long int timestamp;
15 |     std::vector<tracking::obj_m> data;
16 | 
17 |     double east, north, up;
18 | 
19 |     geodetic_converter::GeodeticConverter gc;
20 |     gc.initialiseReference(44.655540, 10.934315, 0); //set the origin (centre)
21 | 
22 |     if (file.is_open()){
23 |         std::string line;
24 |         while (getline(file, line)){
25 |             std::istringstream iss(line);
26 |             iss >> d.frame >> timestamp >> d.x >> d.y;
27 | 
28 |             //conversion from lat lon to distance(m) from centre
29 |             gc.geodetic2Enu(d.x, d.y, 0, &east, &north, &up);
30 | 
31 |             d.x = float(east);
32 |             d.y = float(north);
33 | 
34 |             data.push_back(d);
35 |         }
36 |     }
37 | 
38 |     file.close();
39 |     return data;
40 | }
41 | 


--------------------------------------------------------------------------------
/src/plot.cpp:
--------------------------------------------------------------------------------
 1 | #ifdef USE_MATPLOTLIB
 2 | #include "plot.h"
 3 | 
 4 | void testMatplotlib(){
 5 |     const std::string name = "ciao";
 6 |     std::vector<int> x, y;
 7 |     x.push_back(1);
 8 |     x.push_back(2);
 9 |     x.push_back(3);
10 |     x.push_back(4);
11 | 
12 |     y.push_back(1);
13 |     y.push_back(2);
14 |     y.push_back(3);
15 |     y.push_back(4);
16 | 
17 |     matplotlibcpp::named_plot(name, x, y);
18 |     matplotlibcpp::annotate("1", 1, 1);
19 |     matplotlibcpp::annotate("2", 2, 2);
20 |     matplotlibcpp::annotate("3", 3, 3);
21 |     matplotlibcpp::annotate("4", 4, 4);
22 |     matplotlibcpp::legend();
23 |     matplotlibcpp::show();
24 | }
25 | 
26 | void plotTrajectory(std::deque<tracking::obj_m> trajectory){
27 |     std::vector<float> x;
28 |     std::vector<float> y;
29 |     for (auto d : trajectory){
30 |         x.push_back(d.x);
31 |         y.push_back(d.y);
32 |     }
33 |     matplotlibcpp::plot(x, y);
34 |     for (auto d : trajectory)
35 |         matplotlibcpp::annotate(std::to_string(d.frame), d.x, d.y);
36 |     matplotlibcpp::title("Trajectory");
37 | 
38 |     matplotlibcpp::show();
39 | }
40 | 
41 | void plotTruthvsPred(std::deque<tracking::state> groudtruth, std::deque<tracking::state> prediction){
42 |     std::vector<float> x_gt;
43 |     std::vector<float> y_gt;
44 |     for (auto gt : groudtruth){
45 |         x_gt.push_back(gt.x);
46 |         y_gt.push_back(gt.y);
47 |     }
48 | 
49 |     std::vector<float> x_pr;
50 |     std::vector<float> y_pr;
51 |     for (auto pr : prediction){
52 |         x_pr.push_back(pr.x);
53 |         y_pr.push_back(pr.y);
54 |     }
55 | 
56 |     matplotlibcpp::named_plot("Groundtruth", x_gt, y_gt, "r--");
57 |     matplotlibcpp::named_plot("Prediction", x_pr, y_pr, "g");
58 |     matplotlibcpp::legend();
59 |     matplotlibcpp::show();
60 | }
61 | 
62 | #endif


--------------------------------------------------------------------------------
/demo/main.cpp:
--------------------------------------------------------------------------------
 1 | #include <iostream>
 2 | #include <eigen3/Eigen/Core>
 3 | #include "ukf.h"
 4 | #include "obj.h"
 5 | #ifdef USE_MATPLOTLIB
 6 | #include "plot.h"
 7 | #endif
 8 | #include "Tracking.h"
 9 | #include "filter.h"
10 | 
11 | void UKFtest()
12 | {
13 |     std::cout << "This is a test" << std::endl;
14 | 
15 |     int n_states = 5;
16 |     float dt = 0.03f;
17 | 
18 |     tracking::FMatrixF Q = tracking::FMatrixF::Zero(n_states, n_states);
19 |     tracking::FMatrixF R = tracking::FMatrixF::Zero(n_states, n_states);
20 |     float dt2 = dt * dt;
21 |     Q.diagonal() << 1.0f*1.0f*dt2, 1.0f*1.0f*dt2, 1.0f*1.0f*dt2, 3.0f*3.0f*dt2, 0.1f*0.1f*dt2;
22 |     R.diagonal() << 0.5f*0.5f, 0.5f*0.5f, 0.1f*0.1f, 0.5f*0.5f, 0.02f*0.02f;
23 | 
24 |     std::cout << Q << std::endl;
25 |     std::cout << R << std::endl;
26 | 
27 |     tracking::state s(1.0f, 2.0f, 0.0f, 0.0f, 0.0f);
28 | 
29 |     tracking::UKF ukf(n_states, dt, Q, R, s);
30 |     ukf.printInternalState();
31 | 
32 |     tracking::FMatrixF H = tracking::FMatrixF::Zero(n_states, n_states);
33 |     H(0, 0) = 1.0f;
34 |     H(1, 1) = 1.0f;
35 | 
36 |     Eigen::VectorXf v(n_states);
37 |     v << 3.0f, 4.0f, 0.0f, 0.0f, 0.0f;
38 | 
39 |     ukf.step(H, v);
40 |     ukf.printInternalState();
41 | }
42 | 
43 | int main(/*int argc, char **argv*/)
44 | {
45 | 
46 |     std::vector<tracking::obj_m> data = readDataFromFile("../data/test_ll.txt");
47 |     for (auto d : data)
48 |         d.print();
49 | 
50 |     // #ifdef USE_MATPLOTLIB
51 |     //testMatplotlib();
52 |     // #endif
53 | 
54 | 
55 |     float dt = 0.03f;
56 |     int n_states = 5;
57 |     int initial_age = 5;
58 |     bool verbose = true;
59 |     tracking::Filters_t filter_type = tracking::Filters_t::EKF_t;
60 | 
61 |     tracking::Tracking t(n_states, dt, initial_age, filter_type);
62 |     t.trackOnGivenData(data, verbose);
63 | 
64 |     return EXIT_SUCCESS;
65 | }
66 | 


--------------------------------------------------------------------------------
/src/Tracker.cpp:
--------------------------------------------------------------------------------
 1 | #include "Tracker.h"
 2 | 
 3 | namespace tracking{
 4 | Tracker::Tracker(const obj_m &first_point, const int initial_age, const float dt, const int n_states, const int id_, Filters_t filter_type)
 5 | {
 6 |     traj.push_back(first_point);
 7 |     trajFilter.push_back(first_point);
 8 |     age = initial_age;
 9 |     filter =  filterInitialize(dt, n_states, first_point, filter_type);
10 | 
11 |     r = rand() % 256;
12 |     g = rand() % 256;
13 |     b = rand() % 256;
14 | 
15 |     cl = first_point.cl;
16 |     id = id_;
17 | }
18 | 
19 | Tracker::Tracker(const std::deque<obj_m>& traj_,const std::deque<state>& zList_, const std::deque<state>& predList_,Filter* filter_,const int age_, const int r_, const int g_, const int b_, const int cl_, const int id_)
20 | {
21 |     this->traj          = traj_;
22 |     this->trajFilter    = traj_;
23 |     this->zList         = zList_;
24 |     this->predList      = predList_;
25 |     this-> filter       = filter_;
26 |     this->age           = age_;
27 |     this->r             = r_;
28 |     this->g             = g_;
29 |     this->b             = b_;
30 |     this->cl            = cl_;
31 |     this->id            = id_;
32 | }
33 | 
34 | Filter* Tracker::filterInitialize(const float dt, const int n_states, const obj_m &first_point, Filters_t filter_type)
35 | {
36 |     tracking::FMatrixF Q = tracking::FMatrixF::Zero(n_states, n_states);
37 |     tracking::FMatrixF R = tracking::FMatrixF::Zero(n_states, n_states);
38 |     float dt2 = dt * dt;
39 |     Q.diagonal() << 3.0f*3.0f*dt2, 3.0f*3.0f*dt2, 1.0f*1.0f*dt2, 25.0f*25.0f*dt2, 0.1f*0.1f*dt2;
40 |     R.diagonal() << 0.5f*0.5f, 0.5f*0.5f, 0.1f*0.1f, 0.8f*0.8f, 0.02f*0.02f;
41 |     state s(first_point.x, first_point.y, 0, 0, 0);
42 | 
43 |     if(filter_type == Filters_t::EKF_t){
44 |         EKF * ekf = new EKF(n_states, dt, Q, R, s);
45 |         return ekf;    
46 |     }
47 | 
48 |     UKF * ukf = new UKF(n_states, dt, Q, R, s);
49 |         return ukf;
50 | }
51 | 
52 | }//namespace tracking


--------------------------------------------------------------------------------
/include/Tracking.h:
--------------------------------------------------------------------------------
 1 | #ifndef TRACKING_H
 2 | #define TRACKING_H
 3 | 
 4 | #include "ukf.h"
 5 | #include "obj.h"
 6 | #ifdef USE_MATPLOTLIB
 7 | #include "plot.h"
 8 | #endif
 9 | #include "Tracker.h"
10 | #include <cstdlib>
11 | 
12 | namespace tracking{
13 | 
14 | struct knn_infos
15 | {
16 |     int objIdPrev   = -1;
17 |     int objIdCurr   = -1;
18 |     float dist      =  0;  //distance
19 | };
20 | 
21 | bool compareKnn_infos(const knn_infos & a, const knn_infos& b);
22 | 
23 | /* For each object in the new frame this method computes the distance from 
24 |     * each object in the old frame and save the smallest one. 
25 | 
26 |     * Input
27 |     * @param old_points: old frame objects
28 |     * @param new_points: new frame objects
29 |     *
30 |     * @return a vector of float vectors containing 
31 |     * <old_frame_obj_index, distance, new_frame_obj_index>, 
32 |     * ordered for old_frame_obj_index first(ascending), distance second(ascending). 
33 |     */
34 | std::vector<knn_infos> computeDistance(const std::vector<obj_m> &old_points, const std::vector<obj_m> &new_points);
35 | 
36 | #define MAX_INDEX 32767
37 | 
38 | class Tracking
39 | {
40 |     bool * trackerIndexes   = nullptr;
41 |     int curIndex            = 0;
42 |     int ageThreshold        = 0;
43 |     int filterStates;
44 |     int initialAge;
45 |     float dt;
46 |     Filters_t filterType;
47 | 
48 |     void deleteOldTrajectories(bool verbose=false);
49 |     void addNewTrajectories(const std::vector<obj_m> &frame, const std::vector<bool> &used, const std::vector<knn_infos> &knn_res, bool verbose=false);
50 |     void nearestNeighbor(const std::vector<obj_m> &frame, std::vector<knn_infos>& knn_res, std::vector<bool>& used, std::vector<obj_m>& new_trajs);
51 |     void kalmanStep(const std::vector<obj_m>& new_trajs);
52 |     int getTrackerIndex();
53 |     
54 | 
55 | public:
56 |     std::vector<Tracker> trackers;
57 | 
58 |     Tracking(const int n_states, const float dt_, const int initial_age, const Filters_t filter_type);
59 |     ~Tracking();
60 |     void track(const std::vector<obj_m> &frame, bool verbose=false);
61 |     void trackOnGivenData(const std::vector<obj_m> &data, bool verbose=false);
62 |     std::vector<Tracker> getTrackers();
63 |     void setAgeThreshold(const int age_threshold);
64 | 
65 | };
66 | 
67 | }
68 | 
69 | #endif /*TRACKING_H*/


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8)
 2 | project (class-tracker)
 3 | 
 4 | # Link this 'library' to use the warnings specified in CompilerWarnings.cmake
 5 | add_library(project_warnings INTERFACE)
 6 | # standard compiler warnings
 7 | include(cmake/CompilerWarnings.cmake)
 8 | set_project_warnings(project_warnings)
 9 | 
10 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11")
11 | set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${CMAKE_CXX_FLAGS}")
12 | set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS} -O3")
13 | 
14 | #-------------------------------------------------------------------------------
15 | # Options
16 | #-------------------------------------------------------------------------------
17 | 
18 | option(WITH_MATPLOTLIB "Compiling also matplotlib" ON)
19 | if(WITH_MATPLOTLIB)
20 |     add_compile_definitions(USE_MATPLOTLIB)
21 |     include_directories(  SYSTEM ${CMAKE_CURRENT_SOURCE_DIR}/matplotlib-cpp )
22 | endif()
23 | 
24 | #-------------------------------------------------------------------------------
25 | # External Libraries
26 | #-------------------------------------------------------------------------------
27 | find_package(Eigen3 REQUIRED)
28 | find_package(Python3 COMPONENTS Interpreter Development)
29 | 
30 | message("Python_FOUND:${Python3_FOUND}")
31 | message("Python_VERSION:${Python3_VERSION}")
32 | message("Python_Development_FOUND:${Python3_Development_FOUND}")
33 | message("Python_LIBRARIES:${Python3_LIBRARIES}")
34 | message("Python_INCLUDE_DIRS:${Python3_INCLUDE_DIRS}")
35 | 
36 | include_directories(    ${CMAKE_CURRENT_SOURCE_DIR}/include )
37 | include_directories(    SYSTEM ${CMAKE_CURRENT_SOURCE_DIR}/geodetic_utils/geodetic_utils/include/geodetic_utils
38 |                         ${EIGEN3_INCLUDE_DIR}
39 |                         ${Python3_INCLUDE_DIRS}
40 |                         )
41 | 
42 | file(GLOB class-tracker-SRC "src/*.cpp")
43 | set(class-tracker-LIBS ${Python3_LIBRARIES})
44 | add_library(class-tracker SHARED ${class-tracker-SRC})
45 | target_link_libraries(class-tracker ${class-tracker-LIBS} project_warnings )
46 | 
47 | #-------------------------------------------------------------------------------
48 | # Build executables
49 | #-------------------------------------------------------------------------------
50 | add_executable(tracker demo/main.cpp)
51 | target_link_libraries(tracker class-tracker)
52 | 


--------------------------------------------------------------------------------
/src/ekf.cpp:
--------------------------------------------------------------------------------
 1 | #include "ekf.h"
 2 | 
 3 | namespace tracking{
 4 | EKF::EKF() {}
 5 | 
 6 | EKF::EKF(const int n_states, const float dt_, const FMatrixF &Q_, const FMatrixF &R_, const state &in_state)
 7 | {
 8 |     nStates = n_states;
 9 |     dt = dt_;
10 | 
11 |     Q = Q_;
12 |     R = R_;
13 |     P = FMatrixF::Identity(nStates, nStates);
14 |     H = FMatrixF::Identity(nStates, nStates);
15 | 
16 |     xEst = in_state;
17 | }
18 | 
19 | EKF::~EKF()
20 | {
21 |     //FIXME - undestand why segfault
22 |     /* if (Q)
23 |         delete Q;
24 |     if (R)
25 |         delete R;
26 |     if (H)
27 |         delete H;
28 |     if (P)
29 |         delete P; */
30 | }
31 | 
32 | 
33 | void EKF::step(const FMatrixF &H_, const Eigen::VectorXf &z)
34 | {
35 |     H = H_;
36 | 
37 |     //predict
38 |     state x = stateTransition();
39 |     FMatrixF J = jacobian(x);
40 |     FMatrixF PPred = J * P * J.transpose() + Q;
41 | 
42 |     //update
43 | 
44 |     FMatrixF Ht = H.transpose();
45 | 
46 |     Eigen::VectorXf y = z - StateIntoVector(xEst, nStates);
47 |     FMatrixF S = H * PPred * Ht + R;
48 |     FMatrixF K = PPred * Ht * (S.inverse());
49 |     Eigen::VectorXf x_est_vec = StateIntoVector(x, nStates) + K * y;
50 |     xEst = VectorIntoState(x_est_vec);
51 |     P = PPred - K * H * PPred;
52 | }
53 | 
54 | state EKF::stateTransition()
55 | {
56 |     state x = xEst;
57 |     state y;
58 |     if (abs(x.yawRate) < 0.0001f){
59 |         y.x = x.x + x.vel * dt * float(cos(x.yaw));
60 |         y.y = x.y + x.vel * dt * float(sin(x.yaw));
61 |         y.yaw = x.yaw;
62 |         y.vel = x.vel;
63 |         y.yawRate = 0.0001f;
64 |     }
65 |     else{
66 |         y.x = x.x + (x.vel / x.yawRate) * (float(sin(x.yawRate * dt + x.yaw)) - float(sin(x.yaw)));
67 |         y.y = x.y + (x.vel / x.yawRate) * (-float(cos(x.yawRate * dt + x.yaw)) + float(cos(x.yaw)));
68 |         y.yaw = x.yaw + x.yawRate * dt;
69 |         y.vel = x.vel;
70 |         y.yawRate = x.yawRate;
71 |     }
72 | 
73 |     return y;
74 | }
75 | 
76 | FMatrixF EKF::jacobian(const state &x)
77 | {
78 |     FMatrixF J(nStates, nStates);
79 |     J.setIdentity();
80 | 
81 |     J(0, 2) = (x.vel / x.yawRate) * (float(cos(x.yawRate * dt + x.yaw)) - float(cos(x.yaw)));
82 |     J(0, 3) = (1.0f / x.yawRate) * (float(sin(x.yawRate * dt + x.yaw)) - float(sin(x.yaw)));
83 |     J(0, 4) = (dt * x.vel / x.yawRate) * float(cos(x.yawRate * dt + x.yaw)) - (x.vel / (x.yawRate * x.yawRate)) * (float(sin(x.yawRate * dt + x.yaw)) - float(sin(x.yaw)));
84 |     J(1, 2) = (x.vel / x.yawRate) * (float(sin(x.yawRate * dt + x.yaw)) - float(sin(x.yaw)));
85 |     J(1, 3) = (1.0f / x.yawRate) * (-float(cos(x.yawRate * dt + x.yaw)) + float(cos(x.yaw)));
86 |     J(1, 4) = (dt * x.vel / x.yawRate) * float(sin(x.yawRate * dt + x.yaw)) - (x.vel / (x.yawRate * x.yawRate)) * (-float(cos(x.yawRate * dt + x.yaw)) + float(cos(x.yaw)));
87 |     J(2, 4) = dt;
88 | 
89 |     return J;
90 | }
91 | 
92 | } //namespace tracking


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # class-tracker
 2 | 
 3 |   
 4 | 
 5 | ```class-tracker``` is a C++ library that implements both an Extended Kalman Filter (EFK) and an Unscented Kalman Filter (UKF), based tracker.
 6 | 
 7 | The tracker only works on the position of the object ```(x,y)``` to predict not only the new position ```(x’,y’)```, but also the velocity ```v``` the yaw ![equation](https://latex.codecogs.com/gif.latex?%5Cpsi), and the yaw-rate ![equation](https://latex.codecogs.com/gif.latex?%5Cdot%5Cpsi). Hence, the state of EKF is: 
 8 | 
 9 | ![equation](https://latex.codecogs.com/gif.latex?%5Cbegin%7Bbmatrix%7D%20x%20%5C%5C%20y%20%5C%5C%20%5Cpsi%20%5C%5C%20v%20%5C%5C%20%5Cdot%5Cpsi%20%5C%5C%20%5Cend%7Bbmatrix%7D)
10 | 
11 | While the state transition adopted: 
12 | 
13 | ![equation](https://latex.codecogs.com/gif.latex?%5Cbegin%7Bbmatrix%7D%20x%20&plus;%20%5Cfrac%7Bv%5Ccdot%28-sin%28%5Cpsi%29%20&plus;%20sin%28T%5Ccdot%20%5Cdot%5Cpsi%20&plus;%20%5Cpsi%29%29%7D%7B%5Cdot%5Cpsi%7D%20%5C%5C%20y&plus;%20%5Cfrac%7Bv%5Ccdot%28cos%28%5Cpsi%29%20-%20cos%28T%5Ccdot%20%5Cdot%5Cpsi%20&plus;%20%5Cpsi%29%29%7D%7B%5Cdot%5Cpsi%7D%20%5C%5C%20T%5Ccdot%20%5Cdot%5Cpsi%20&plus;%20%5Cpsi%20%5C%5C%20v%20%5C%5C%20%5Cdot%5Cpsi%20%5C%5C%20%5Cend%7Bbmatrix%7D)
14 | 
15 | 
16 | It is important to know that the filter expects to receive data in meters and returns:
17 |  - ```(x',y')``` in meters
18 |  - ```v``` in m/s
19 |  - ![equation](https://latex.codecogs.com/gif.latex?%5Cpsi) in radians
20 |  - ![equation](https://latex.codecogs.com/gif.latex?%5Cdot%5Cpsi) in radians/second
21 | 
22 | 
23 | Moreover, it is important to set the correct ```delta t``` and the wanted age factor when using the tracker as a library.
24 | 
25 |  ## Dependencies 
26 | 
27 | ```
28 | sudo apt-get install libeigen3-dev python3-matplotlib libpython3.6 
29 | 
30 | ```
31 | 
32 | This library also depends upon: 
33 | - [matplotlib-cpp](https://github.com/lava/matplotlib-cpp) for visualization
34 | - [geotedic_utils](https://github.com/ethz-asl/geodetic_utils) for the convertion from GPS to meters
35 | 
36 | ## Building this repo
37 | ```
38 | git clone https://github.com/mive93/tracker_CLASS
39 | cd class-tracker
40 | git submodule update --init --recursive
41 | mkdir build
42 | cd build
43 | cmake -DCMAKE_BUILD_TYPE=Release ..
44 | make -j4
45 | ```
46 | 
47 | Optionally
48 | ```
49 | cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo .. 
50 | cmake -DCMAKE_BUILD_TYPE=Debug ..
51 | ```
52 | 
53 | Matplotlib can be activated (resp. deactivated) with the cmake option -DWITH_MATPLOTLIB=True (resp. -DWITH_MATPLOTLIB=False )
54 | 
55 | ## Running the demo
56 | 
57 | This repository offers a library to exploit the implemented filter, however, there is also a dummy example of the usage of the trackers given by the program ```tracker```. Once the project has been built, it can just be run with:
58 | ```
59 | 
60 | ./tracker
61 | ```
62 | 
63 | It exploits the file ```../data/test_ll.txt``` in which in each line there is 
64 | 
65 | - frame number
66 | - timestamp
67 | - latitude (GPS)
68 | - longitude (GPS)
69 | 
70 | and it shows how to convert them into meters using the geodetic_converter. 
71 | 
72 | Once run, it will show the ground-truth (noisy positions) in red and the output of the filter (the prediction of EKF of UKF) in green as in this picture:
73 | 
74 | ![example](img/example.png)
75 | 
76 | 
77 | 
78 | <!-- Acknowledgements -->
79 | 
80 | # Acknowledgements
81 |  
82 | This work has been supported by the EU H2020 project CLASS, contract #780622.
83 | 


--------------------------------------------------------------------------------
/data/prova.txt:
--------------------------------------------------------------------------------
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108 | 113 61597 44.655563 10.934215
109 | 


--------------------------------------------------------------------------------
/src/ukf.cpp:
--------------------------------------------------------------------------------
  1 | #include "ukf.h"
  2 | 
  3 | namespace tracking{
  4 | 
  5 | UKF::UKF() {}
  6 | 
  7 | UKF::UKF(const int n_states, const float dt_, const FMatrixF &Q_, const FMatrixF &R_, const state &in_state)
  8 | {
  9 |     nStates = n_states;
 10 |     dt = dt_;
 11 | 
 12 |     Q = Q_;
 13 |     R = R_;
 14 |     P = FMatrixF::Identity(nStates, nStates);
 15 |     H = FMatrixF::Identity(nStates, nStates);
 16 | 
 17 |     xEst = in_state;
 18 | }
 19 | 
 20 | UKF::~UKF(){}
 21 | 
 22 | 
 23 | void UKF::step(const FMatrixF &H_, const Eigen::VectorXf &z)
 24 | {
 25 |        H = H_;
 26 | 
 27 |     //predict
 28 |     // 1- compute sigma points
 29 | 	float k = -2; //This is the hyper Parameter
 30 | 	FMatrixF L(P.llt().matrixL()); //cholesky decomposition
 31 | 	FMatrixF xhatsigmapoints(nStates, 2 * nStates + 1);
 32 | 	
 33 | 	FMatrixF xEstMatrix(nStates, 1); //converting xEst state to UKFMatrix type
 34 | 	xEstMatrix << xEst.x, xEst.y, xEst.yaw, xEst.vel, xEst.yawRate; //converting xEst state to UKFMatrix type
 35 | 	
 36 | 	xhatsigmapoints.col(0) = xEstMatrix;
 37 | 	int i;
 38 | 	for (i = 1; i <= nStates; i++) {
 39 | 		xhatsigmapoints.col(i) = xEstMatrix + std::sqrt(float(nStates) + k) * L.col(i-1);
 40 | 		xhatsigmapoints.col(nStates + i) = xEstMatrix - sqrt(float(nStates) + k) * L.col(i-1);
 41 | 	}
 42 | 	//2-propagate sigma points
 43 | 	FMatrixF xbrevesigmapoints(nStates, 2 * nStates + 1);
 44 | 	for (i = 0; i < 2 * nStates + 1; i++) {
 45 | 		state xinput(xhatsigmapoints(0, i), xhatsigmapoints(1, i), xhatsigmapoints(2, i), xhatsigmapoints(3, i), xhatsigmapoints(4, i));
 46 | 		state x = stateTransition(xinput);
 47 | 		FMatrixF xMatrix(nStates, 1);
 48 | 		xMatrix << x.x, x.y, x.yaw, x.vel, x.yawRate;
 49 | 		xbrevesigmapoints.col(i) = xMatrix;
 50 | 	}
 51 | 	//3-prediction
 52 | 	FMatrixF alpha(2 * nStates + 1, 1);
 53 | 	alpha(0) = k / (float(nStates) + k);
 54 | 	for (i = 1; i < 2 * nStates + 1; i++) {
 55 | 		alpha(i) = 0.5f / (float(nStates) + k);
 56 | 	}
 57 | 	FMatrixF xbreve(nStates, 1);
 58 | 	xbreve = xbrevesigmapoints * alpha;
 59 | 	FMatrixF pbreve(nStates, nStates);
 60 | 	pbreve = FMatrixF::Zero(nStates, nStates);
 61 | 	for (i = 0; i < 2 * nStates + 1; i++) {
 62 | 		pbreve += alpha(i) * (xbrevesigmapoints.col(i) - xbreve) * (xbrevesigmapoints.col(i) - xbreve).transpose();
 63 | 	}
 64 | 	pbreve += Q;
 65 | 
 66 |     //update
 67 | 	// 4.1 propagate sigma points for measurment function
 68 | 	FMatrixF yhatsigmapoints(nStates, 2 * nStates + 1);
 69 | 	yhatsigmapoints = H * xbrevesigmapoints;
 70 | 	//4.2 mean and covariance of predicted measurment
 71 | 	FMatrixF yhat(nStates, 1);
 72 | 	yhat = yhatsigmapoints * alpha;
 73 | 	FMatrixF py;
 74 | 	py = FMatrixF::Zero(nStates, nStates);
 75 | 	for (i = 0; i < 2 * nStates + 1; i++) {
 76 | 		py += alpha(i) * (yhatsigmapoints.col(i) - yhat) * (yhatsigmapoints.col(i) - yhat).transpose();
 77 | 	}
 78 | 	py += R;
 79 | 	//4.3 cross covariance and Kalman gain
 80 | 	FMatrixF pxy;
 81 | 	pxy = FMatrixF::Zero(nStates, nStates);
 82 | 	for (i = 0; i < 2 * nStates + 1; i++) {
 83 | 		pxy += alpha(i) * (xbrevesigmapoints.col(i) - xbreve) * (yhatsigmapoints.col(i) - yhat).transpose();
 84 | 	}
 85 | 	FMatrixF K;
 86 | 	K = pxy * py.inverse();
 87 | 	FMatrixF xhat;
 88 | 	xhat = xbreve + K * (z - yhat);
 89 | 	xEst.x = xhat(0);
 90 | 	xEst.y = xhat(1);
 91 | 	xEst.yaw = xhat(2);
 92 | 	xEst.vel = xhat(3);
 93 | 	xEst.yawRate = xhat(4);
 94 | 	P = pbreve - K * py * K.transpose();
 95 | 
 96 | 	//5 corrected mean and covariance
 97 | }
 98 | 
 99 | state UKF::stateTransition(const state &x)
100 | {
101 |     state y;
102 |     if (abs(x.yawRate) < 0.0001f){
103 |         y.x = x.x + x.vel * dt * float(cos(x.yaw));
104 |         y.y = x.y + x.vel * dt * float(sin(x.yaw));
105 |         y.yaw = x.yaw;
106 |         y.vel = x.vel;
107 |         y.yawRate = 0.0001f;
108 |     }
109 |     else{
110 |         y.x = x.x + (x.vel / x.yawRate) * (float(sin(x.yawRate * dt + x.yaw)) - float(sin(x.yaw)));
111 |         y.y = x.y + (x.vel / x.yawRate) * (-float(cos(x.yawRate * dt + x.yaw)) + float(cos(x.yaw)));
112 |         y.yaw = x.yaw + x.yawRate * dt;
113 |         y.vel = x.vel;
114 |         y.yawRate = x.yawRate;
115 |     }
116 | 
117 |     return y;
118 | }
119 | 
120 | 
121 | } //namespace tracking
122 | 


--------------------------------------------------------------------------------
/cmake/CompilerWarnings.cmake:
--------------------------------------------------------------------------------
 1 | # from here:
 2 | #
 3 | # https://github.com/lefticus/cppbestpractices/blob/master/02-Use_the_Tools_Available.md
 4 | 
 5 | function(set_project_warnings project_name)
 6 |   option(WARNINGS_AS_ERRORS "Treat compiler warnings as errors" TRUE)
 7 | 
 8 |   set(MSVC_WARNINGS
 9 |       /W4 # Baseline reasonable warnings
10 |       /w14242 # 'identifier': conversion from 'type1' to 'type1', possible loss of data
11 |       /w14254 # 'operator': conversion from 'type1:field_bits' to 'type2:field_bits', possible loss of data
12 |       /w14263 # 'function': member function does not override any base class virtual member function
13 |       /w14265 # 'classname': class has virtual functions, but destructor is not virtual instances of this class may not
14 |               # be destructed correctly
15 |       /w14287 # 'operator': unsigned/negative constant mismatch
16 |       /we4289 # nonstandard extension used: 'variable': loop control variable declared in the for-loop is used outside
17 |               # the for-loop scope
18 |       /w14296 # 'operator': expression is always 'boolean_value'
19 |       /w14311 # 'variable': pointer truncation from 'type1' to 'type2'
20 |       /w14545 # expression before comma evaluates to a function which is missing an argument list
21 |       /w14546 # function call before comma missing argument list
22 |       /w14547 # 'operator': operator before comma has no effect; expected operator with side-effect
23 |       /w14549 # 'operator': operator before comma has no effect; did you intend 'operator'?
24 |       /w14555 # expression has no effect; expected expression with side- effect
25 |       /w14619 # pragma warning: there is no warning number 'number'
26 |       /w14640 # Enable warning on thread un-safe static member initialization
27 |       /w14826 # Conversion from 'type1' to 'type_2' is sign-extended. This may cause unexpected runtime behavior.
28 |       /w14905 # wide string literal cast to 'LPSTR'
29 |       /w14906 # string literal cast to 'LPWSTR'
30 |       /w14928 # illegal copy-initialization; more than one user-defined conversion has been implicitly applied
31 |       /permissive- # standards conformance mode for MSVC compiler.
32 |   )
33 | 
34 |   set(CLANG_WARNINGS
35 |       -Wall
36 |       -Wextra # reasonable and standard
37 |       -Wshadow # warn the user if a variable declaration shadows one from a parent context
38 |       -Wnon-virtual-dtor # warn the user if a class with virtual functions has a non-virtual destructor. This helps
39 |                          # catch hard to track down memory errors
40 |       -Wold-style-cast # warn for c-style casts
41 |       -Wcast-align # warn for potential performance problem casts
42 |       -Wunused # warn on anything being unused
43 |       -Woverloaded-virtual # warn if you overload (not override) a virtual function
44 |       -Wpedantic # warn if non-standard C++ is used
45 |       -Wconversion # warn on type conversions that may lose data
46 |       -Wsign-conversion # warn on sign conversions
47 |       -Wnull-dereference # warn if a null dereference is detected
48 |       -Wdouble-promotion # warn if float is implicit promoted to double
49 |       -Wformat=2 # warn on security issues around functions that format output (ie printf)
50 |   )
51 | 
52 |   if(WARNINGS_AS_ERRORS)
53 |     set(CLANG_WARNINGS ${CLANG_WARNINGS} -Werror)
54 |     set(MSVC_WARNINGS ${MSVC_WARNINGS} /WX)
55 |   endif()
56 | 
57 |   set(GCC_WARNINGS
58 |       ${CLANG_WARNINGS}
59 |       -Wmisleading-indentation # warn if indentation implies blocks where blocks do not exist
60 |       -Wduplicated-cond # warn if if / else chain has duplicated conditions
61 |       -Wduplicated-branches # warn if if / else branches have duplicated code
62 |       -Wlogical-op # warn about logical operations being used where bitwise were probably wanted
63 |       -Wuseless-cast # warn if you perform a cast to the same type
64 |   )
65 | 
66 |   if(MSVC)
67 |     set(PROJECT_WARNINGS ${MSVC_WARNINGS})
68 |   elseif(CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
69 |     set(PROJECT_WARNINGS ${CLANG_WARNINGS})
70 |   elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
71 |     set(PROJECT_WARNINGS ${GCC_WARNINGS})
72 |   else()
73 |     message(AUTHOR_WARNING "No compiler warnings set for '${CMAKE_CXX_COMPILER_ID}' compiler.")
74 |   endif()
75 | 
76 |   target_compile_options(${project_name} INTERFACE ${PROJECT_WARNINGS})
77 | 
78 | endfunction()
79 | 


--------------------------------------------------------------------------------
/data/gt_000002.txt:
--------------------------------------------------------------------------------
  1 | 2953 116110570 1.24631 3.87682
  2 | 2953 582303759 1.13875 3.43319
  3 | 2954 116210130 1.20888 2.79945
  4 | 2954 516691746 1.2596 2.33538
  5 | 2954 983739984 1.41337 1.88298
  6 | 2955 317435795 1.56108 1.58917
  7 | 2955 717697094 1.81881 1.26165
  8 | 2956 118081951 2.17597 1.2245
  9 | 2956 585199073 2.60993 1.31644
 10 | 2957 52335391 2.93873 1.61524
 11 | 2957 519469476 3.11359 2.19998
 12 | 2957 986707670 3.30518 2.67054
 13 | 2958 453694609 3.28287 3.20218
 14 | 2958 854089954 3.34668 3.68284
 15 | 2959 321259205 3.44617 4.1486
 16 | 2959 788361691 3.2813 4.57943
 17 | 2960 255474489 2.98192 4.98055
 18 | 2960 722588184 2.51798 5.02573
 19 | 2961 190951858 2.11206 4.94023
 20 | 2961 656810985 1.7513 4.64789
 21 | 2962 124020100 1.52072 4.217
 22 | 2962 524485288 1.36029 3.7603
 23 | 2962 991541133 1.2955 3.23148
 24 | 2963 391832589 1.32176 2.80811
 25 | 2963 792302206 1.33791 2.3417
 26 | 2964 192881200 1.46689 1.91858
 27 | 2964 526448233 1.60431 1.60282
 28 | 2964 926850955 1.87742 1.39377
 29 | 2965 394118173 2.28809 1.42472
 30 | 2965 862329362 2.63769 1.67228
 31 | 2966 328075826 2.76357 2.03023
 32 | 2966 795240359 2.75705 2.46027
 33 | 2967 262273484 2.61014 3.01948
 34 | 2967 729435281 2.29107 3.46392
 35 | 2968 196567520 1.98582 3.96158
 36 | 2968 596941675 1.69803 4.28386
 37 | 2969 64026540 1.49149 4.60709
 38 | 2969 397694409 1.63981 4.88459
 39 | 2969 664566295 1.76542 5.02621
 40 | 2969 931516216 1.97185 5.20309
 41 | 2970 398664316 2.40261 5.16687
 42 | 2970 865828700 2.84049 4.94817
 43 | 2971 332890076 3.0818 4.53389
 44 | 2971 800027107 3.03045 4.01094
 45 | 2972 267212547 2.91991 3.49666
 46 | 2972 667572185 2.65658 3.13327
 47 | 2973 134654249 2.34593 2.75361
 48 | 2973 601828733 1.99942 2.39255
 49 | 2974 2154600 1.70541 2.07022
 50 | 2974 469385520 1.5829 1.63619
 51 | 2974 936449421 1.69179 1.34927
 52 | 2975 270043048 1.92113 1.27885
 53 | 2975 737203924 2.25091 1.47307
 54 | 2976 204331310 2.58056 1.7708
 55 | 2976 671463181 2.6408 2.24184
 56 | 2977 138517260 2.50379 2.74432
 57 | 2977 605695240 2.25788 3.16038
 58 | 2978 6088572 1.93287 3.52894
 59 | 2978 406408089 1.75061 3.93377
 60 | 2978 806833034 1.51045 4.26113
 61 | 2979 207208518 1.34542 4.61849
 62 | 2979 540962920 1.4309 4.88779
 63 | 2979 741088127 1.56463 5.00603
 64 | 2979 941280381 1.72477 5.1174
 65 | 2980 274910044 2.0317 5.30067
 66 | 2980 742036589 2.47279 5.21396
 67 | 2981 209215633 2.8331 5.00743
 68 | 2981 676282706 3.07038 4.61283
 69 | 2982 143430986 3.11825 4.09979
 70 | 2982 610592311 3.0984 3.63005
 71 | 2983 77722726 2.86928 3.17043
 72 | 2983 544837971 2.5702 2.76003
 73 | 2983 945164343 2.25321 2.51221
 74 | 2984 412291212 1.86649 2.26574
 75 | 2984 879473868 1.57359 1.80585
 76 | 2985 346541193 1.43457 1.47939
 77 | 2985 746962713 1.55808 1.24748
 78 | 2986 214093180 1.8913 1.30199
 79 | 2986 681224102 2.31008 1.36989
 80 | 2987 148354917 2.58056 1.7708
 81 | 2987 615468615 2.77694 2.25188
 82 | 2988 82593479 2.97878 2.78668
 83 | 2988 549664368 3.00952 3.36145
 84 | 2989 16889771 3.09751 3.89332
 85 | 2989 483948509 2.91783 4.38793
 86 | 2989 884347805 2.77167 4.79279
 87 | 2990 284675588 2.51317 5.10306
 88 | 2990 751802685 2.10175 5.17274
 89 | 2991 218930292 1.69871 5.12456
 90 | 2991 619352571 1.42701 4.84366
 91 | 2992 87028193 1.25627 4.37698
 92 | 2992 553605330 1.19978 3.80063
 93 | 2993 21871643 1.20692 3.29219
 94 | 2993 421532850 1.14587 2.86386
 95 | 2993 889258471 1.31034 2.3287
 96 | 2994 290290615 1.42406 1.93497
 97 | 2994 690624783 1.65846 1.56356
 98 | 2995 22767362 1.95238 1.49194
 99 | 2995 491119480 2.35439 1.51983
100 | 2995 956977404 2.73568 1.83682
101 | 2996 424106420 2.89355 2.27665
102 | 2996 891230931 3.08424 2.76121
103 | 2997 358365567 3.10873 3.28888
104 | 2997 825477279 3.02875 3.8224
105 | 2998 294007940 3.03932 4.31258
106 | 2998 759727075 2.80872 4.73278
107 | 2999 226866435 2.51458 5.19469
108 | 2999 695292278 2.1418 5.19659
109 | 3000 161113825 1.73508 5.10871
110 | 3000 629362312 1.36752 4.79795
111 | 3001 95240365 1.28568 4.35054
112 | 3001 495738978 1.14342 3.88988
113 | 3001 962869507 1.1061 3.36704
114 | 3002 363238089 1.1244 2.91727
115 | 3002 830369015 1.18672 2.43382
116 | 3003 297492955 1.34124 1.99341
117 | 3003 764619903 1.5293 1.5329
118 | 3004 165004870 1.88537 1.43859
119 | 3004 632376740 2.29612 1.45386
120 | 3005 99248487 2.69171 1.75272
121 | 3005 566370659 2.89033 2.20582
122 | 3006 33504554 3.1632 2.68698
123 | 3006 500625509 3.25966 3.22769
124 | 3006 968023506 3.34105 3.75923
125 | 3007 436267544 3.43208 4.18849
126 | 3007 902001632 3.2535 4.61063
127 | 3008 369561960 3.04574 5.03229
128 | 3008 836133343 2.56848 5.1053
129 | 3009 303257375 2.15842 5.12062
130 | 3009 770382227 1.77719 4.94828
131 | 3010 237465947 1.60355 4.50916
132 | 3010 638007826 1.50734 4.11311
133 | 3011 105005285 1.67757 3.64105
134 | 3011 505473717 1.91713 3.26707
135 | 3011 972638949 2.20817 2.82368
136 | 3012 439755715 2.52447 2.42541
137 | 3012 840133620 2.56232 2.00065
138 | 3013 307264206 2.52027 1.50023
139 | 3013 774386816 2.3666 1.12914
140 | 3014 241465430 1.99358 0.959883
141 | 3014 708585109 1.58572 0.96777
142 | 3015 109010133 1.41425 1.24543
143 | 3015 576086884 1.27604 1.67424
144 | 3016 43271883 1.15536 2.18702
145 | 3016 510400029 1.19582 2.79945
146 | 3016 977471158 1.07851 3.30391
147 | 3017 444601484 1.06149 3.80898
148 | 3017 911727588 1.19157 4.32829
149 | 3018 312101355 1.37982 4.73809
150 | 3018 846019106 1.93704 4.86621
151 | 3019 179594228 2.31553 4.84835
152 | 3019 646768641 2.75542 4.51916
153 | 


--------------------------------------------------------------------------------
/src/Tracking.cpp:
--------------------------------------------------------------------------------
  1 | #include "Tracking.h"
  2 | 
  3 | namespace tracking{
  4 | 
  5 | bool compareKnn_infos(const knn_infos & a, const knn_infos& b){
  6 |     // use to order for old_frame_obj_index first(ascending), distance second(ascending). 
  7 |     return (a.objIdPrev < b.objIdPrev || (a.objIdPrev == b.objIdPrev && a.dist < b.dist));
  8 | }
  9 | 
 10 | std::vector<knn_infos> computeDistance(const std::vector<obj_m> &old_points, const std::vector<obj_m> &new_points){
 11 | 
 12 |     /* for(auto o: old_points)
 13 |         o.print();
 14 | 
 15 |     for(auto n: new_points)
 16 |         n.print();     */
 17 |     
 18 |     float dist;
 19 |     std::vector<knn_infos> knn_res;
 20 |     for (size_t i = 0; i < new_points.size(); ++i){
 21 |         knn_infos infos;
 22 |         infos.objIdCurr = int(i);
 23 | 
 24 |         for (size_t j = 0; j < old_points.size(); ++j){
 25 |             dist = float(sqrt(pow(old_points[j].x - new_points[i].x, 2) + pow(old_points[j].y - new_points[i].y, 2)));
 26 |             if (j == 0){
 27 |                 infos.objIdPrev = int(j);
 28 |                 infos.dist = dist;
 29 |             }
 30 |             else{
 31 |                 if (dist < infos.dist && old_points[j].cl == new_points[i].cl){
 32 |                     infos.objIdPrev = int(j);
 33 |                     infos.dist = dist;
 34 |                 }
 35 |             }
 36 |         }
 37 |         knn_res.push_back(infos);
 38 |     }
 39 | 
 40 |     std::sort(knn_res.begin(), knn_res.end(), compareKnn_infos);
 41 | 
 42 |     /* for(auto r: knn_res){
 43 |         for(auto i: r)
 44 |             std::cout<<i<<" ";
 45 |         std::cout<<std::endl;
 46 |     } */
 47 | 
 48 |     return knn_res;
 49 | }
 50 | 
 51 | Tracking::Tracking(const int n_states, const float dt_, const int initial_age, const Filters_t filter_type) : 
 52 |     filterStates(n_states), initialAge(initial_age), dt(dt_), filterType(filter_type){
 53 |     trackerIndexes = new bool[MAX_INDEX];
 54 |     for(int i=0; i<MAX_INDEX; ++i)
 55 |         trackerIndexes[i]= false;
 56 | }
 57 | Tracking::~Tracking() {
 58 |     // delete[] trackerIndexes; //FIXME
 59 | }
 60 | 
 61 | void Tracking::deleteOldTrajectories(bool verbose){
 62 |     if(trackers.size()){
 63 |         std::vector<Tracker> valid_trackers;
 64 | 
 65 |         for (size_t i = 0; i < trackers.size(); ++i){
 66 |             if (trackers[i].age > ageThreshold){
 67 |                 valid_trackers.push_back(trackers[i]);
 68 |             }
 69 |             else{
 70 |                 trackerIndexes[trackers[i].id] = false;
 71 |                 if(verbose){
 72 |                     std::cout << "Deleting tracker " << trackers[i].id<< std::endl;
 73 |                     #ifdef USE_MATPLOTLIB
 74 |                     if (trackers[i].zList.size() > 10)
 75 |                         plotTruthvsPred(trackers[i].zList, trackers[i].predList);
 76 |                     #endif
 77 |                 }
 78 |             }
 79 |         }
 80 |         trackers.swap(valid_trackers);
 81 |     }
 82 | }
 83 | 
 84 | void Tracking::addNewTrajectories(const std::vector<obj_m> &frame, const std::vector<bool> &used, const std::vector<knn_infos> &knn_res, bool verbose){
 85 |     for (size_t i = 0; i < knn_res.size(); ++i){
 86 |         if (!used[i]){
 87 |             trackers.push_back(Tracker(frame[size_t(knn_res[i].objIdCurr)], initialAge, dt, filterStates, this->getTrackerIndex(), filterType));
 88 |             if(verbose)
 89 |                 std::cout << "Adding tracker " << trackers[trackers.size()-1].id<< std::endl;
 90 |         }
 91 |     }
 92 | }
 93 | 
 94 | void Tracking::nearestNeighbor(const std::vector<obj_m> &frame, std::vector<knn_infos>& knn_res, std::vector<bool>& used, std::vector<obj_m>& new_trajs){
 95 |     
 96 |     std::vector<obj_m> prev_trajs;
 97 |     for (auto t : trackers)
 98 |         prev_trajs.push_back(t.trajFilter.back());
 99 | 
100 |     size_t n_cur_trajs = prev_trajs.size();
101 |     new_trajs.resize(n_cur_trajs);
102 | 
103 |     knn_res = computeDistance(prev_trajs, frame);
104 |     used.resize(knn_res.size(), 0);
105 |     std::vector<float> max_distance(n_cur_trajs, 15);
106 | 
107 |     for (size_t i = 0; i < trackers.size(); i++)
108 |         trackers[i].age--;
109 | 
110 |     size_t prev_i, cur_i;
111 |     float dist;
112 |     for (size_t i = 0; i < knn_res.size(); i++){
113 |         prev_i = size_t(knn_res[i].objIdPrev);
114 |         dist = knn_res[i].dist;
115 |         cur_i = size_t(knn_res[i].objIdCurr);
116 | 
117 |         if (n_cur_trajs > 0 && prev_i <= n_cur_trajs && dist < max_distance[prev_i]){
118 |             trackers[prev_i].traj.push_back(frame[cur_i]);
119 |             if(trackers[prev_i].traj.size() > MAX_HISTORY) trackers[prev_i].traj.pop_front();
120 | 
121 |             new_trajs[prev_i] = frame[cur_i];
122 |             max_distance[prev_i] = dist;
123 |             trackers[prev_i].age = initialAge;
124 |             used[i] = 1;
125 |         }
126 |     }
127 | }
128 | 
129 | void Tracking::kalmanStep(const std::vector<obj_m>& new_trajs){
130 |     tracking::FMatrixF H = tracking::FMatrixF::Zero(filterStates, filterStates);
131 |     Eigen::VectorXf z(filterStates);
132 | 
133 |     for (size_t i = 0; i < new_trajs.size(); i++){
134 |         z << new_trajs[i].x, new_trajs[i].y, 0.0f, 0.0f, 0.0f;
135 | 
136 |         if (new_trajs[i].x == 0.0f && new_trajs[i].y == 0.0f && new_trajs[i].frame == -1){
137 |             H(0, 0) = 0.0f;
138 |             H(1, 1) = 0.0f;
139 |         }
140 |         else{
141 |             H(0, 0) = 1.0f;
142 |             H(1, 1) = 1.0f;
143 |             trackers[i].zList.push_back(state(new_trajs[i].x, new_trajs[i].y, 0.0f, 0.0f, 0.0f));
144 |             if(trackers[i].zList.size() > MAX_HISTORY) trackers[i].zList.pop_front();
145 |         }
146 | 
147 |         trackers[i].filter->step(H, z);
148 | 
149 |         trackers[i].predList.push_back(trackers[i].filter->getEstimatedState());
150 |         if(trackers[i].predList.size() > MAX_HISTORY) 
151 |             trackers[i].predList.pop_front();
152 | 
153 |         trackers[i].trajFilter.push_back(   obj_m(  trackers[i].filter->getEstimatedState().x, 
154 |                                                     trackers[i].filter->getEstimatedState().y, 
155 |                                                     trackers[i].traj.back().frame, 
156 |                                                     trackers[i].traj.back().cl, 
157 |                                                     0.0f, 
158 |                                                     0.0f, 
159 |                                                     new_trajs[i].error                      ) );        
160 |         if(trackers[i].trajFilter.size() > MAX_HISTORY) 
161 |             trackers[i].trajFilter.pop_front();
162 |         
163 |     }
164 | }
165 | 
166 | int Tracking::getTrackerIndex(){
167 |     for(int i = curIndex; i < curIndex + MAX_INDEX; ++i ){
168 |         int index = i % MAX_INDEX;
169 |         if(!trackerIndexes[index]){
170 |             trackerIndexes[index] = true;
171 |             curIndex = index+1;
172 |             return index;
173 |         }
174 |     }
175 |     std::cerr << "\nProblem with tracker indexes, aborting...\n"; 
176 |     exit(EXIT_FAILURE);  
177 | }
178 | 
179 | void Tracking::track(const std::vector<obj_m> &frame, bool verbose)
180 | {
181 |     //delete trajectories not recently updated
182 |     this->deleteOldTrajectories(verbose);
183 | 
184 |     //NN: associate new points with prevoius trajectories
185 |     std::vector<knn_infos> knn_res;
186 |     std::vector<bool> used;
187 |     std::vector<obj_m> new_trajs;
188 |     this->nearestNeighbor(frame, knn_res, used, new_trajs);
189 | 
190 |     //Kalman step
191 |     this->kalmanStep(new_trajs);
192 | 
193 |     //Add new trajectories from points from the current frame that were not associated
194 |     this->addNewTrajectories(frame, used, knn_res, verbose);
195 | }
196 | 
197 | void Tracking::trackOnGivenData(const std::vector<obj_m> &data, bool verbose)
198 | {
199 |     int frame_id = 0;
200 |     std::vector<obj_m> cur_frame;
201 | 
202 |     std::cout << "Start" << std::endl;
203 | 
204 |     for (auto d : data)
205 |     {
206 |         if (d.frame != frame_id){   
207 |             track(cur_frame,verbose);
208 |             cur_frame.clear();
209 |             frame_id = d.frame;
210 |         }
211 |         cur_frame.push_back(d);
212 |     }
213 | 
214 |     if(verbose){
215 |         #ifdef USE_MATPLOTLIB
216 |         for (size_t i = 0; i < trackers.size(); i++)
217 |             if (trackers[i].zList.size() > 10)
218 |                 plotTruthvsPred(trackers[i].zList, trackers[i].predList);
219 |         #endif
220 |     }
221 | 
222 |     std::cout << "End." << std::endl;
223 | }
224 | 
225 | std::vector<Tracker> Tracking::getTrackers(){
226 |     return trackers;
227 | }
228 | 
229 | void Tracking::setAgeThreshold(const int age_threshold){
230 |     ageThreshold = age_threshold;
231 | }
232 | 
233 | }//namespace tracking


--------------------------------------------------------------------------------
/data/test.txt:
--------------------------------------------------------------------------------
  1 | 0	96	1	 262	  65	 103	 276
  2 | 0	94	2	 258	  65	 110	 281
  3 | 0	96	3	 259	  69	 109	 271
  4 | 0	98	4	 264	  69	 100	 271
  5 | 0	98	5	 266	  68	  97	 272
  6 | 0	97	6	 267	  61	  98	 286
  7 | 0	97	7	 267	  59	 101	 285
  8 | 0	98	8	 268	  55	 102	 294
  9 | 0	98	9	 276	  50	  87	 303
 10 | 0	97	10	 275	  51	  88	 304
 11 | 0	94	11	 279	  65	  79	 224
 12 | 0	99	12	 273	  58	  78	 223
 13 | 0	99	13	 272	  53	  81	 229
 14 | 0	99	14	 272	  46	  79	 233
 15 | 0	99	15	 270	  43	  80	 234
 16 | 0	98	16	 271	  44	  77	 233
 17 | 0	99	17	 270	  44	  79	 235
 18 | 0	99	18	 271	  44	  76	 231
 19 | 0	99	19	 274	  47	  71	 223
 20 | 0	99	20	 278	  47	  69	 211
 21 | 0	99	21	 280	  45	  67	 213
 22 | 0	99	22	 282	  45	  67	 210
 23 | 0	98	23	 282	  45	  68	 211
 24 | 0	99	24	 283	  44	  68	 214
 25 | 0	98	25	 284	  45	  68	 212
 26 | 0	99	26	 285	  44	  66	 213
 27 | 0	94	27	 284	  49	  67	 200
 28 | 0	94	28	 283	  42	  68	 216
 29 | 0	96	29	 285	  38	  66	 193
 30 | 0	94	30	 287	  38	  61	 190
 31 | 0	94	31	 287	  39	  61	 187
 32 | 0	97	32	 286	  35	  63	 195
 33 | 0	96	33	 288	  31	  62	 194
 34 | 0	96	34	 299	  45	  51	 172
 35 | 0	98	35	 289	  30	  64	 194
 36 | 0	97	36	 291	  30	  63	 191
 37 | 0	97	37	 300	  46	  54	 164
 38 | 0	95	38	 294	  32	  63	 186
 39 | 0	91	39	 302	  49	  53	 150
 40 | 0	93	40	 303	  47	  52	 156
 41 | 0	79	41	 297	  39	  61	 163
 42 | 0	78	42	 295	  38	  62	 164
 43 | 0	89	43	 293	  34	  65	 176
 44 | 0	89	44	 291	  31	  69	 180
 45 | 0	92	45	 292	  29	  68	 183
 46 | 0	85	46	 298	  38	  64	 154
 47 | 0	89	47	 299	  31	  61	 164
 48 | 0	85	48	 299	  35	  61	 154
 49 | 0	88	49	 301	  28	  57	 170
 50 | 0	87	50	 297	  33	  67	 156
 51 | 0	90	51	 303	  31	  59	 160
 52 | 0	96	52	 306	  31	  54	 157
 53 | 0	90	53	 307	  32	  54	 154
 54 | 0	70	54	 312	  28	  57	 158
 55 | 0	82	55	 314	  28	  58	 156
 56 | 0	93	56	 316	  30	  56	 149
 57 | 0	69	57	 317	  35	  56	 140
 58 | 0	57	58	 317	  35	  58	 140
 59 | 0	61	59	 319	  35	  57	 140
 60 | 0	77	60	 318	  33	  56	 143
 61 | 0	50	61	 320	  38	  56	 130
 62 | 0	29	62	 323	  38	  53	 131
 63 | 0	48	63	 323	  34	  53	 138
 64 | 0	65	64	 325	  35	  49	 133
 65 | 0	83	65	 326	  32	  49	 138
 66 | 0	90	66	 328	  33	  47	 135
 67 | 0	82	67	 328	  32	  47	 137
 68 | 0	60	68	 328	  31	  50	 143
 69 | 0	83	69	 329	  27	  50	 146
 70 | 0	44	70	 327	  17	  55	 142
 71 | 0	40	72	 329	  15	  52	 142
 72 | 0	32	73	 330	  18	  52	 135
 73 | 0	47	74	 330	  19	  51	 138
 74 | 0	64	75	 331	  20	  57	 140
 75 | 0	87	76	 332	  18	  56	 144
 76 | 0	31	77	 328	  16	  54	 141
 77 | 0	89	78	 329	  16	  52	 145
 78 | 0	87	79	 329	  17	  52	 141
 79 | 0	93	80	 330	  15	  50	 139
 80 | 0	92	81	 331	  15	  50	 137
 81 | 0	94	82	 334	  16	  51	 131
 82 | 0	97	83	 334	  18	  51	 128
 83 | 0	97	84	 335	  19	  51	 129
 84 | 0	92	85	 338	  19	  48	 131
 85 | 0	84	86	 339	  19	  46	 128
 86 | 0	80	87	 340	  21	  46	 123
 87 | 0	82	88	 340	  22	  47	 123
 88 | 0	73	89	 341	  22	  46	 120
 89 | 0	85	90	 343	  23	  44	 119
 90 | 0	87	91	 342	  23	  46	 118
 91 | 0	87	92	 341	  21	  48	 122
 92 | 0	56	93	 276	  21	  29	  86
 93 | 0	91	94	 343	  21	  47	 117
 94 | 0	93	95	 342	  20	  48	 122
 95 | 0	93	96	 344	  21	  46	 120
 96 | 0	93	97	 344	  20	  46	 120
 97 | 0	95	98	 344	  17	  47	 124
 98 | 0	94	99	 347	  20	  42	 113
 99 | 0	80	100	 347	  22	  43	 110
100 | 0	84	101	 347	  20	  43	 114
101 | 0	95	102	 347	  17	  44	 117
102 | 0	94	103	 348	  18	  44	 117
103 | 0	97	104	 350	  18	  42	 115
104 | 0	86	105	 350	  21	  42	 110
105 | 0	91	106	 351	  21	  40	 109
106 | 0	92	107	 351	  17	  45	 116
107 | 0	88	108	 350	  11	  46	 112
108 | 0	94	109	 350	  10	  45	 115
109 | 0	74	110	 351	  11	  45	 111
110 | 0	47	111	 350	  12	  47	 107
111 | 0	82	112	 351	  11	  45	 110
112 | 0	92	113	 351	  11	  44	 110
113 | 0	89	114	 352	  11	  43	 109
114 | 0	89	115	 351	  10	  44	 110
115 | 0	87	116	 352	  10	  43	 112
116 | 0	91	117	 352	   7	  43	 113
117 | 0	95	118	 357	   8	  44	 113
118 | 0	93	119	 357	   9	  45	 113
119 | 0	91	120	 353	   6	  42	 115
120 | 0	81	121	 356	  11	  47	 105
121 | 0	55	122	 359	  14	  42	 100
122 | 0	73	123	 361	  13	  40	  99
123 | 0	91	124	 362	  13	  40	  99
124 | 0	96	125	 362	  12	  40	 100
125 | 0	97	126	 362	  12	  40	 100
126 | 0	41	127	 364	  11	  39	  94
127 | 0	42	128	 364	  11	  39	  93
128 | 0	45	129	 365	  11	  39	  92
129 | 0	48	130	 364	  12	  40	  91
130 | 0	95	131	 363	  12	  41	  93
131 | 0	66	132	 365	  11	  37	  91
132 | 0	87	133	 365	  11	  38	  92
133 | 0	91	134	 365	  11	  39	  92
134 | 0	93	135	 365	  10	  39	  93
135 | 0	94	136	 365	   9	  37	  93
136 | 0	91	137	 366	   9	  37	  94
137 | 0	91	138	 366	   9	  36	  95
138 | 0	96	139	 366	   9	  36	  93
139 | 0	97	140	 367	   9	  35	  95
140 | 0	96	141	 368	  10	  33	  93
141 | 0	55	142	 370	   9	  32	  95
142 | 0	82	143	 370	   9	  32	  95
143 | 0	96	144	 371	   8	  32	  97
144 | 0	97	145	 370	   7	  32	  98
145 | 0	97	146	 371	   6	  33	  98
146 | 0	96	147	 371	   6	  33	  99
147 | 0	93	148	 371	   6	  32	  99
148 | 0	85	149	 372	   7	  31	  98
149 | 0	92	150	 372	   7	  33	  96
150 | 0	97	151	 374	   7	  30	  93
151 | 0	97	152	 375	   8	  29	  96
152 | 0	90	153	 376	   7	  27	  93
153 | 0	89	154	 377	   6	  27	  93
154 | 0	88	155	 376	   5	  28	  93
155 | 0	58	156	 376	   5	  31	  95
156 | 0	88	157	 377	   2	  29	 100
157 | 0	96	158	 377	   3	  29	 100
158 | 0	96	159	 377	   4	  30	  97
159 | 0	93	160	 383	   4	  30	  98
160 | 0	95	161	 382	   4	  31	  97
161 | 0	96	162	 383	   4	  30	  97
162 | 0	96	163	 384	   4	  30	  97
163 | 0	96	164	 383	   4	  32	  98
164 | 0	81	165	 383	   5	  32	  92
165 | 0	75	166	 384	   6	  31	  90
166 | 0	76	167	 384	   7	  32	  93
167 | 0	70	168	 384	   7	  31	  89
168 | 0	74	169	 384	   7	  32	  89
169 | 0	70	170	 384	   7	  32	  89
170 | 0	87	171	 384	   5	  32	  96
171 | 0	90	172	 384	   5	  31	  93
172 | 0	95	173	 385	   5	  30	  90
173 | 0	95	174	 384	   5	  31	  92
174 | 0	90	175	 386	   6	  30	  91
175 | 0	86	176	 385	   6	  30	  88
176 | 0	89	177	 383	   2	  33	  85
177 | 0	92	178	 383	   1	  33	  87
178 | 0	93	179	 383	   1	  35	  86
179 | 0	93	180	 385	   3	  31	  95
180 | 0	91	181	 385	   3	  33	  83
181 | 0	90	182	 387	   3	  30	  84
182 | 0	94	183	 389	   3	  28	  96
183 | 0	93	184	 389	   0	  28	  88
184 | 0	96	185	 389	   1	  29	  82
185 | 0	90	186	 389	   0	  30	  80
186 | 0	86	187	 389	   0	  29	  80
187 | 0	93	188	 389	   1	  31	  78
188 | 0	85	189	 388	   0	  31	  79
189 | 0	94	190	 389	   1	  30	  78
190 | 0	92	191	 389	   0	  30	  78
191 | 0	94	192	 388	   0	  30	  78
192 | 0	94	193	 388	   0	  29	  81
193 | 0	96	194	 389	   0	  28	  84
194 | 0	95	195	 388	   0	  30	  85
195 | 0	95	196	 388	   0	  30	  84
196 | 0	97	197	 389	   0	  29	  82
197 | 0	98	198	 389	   0	  29	  81
198 | 0	98	199	 389	   0	  28	  83
199 | 0	98	200	 390	   0	  28	  83
200 | 0	98	201	 390	   0	  28	  80
201 | 0	97	202	 391	   0	  28	  78
202 | 0	97	203	 392	   0	  28	  78
203 | 0	96	204	 393	   0	  28	  78
204 | 0	80	205	 394	   0	  29	  75
205 | 0	63	206	 393	   0	  29	  74
206 | 0	57	207	 393	   0	  30	  74
207 | 0	84	208	 393	   0	  30	  74
208 | 0	78	209	 393	   0	  30	  74
209 | 0	88	210	 393	   0	  30	  74
210 | 0	88	211	 393	   0	  30	  74
211 | 0	92	212	 393	   0	  30	  76
212 | 0	96	213	 394	   0	  29	  76
213 | 0	95	214	 394	   0	  28	  77
214 | 0	97	215	 395	   0	  28	  76
215 | 0	98	216	 395	   0	  28	  76
216 | 0	98	217	 395	   0	  28	  77
217 | 0	98	218	 395	   0	  28	  76
218 | 0	98	219	 395	   0	  29	  76
219 | 0	96	220	 396	   0	  28	  74
220 | 0	97	221	 397	   0	  27	  73
221 | 0	96	222	 398	   0	  27	  74
222 | 0	97	223	 398	   0	  27	  75
223 | 0	96	224	 398	   0	  26	  75
224 | 0	87	225	 399	   0	  26	  74
225 | 0	90	226	 398	   0	  27	  74
226 | 0	85	227	 399	   0	  27	  74
227 | 0	95	228	 398	   0	  27	  75
228 | 0	95	229	 398	   0	  27	  75
229 | 0	98	230	 398	   0	  27	  75
230 | 0	98	231	 398	   0	  26	  75
231 | 0	98	232	 398	   0	  27	  76
232 | 0	98	233	 398	   0	  27	  76
233 | 0	97	234	 398	   0	  28	  75
234 | 0	97	235	 397	   0	  28	  72
235 | 0	97	236	 397	   0	  28	  73
236 | 0	95	237	 397	   0	  28	  74
237 | 0	93	238	 396	   0	  28	  74
238 | 0	94	239	 397	   0	  28	  73
239 | 0	95	240	 398	   0	  27	  71
240 | 0	95	241	 398	   0	  27	  72
241 | 0	92	242	 398	   0	  27	  71
242 | 0	92	243	 399	   0	  27	  72
243 | 0	92	244	 403	   0	  25	  70
244 | 0	90	245	 403	   0	  25	  69
245 | 0	90	246	 403	   0	  25	  69
246 | 0	69	247	 404	   0	  23	  69
247 | 0	64	248	 404	   0	  24	  71
248 | 0	67	249	 404	   0	  24	  72
249 | 0	71	250	 404	   0	  24	  72
250 | 0	75	251	 403	   0	  27	  58
251 | 0	69	252	 403	   0	  25	  72
252 | 0	48	253	 404	   0	  24	  72
253 | 0	59	254	 404	   0	  25	  76
254 | 0	79	255	 404	   0	  26	  73
255 | 0	62	256	 405	   0	  25	  74
256 | 0	82	257	 403	   0	  28	  59
257 | 0	93	258	 403	   0	  27	  62
258 | 0	95	259	 403	   0	  28	  62
259 | 0	95	260	 407	   0	  25	  65
260 | 0	90	261	 407	   0	  24	  63
261 | 0	90	262	 408	   0	  26	  70
262 | 0	91	263	 408	   0	  27	  71
263 | 0	92	264	 408	   0	  28	  70
264 | 0	90	265	 409	   0	  27	  70
265 | 0	92	266	 409	   0	  27	  69
266 | 0	71	267	 410	   0	  26	  66
267 | 0	67	268	 411	   0	  26	  66
268 | 0	51	269	 411	   0	  25	  66
269 | 0	52	270	 411	   0	  25	  65
270 | 0	48	271	 411	   0	  25	  65
271 | 0	61	272	 412	   0	  24	  67
272 | 0	57	273	 412	   0	  21	  59
273 | 0	42	274	 415	   0	  19	  65
274 | 0	61	275	 414	   0	  23	  66
275 | 0	80	276	 415	   0	  19	  67
276 | 0	72	277	 415	   0	  18	  65
277 | 0	54	278	 414	   0	  24	  65
278 | 0	41	279	 414	   0	  23	  65
279 | 0	30	280	 414	   0	  24	  65
280 | 0	27	281	 415	   0	  23	  66
281 | 0	71	282	 414	   0	  26	  67
282 | 0	65	283	 414	   0	  26	  69
283 | 0	71	284	 414	   0	  26	  68
284 | 0	65	285	 414	   0	  26	  67
285 | 0	26	286	 414	   0	  26	  64
286 | 0	35	287	 414	   0	  26	  66
287 | 0	71	288	 414	   0	  27	  68
288 | 0	66	289	 414	   0	  27	  67
289 | 0	51	290	 414	   0	  28	  66
290 | 0	89	291	 414	   0	  30	  69
291 | 0	93	292	 414	   0	  29	  62
292 | 0	92	293	 415	   0	  31	  73
293 | 0	89	294	 416	   0	  31	  72
294 | 0	85	295	 417	   0	  29	  69
295 | 0	86	296	 417	   0	  29	  69
296 | 0	83	297	 419	   0	  30	  62
297 | 0	72	298	 420	   0	  29	  66
298 | 0	78	299	 421	   0	  28	  61
299 | 0	50	300	 422	   0	  28	  59
300 | 0	44	305	 428	   0	  25	  59
301 | 0	41	306	 426	   1	  30	  65
302 | 0	48	307	 426	   1	  30	  65
303 | 0	65	308	 432	   0	  23	  63
304 | 0	75	309	 431	   0	  24	  62
305 | 0	35	310	 429	   0	  29	  58
306 | 0	75	314	 431	   0	  30	  67
307 | 0	68	315	 432	   0	  31	  66
308 | 0	70	316	 433	   0	  32	  71
309 | 0	77	317	 434	   0	  31	  70
310 | 0	77	318	 435	   0	  30	  68
311 | 0	82	319	 439	   0	  27	  71
312 | 0	82	320	 439	   0	  28	  70
313 | 0	78	321	 439	   0	  28	  69
314 | 0	79	322	 441	   0	  27	  69
315 | 0	87	323	 442	   0	  27	  69
316 | 0	87	324	 442	   0	  27	  70
317 | 0	78	325	 443	   0	  27	  71
318 | 0	37	326	 442	   0	  29	  73
319 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
  1 |                     GNU GENERAL PUBLIC LICENSE
  2 |                        Version 2, June 1991
  3 | 
  4 |  Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
  5 |  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
  6 |  Everyone is permitted to copy and distribute verbatim copies
  7 |  of this license document, but changing it is not allowed.
  8 | 
  9 |                             Preamble
 10 | 
 11 |   The licenses for most software are designed to take away your
 12 | freedom to share and change it.  By contrast, the GNU General Public
 13 | License is intended to guarantee your freedom to share and change free
 14 | software--to make sure the software is free for all its users.  This
 15 | General Public License applies to most of the Free Software
 16 | Foundation's software and to any other program whose authors commit to
 17 | using it.  (Some other Free Software Foundation software is covered by
 18 | the GNU Lesser General Public License instead.)  You can apply it to
 19 | your programs, too.
 20 | 
 21 |   When we speak of free software, we are referring to freedom, not
 22 | price.  Our General Public Licenses are designed to make sure that you
 23 | have the freedom to distribute copies of free software (and charge for
 24 | this service if you wish), that you receive source code or can get it
 25 | if you want it, that you can change the software or use pieces of it
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 27 | 
 28 |   To protect your rights, we need to make restrictions that forbid
 29 | anyone to deny you these rights or to ask you to surrender the rights.
 30 | These restrictions translate to certain responsibilities for you if you
 31 | distribute copies of the software, or if you modify it.
 32 | 
 33 |   For example, if you distribute copies of such a program, whether
 34 | gratis or for a fee, you must give the recipients all the rights that
 35 | you have.  You must make sure that they, too, receive or can get the
 36 | source code.  And you must show them these terms so they know their
 37 | rights.
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 39 |   We protect your rights with two steps: (1) copyright the software, and
 40 | (2) offer you this license which gives you legal permission to copy,
 41 | distribute and/or modify the software.
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 43 |   Also, for each author's protection and ours, we want to make certain
 44 | that everyone understands that there is no warranty for this free
 45 | software.  If the software is modified by someone else and passed on, we
 46 | want its recipients to know that what they have is not the original, so
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 58 | 
 59 |                     GNU GENERAL PUBLIC LICENSE
 60 |    TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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 62 |   0. This License applies to any program or other work which contains
 63 | a notice placed by the copyright holder saying it may be distributed
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 70 | the term "modification".)  Each licensee is addressed as "you".
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 72 | Activities other than copying, distribution and modification are not
 73 | covered by this License; they are outside its scope.  The act of
 74 | running the Program is not restricted, and the output from the Program
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 76 | Program (independent of having been made by running the Program).
 77 | Whether that is true depends on what the Program does.
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 79 |   1. You may copy and distribute verbatim copies of the Program's
 80 | source code as you receive it, in any medium, provided that you
 81 | conspicuously and appropriately publish on each copy an appropriate
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 85 | along with the Program.
 86 | 
 87 | You may charge a fee for the physical act of transferring a copy, and
 88 | you may at your option offer warranty protection in exchange for a fee.
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 90 |   2. You may modify your copy or copies of the Program or any portion
 91 | of it, thus forming a work based on the Program, and copy and
 92 | distribute such modifications or work under the terms of Section 1
 93 | above, provided that you also meet all of these conditions:
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 96 |     stating that you changed the files and the date of any change.
 97 | 
 98 |     b) You must cause any work that you distribute or publish, that in
 99 |     whole or in part contains or is derived from the Program or any
100 |     part thereof, to be licensed as a whole at no charge to all third
101 |     parties under the terms of this License.
102 | 
103 |     c) If the modified program normally reads commands interactively
104 |     when run, you must cause it, when started running for such
105 |     interactive use in the most ordinary way, to print or display an
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113 | 
114 | These requirements apply to the modified work as a whole.  If
115 | identifiable sections of that work are not derived from the Program,
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133 | 
134 |   3. You may copy and distribute the Program (or a work based on it,
135 | under Section 2) in object code or executable form under the terms of
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172 |   4. You may not copy, modify, sublicense, or distribute the Program
173 | except as expressly provided under this License.  Any attempt
174 | otherwise to copy, modify, sublicense or distribute the Program is
175 | void, and will automatically terminate your rights under this License.
176 | However, parties who have received copies, or rights, from you under
177 | this License will not have their licenses terminated so long as such
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180 |   5. You are not required to accept this License, since you have not
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184 | modifying or distributing the Program (or any work based on the
185 | Program), you indicate your acceptance of this License to do so, and
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187 | the Program or works based on it.
188 | 
189 |   6. Each time you redistribute the Program (or any work based on the
190 | Program), the recipient automatically receives a license from the
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192 | these terms and conditions.  You may not impose any further
193 | restrictions on the recipients' exercise of the rights granted herein.
194 | You are not responsible for enforcing compliance by third parties to
195 | this License.
196 | 
197 |   7. If, as a consequence of a court judgment or allegation of patent
198 | infringement or for any other reason (not limited to patent issues),
199 | conditions are imposed on you (whether by court order, agreement or
200 | otherwise) that contradict the conditions of this License, they do not
201 | excuse you from the conditions of this License.  If you cannot
202 | distribute so as to satisfy simultaneously your obligations under this
203 | License and any other pertinent obligations, then as a consequence you
204 | may not distribute the Program at all.  For example, if a patent
205 | license would not permit royalty-free redistribution of the Program by
206 | all those who receive copies directly or indirectly through you, then
207 | the only way you could satisfy both it and this License would be to
208 | refrain entirely from distribution of the Program.
209 | 
210 | If any portion of this section is held invalid or unenforceable under
211 | any particular circumstance, the balance of the section is intended to
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214 | 
215 | It is not the purpose of this section to induce you to infringe any
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223 | to distribute software through any other system and a licensee cannot
224 | impose that choice.
225 | 
226 | This section is intended to make thoroughly clear what is believed to
227 | be a consequence of the rest of this License.
228 | 
229 |   8. If the distribution and/or use of the Program is restricted in
230 | certain countries either by patents or by copyrighted interfaces, the
231 | original copyright holder who places the Program under this License
232 | may add an explicit geographical distribution limitation excluding
233 | those countries, so that distribution is permitted only in or among
234 | countries not thus excluded.  In such case, this License incorporates
235 | the limitation as if written in the body of this License.
236 | 
237 |   9. The Free Software Foundation may publish revised and/or new versions
238 | of the General Public License from time to time.  Such new versions will
239 | be similar in spirit to the present version, but may differ in detail to
240 | address new problems or concerns.
241 | 
242 | Each version is given a distinguishing version number.  If the Program
243 | specifies a version number of this License which applies to it and "any
244 | later version", you have the option of following the terms and conditions
245 | either of that version or of any later version published by the Free
246 | Software Foundation.  If the Program does not specify a version number of
247 | this License, you may choose any version ever published by the Free Software
248 | Foundation.
249 | 
250 |   10. If you wish to incorporate parts of the Program into other free
251 | programs whose distribution conditions are different, write to the author
252 | to ask for permission.  For software which is copyrighted by the Free
253 | Software Foundation, write to the Free Software Foundation; we sometimes
254 | make exceptions for this.  Our decision will be guided by the two goals
255 | of preserving the free status of all derivatives of our free software and
256 | of promoting the sharing and reuse of software generally.
257 | 
258 |                             NO WARRANTY
259 | 
260 |   11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
261 | FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
262 | OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
263 | PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
264 | OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
265 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
266 | TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
267 | PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
268 | REPAIR OR CORRECTION.
269 | 
270 |   12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
271 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
272 | REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
273 | INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
274 | OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
275 | TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
276 | YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
277 | PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
278 | POSSIBILITY OF SUCH DAMAGES.
279 | 
280 |                      END OF TERMS AND CONDITIONS
281 | 
282 |             How to Apply These Terms to Your New Programs
283 | 
284 |   If you develop a new program, and you want it to be of the greatest
285 | possible use to the public, the best way to achieve this is to make it
286 | free software which everyone can redistribute and change under these terms.
287 | 
288 |   To do so, attach the following notices to the program.  It is safest
289 | to attach them to the start of each source file to most effectively
290 | convey the exclusion of warranty; and each file should have at least
291 | the "copyright" line and a pointer to where the full notice is found.
292 | 
293 |     Copyright (C) 2019 Micaela Verucchi
294 | 
295 |     This program is free software; you can redistribute it and/or modify
296 |     it under the terms of the GNU General Public License as published by
297 |     the Free Software Foundation; either version 2 of the License, or
298 |     (at your option) any later version.
299 | 
300 |     This program is distributed in the hope that it will be useful,
301 |     but WITHOUT ANY WARRANTY; without even the implied warranty of
302 |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
303 |     GNU General Public License for more details.
304 | 
305 |     You should have received a copy of the GNU General Public License along
306 |     with this program; if not, write to the Free Software Foundation, Inc.,
307 |     51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
308 | 
309 | Also add information on how to contact you by electronic and paper mail.
310 | 
311 | If the program is interactive, make it output a short notice like this
312 | when it starts in an interactive mode:
313 | 
314 |     Gnomovision version 69, Copyright (C) year name of author
315 |     Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
316 |     This is free software, and you are welcome to redistribute it
317 |     under certain conditions; type `show c' for details.
318 | 
319 | The hypothetical commands `show w' and `show c' should show the appropriate
320 | parts of the General Public License.  Of course, the commands you use may
321 | be called something other than `show w' and `show c'; they could even be
322 | mouse-clicks or menu items--whatever suits your program.
323 | 
324 | You should also get your employer (if you work as a programmer) or your
325 | school, if any, to sign a "copyright disclaimer" for the program, if
326 | necessary.  Here is a sample; alter the names:
327 | 
328 |   Yoyodyne, Inc., hereby disclaims all copyright interest in the program
329 |   `Gnomovision' (which makes passes at compilers) written by James Hacker.
330 | 
331 |   <signature of Ty Coon>, 1 April 1989
332 |   Ty Coon, President of Vice
333 | 
334 | This General Public License does not permit incorporating your program into
335 | proprietary programs.  If your program is a subroutine library, you may
336 | consider it more useful to permit linking proprietary applications with the
337 | library.  If this is what you want to do, use the GNU Lesser General
338 | Public License instead of this License.
339 | 


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  22 | 4 1552037227167 2055 986
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  24 | 5 1552037227202 2108 1052
  25 | 5 1552037227202 2055 986
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  27 | 6 1552037227232 2108 1052
  28 | 6 1552037227232 2055 986
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  31 | 7 1552037227264 2108 1052
  32 | 7 1552037227264 2147 953
  33 | 7 1552037227264 2055 986
  34 | 7 1552037227264 2188 1202
  35 | 8 1552037227298 1899 1013
  36 | 8 1552037227298 2108 1052
  37 | 8 1552037227298 2055 986
  38 | 8 1552037227298 2151 951
  39 | 8 1552037227298 2189 1202
  40 | 9 1552037227323 1899 1013
  41 | 9 1552037227323 2108 1052
  42 | 9 1552037227323 2055 986
  43 | 10 1552037227352 1900 1013
  44 | 10 1552037227352 2108 1052
  45 | 10 1552037227352 2055 986
  46 | 11 1552037227383 1900 1012
  47 | 11 1552037227383 2108 1052
  48 | 11 1552037227383 2055 986
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  50 | 12 1552037227411 1901 1012
  51 | 12 1552037227411 2108 1052
  52 | 12 1552037227411 2194 1209
  53 | 12 1552037227411 2055 986
  54 | 12 1552037227411 2220 1231
  55 | 13 1552037227449 1902 1014
  56 | 13 1552037227449 2108 1052
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  59 | 13 1552037227449 2055 986
  60 | 14 1552037227479 1905 1015
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  63 | 14 1552037227479 2055 986
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  65 | 15 1552037227511 1907 1017
  66 | 15 1552037227511 2108 1052
  67 | 15 1552037227511 2055 986
  68 | 15 1552037227511 2194 1209
  69 | 16 1552037227544 1877 985
  70 | 16 1552037227544 2112 1055
  71 | 16 1552037227544 2055 986
  72 | 16 1552037227544 2194 1209
  73 | 17 1552037227572 1879 987
  74 | 17 1552037227572 1905 1014
  75 | 17 1552037227572 2108 1052
  76 | 17 1552037227572 2194 1209
  77 | 17 1552037227572 2055 986
  78 | 18 1552037227597 1880 987
  79 | 18 1552037227597 2108 1052
  80 | 18 1552037227597 2193 1209
  81 | 18 1552037227597 2055 986
  82 | 18 1552037227597 2119 930
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  85 | 19 1552037227627 2193 1209
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  90 | 20 1552037227656 2055 986
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  92 | 20 1552037227656 2193 1209
  93 | 21 1552037227691 1906 1011
  94 | 21 1552037227691 2108 1052
  95 | 21 1552037227691 2055 986
  96 | 21 1552037227691 2194 1209
  97 | 22 1552037227721 1909 1013
  98 | 22 1552037227721 2108 1052
  99 | 22 1552037227721 2055 986
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 110 | 25 1552037227825 2055 986
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 123 | 28 1552037227905 2193 1209
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 130 | 30 1552037227967 2112 1055
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 144 | 34 1552037228092 1919 1011
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 152 | 36 1552037228154 1921 1010
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 156 | 37 1552037228182 1922 1009
 157 | 37 1552037228182 2126 1064
 158 | 37 1552037228182 2193 1209
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 161 | 38 1552037228212 2108 1052
 162 | 38 1552037228212 2193 1209
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 173 | 41 1552037228314 2126 1064
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 200 | 48 1552037228526 2056 986
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 214 | 52 1552037228650 2126 1064
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 232 | 56 1552037228766 2126 1064
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 276 | 70 1552037229324 2126 1064
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 288 | 74 1552037229456 2126 1064
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 306 | 80 1552037229634 2126 1064
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 308 | 81 1552037229664 2058 988
 309 | 81 1552037229664 2126 1064
 310 | 82 1552037229700 1975 1010
 311 | 82 1552037229700 2058 988
 312 | 83 1552037229729 1975 1010
 313 | 83 1552037229729 2058 988
 314 | 84 1552037229762 1960 999
 315 | 85 1552037229789 1973 1008
 316 | 86 1552037229820 1979 1011
 317 | 86 1552037229820 2372 993
 318 | 86 1552037229820 2058 988
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 320 | 88 1552037229877 1982 1011
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 322 | 88 1552037229878 2126 1064
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 328 | 93 1552037230037 1985 1010
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 331 | 94 1552037230064 2059 987
 332 | 95 1552037230094 1984 1008
 333 | 95 1552037230094 2058 988
 334 | 96 1552037230122 1984 1008
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 343 | 99 1552037230217 2055 986
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 365 | 107 1552037230458 2055 986
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 368 | 115 1552037230702 1986 988
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 385 | 122 1552037230931 1991 986
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 387 | 123 1552037230958 1991 986
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 389 | 124 1552037230989 1994 986
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 391 | 125 1552037231022 1994 986
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 394 | 126 1552037231055 2194 1209
 395 | 127 1552037231087 1993 987
 396 | 128 1552037231123 2018 1002
 397 | 129 1552037231155 2021 1003
 398 | 130 1552037231182 2026 1006
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 400 | 133 1552037231266 2034 1008
 401 | 135 1552037231459 2038 1009
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 404 | 138 1552037231552 2033 1005
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 430 | 167 1552037232462 2056 986
 431 | 168 1552037232494 2064 1004
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 433 | 169 1552037232522 2061 1003
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 445 | 174 1552037232671 2065 1000
 446 | 174 1552037232671 2103 1049
 447 | 175 1552037232702 2065 1001
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 451 | 176 1552037232738 2067 1002
 452 | 176 1552037232738 2071 994
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1002 | 306 1552037237022 2108 1052
1003 | 306 1552037237022 2194 1209
1004 | 306 1552037237022 2055 986
1005 | 307 1552037237052 2189 993
1006 | 307 1552037237052 2108 1052
1007 | 307 1552037237052 2194 1209
1008 | 307 1552037237052 2055 986
1009 | 308 1552037237087 2194 994
1010 | 308 1552037237087 2108 1052
1011 | 308 1552037237087 2194 1209
1012 | 308 1552037237087 2055 986
1013 | 309 1552037237116 2189 993
1014 | 309 1552037237116 2108 1052
1015 | 309 1552037237116 2194 1209
1016 | 309 1552037237116 2055 986
1017 | 310 1552037237149 2189 993
1018 | 310 1552037237149 2108 1052
1019 | 310 1552037237149 2194 1209
1020 | 310 1552037237149 2055 986
1021 | 311 1552037237177 2189 993
1022 | 311 1552037237177 2108 1052
1023 | 311 1552037237177 2194 1209
1024 | 311 1552037237177 2055 986
1025 | 312 1552037237206 2189 993
1026 | 312 1552037237206 2108 1052
1027 | 312 1552037237206 2194 1209
1028 | 312 1552037237206 2055 986
1029 | 313 1552037237234 2183 991
1030 | 313 1552037237234 2108 1052
1031 | 313 1552037237234 2194 1209
1032 | 313 1552037237234 2055 986
1033 | 314 1552037237266 2189 993
1034 | 314 1552037237266 2108 1052
1035 | 314 1552037237266 2194 1209
1036 | 315 1552037237302 2194 994
1037 | 315 1552037237302 2112 1055
1038 | 315 1552037237302 2194 1209
1039 | 316 1552037237332 2194 994
1040 | 316 1552037237332 2108 1052
1041 | 316 1552037237332 2194 1209
1042 | 316 1552037237332 2055 986
1043 | 317 1552037237366 2188 993
1044 | 317 1552037237366 2108 1052
1045 | 317 1552037237366 2194 1209
1046 | 317 1552037237366 2055 986
1047 | 318 1552037237395 2189 992
1048 | 318 1552037237395 2194 1209
1049 | 318 1552037237395 2126 1064
1050 | 318 1552037237395 2055 986
1051 | 319 1552037237431 2190 992
1052 | 319 1552037237431 2126 1064
1053 | 319 1552037237431 2194 1209
1054 | 319 1552037237431 2055 986
1055 | 320 1552037237458 2195 994
1056 | 320 1552037237458 2112 1055
1057 | 320 1552037237458 2194 1209
1058 | 321 1552037237486 2196 993
1059 | 321 1552037237486 2112 1055
1060 | 321 1552037237486 2194 1209
1061 | 322 1552037237516 2196 993
1062 | 322 1552037237516 2112 1055
1063 | 322 1552037237516 2193 1209
1064 | 323 1552037237550 2196 993
1065 | 323 1552037237550 2112 1055
1066 | 323 1552037237550 2193 1209
1067 | 324 1552037237580 2196 993
1068 | 324 1552037237580 2112 1055
1069 | 324 1552037237580 2193 1209
1070 | 325 1552037237611 2203 995
1071 | 325 1552037237611 2112 1055
1072 | 326 1552037237646 2210 997
1073 | 326 1552037237646 2112 1055
1074 | 326 1552037237646 2193 1209
1075 | 327 1552037237676 2210 997
1076 | 327 1552037237676 2112 1055
1077 | 327 1552037237676 2193 1209
1078 | 328 1552037237708 2210 997
1079 | 328 1552037237708 2112 1055
1080 | 329 1552037237734 2210 997
1081 | 329 1552037237734 2112 1055
1082 | 330 1552037237764 2203 995
1083 | 330 1552037237764 2112 1055
1084 | 330 1552037237764 2193 1209
1085 | 331 1552037237794 2210 997
1086 | 331 1552037237794 2108 1052
1087 | 332 1552037237957 2210 997
1088 | 332 1552037237957 2108 1052
1089 | 333 1552037237986 2210 997
1090 | 333 1552037237987 2108 1052
1091 | 334 1552037238014 2211 996
1092 | 334 1552037238014 2112 1055
1093 | 335 1552037238048 2211 996
1094 | 335 1552037238048 2112 1055
1095 | 336 1552037238082 2211 996
1096 | 336 1552037238082 2108 1052
1097 | 337 1552037238114 2210 997
1098 | 337 1552037238114 2108 1052
1099 | 338 1552037238148 2215 998
1100 | 338 1552037238148 2108 1052
1101 | 338 1552037238148 2193 1209
1102 | 339 1552037238177 2215 998
1103 | 339 1552037238177 2126 1064
1104 | 339 1552037238177 2202 1217
1105 | 340 1552037238205 2215 998
1106 | 340 1552037238205 2108 1052
1107 | 340 1552037238205 2193 1209
1108 | 341 1552037238237 2216 998
1109 | 341 1552037238238 2108 1052
1110 | 341 1552037238238 2193 1209
1111 | 342 1552037238268 2210 997
1112 | 342 1552037238268 2108 1052
1113 | 342 1552037238268 2194 1209
1114 | 343 1552037238296 2236 1004
1115 | 343 1552037238296 2108 1052
1116 | 343 1552037238296 2193 1209
1117 | 344 1552037238332 2243 1007
1118 | 344 1552037238332 2126 1064
1119 | 345 1552037238366 2235 1005
1120 | 345 1552037238366 2126 1064
1121 | 345 1552037238366 2193 1209
1122 | 346 1552037238395 2235 1005
1123 | 346 1552037238395 2126 1064
1124 | 347 1552037238430 2235 1005
1125 | 347 1552037238430 2126 1064
1126 | 348 1552037238461 2235 1005
1127 | 351 1552037238551 2125 1064
1128 | 351 1552037238551 2236 1004
1129 | 352 1552037238578 2132 1067
1130 | 352 1552037238578 2242 1007
1131 | 353 1552037238612 2242 1007
1132 | 353 1552037238612 2125 1064
1133 | 353 1552037238612 2202 1217
1134 | 354 1552037238644 2236 1004
1135 | 354 1552037238644 2125 1064
1136 | 354 1552037238644 2193 1209
1137 | 355 1552037238677 2236 1004
1138 | 355 1552037238677 2132 1067
1139 | 355 1552037238677 2193 1209
1140 | 356 1552037238710 2243 1007
1141 | 356 1552037238710 2131 1067
1142 | 356 1552037238710 2202 1217
1143 | 357 1552037238747 2243 1007
1144 | 357 1552037238747 2125 1064
1145 | 357 1552037238747 2202 1217
1146 | 358 1552037238774 2249 1009
1147 | 358 1552037238774 2203 1216
1148 | 359 1552037238806 2202 1217
1149 | 359 1552037238806 2249 1009
1150 | 360 1552037238833 1791 1083
1151 | 360 1552037238833 2202 1217
1152 | 360 1552037238833 2249 1009
1153 | 361 1552037238865 1792 1086
1154 | 361 1552037238865 2202 1217
1155 | 362 1552037238897 1792 1086
1156 | 362 1552037238897 2202 1217
1157 | 363 1552037238927 1792 1086
1158 | 363 1552037238927 2202 1217
1159 | 364 1552037238962 1793 1086
1160 | 364 1552037238962 2202 1217
1161 | 365 1552037238992 1793 1086
1162 | 365 1552037238992 2202 1217
1163 | 366 1552037239021 1793 1087
1164 | 366 1552037239021 2202 1217
1165 | 367 1552037239051 1793 1078
1166 | 367 1552037239051 2202 1217
1167 | 368 1552037239118 1793 1079
1168 | 368 1552037239118 2202 1217
1169 | 369 1552037239185 1795 1088
1170 | 369 1552037239185 2271 1017
1171 | 369 1552037239185 2202 1217
1172 | 370 1552037239225 1795 1090
1173 | 370 1552037239225 2202 1217
1174 | 371 1552037239258 1795 1081
1175 | 371 1552037239258 2271 1017
1176 | 371 1552037239258 2202 1217
1177 | 


--------------------------------------------------------------------------------
/data/test_ll.txt:
--------------------------------------------------------------------------------
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1004 | 306 1555343398134 44.655571 10.934344
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1008 | 307 1555343398153 44.655571 10.934344
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1013 | 309 1555343398192 44.655567 10.934427
1014 | 309 1555343398192 44.655533 10.934377
1015 | 309 1555343398192 44.655434 10.934430
1016 | 309 1555343398192 44.655571 10.934344
1017 | 310 1555343398211 44.655567 10.934427
1018 | 310 1555343398211 44.655533 10.934377
1019 | 310 1555343398211 44.655434 10.934430
1020 | 310 1555343398211 44.655571 10.934344
1021 | 311 1555343398230 44.655567 10.934427
1022 | 311 1555343398230 44.655533 10.934377
1023 | 311 1555343398230 44.655434 10.934430
1024 | 311 1555343398230 44.655571 10.934344
1025 | 312 1555343398250 44.655567 10.934427
1026 | 312 1555343398250 44.655533 10.934377
1027 | 312 1555343398250 44.655434 10.934430
1028 | 312 1555343398250 44.655571 10.934344
1029 | 313 1555343398270 44.655567 10.934423
1030 | 313 1555343398270 44.655533 10.934377
1031 | 313 1555343398270 44.655434 10.934430
1032 | 313 1555343398270 44.655571 10.934344
1033 | 314 1555343398291 44.655567 10.934427
1034 | 314 1555343398291 44.655533 10.934377
1035 | 314 1555343398291 44.655434 10.934430
1036 | 315 1555343398309 44.655567 10.934430
1037 | 315 1555343398309 44.655529 10.934380
1038 | 315 1555343398310 44.655434 10.934430
1039 | 316 1555343398328 44.655567 10.934430
1040 | 316 1555343398329 44.655533 10.934377
1041 | 316 1555343398329 44.655434 10.934430
1042 | 316 1555343398329 44.655571 10.934344
1043 | 317 1555343398348 44.655567 10.934426
1044 | 317 1555343398348 44.655533 10.934377
1045 | 317 1555343398348 44.655434 10.934430
1046 | 317 1555343398348 44.655571 10.934344
1047 | 318 1555343398368 44.655567 10.934427
1048 | 318 1555343398369 44.655434 10.934430
1049 | 318 1555343398369 44.655525 10.934388
1050 | 318 1555343398369 44.655571 10.934344
1051 | 319 1555343398390 44.655567 10.934428
1052 | 319 1555343398390 44.655525 10.934388
1053 | 319 1555343398390 44.655434 10.934430
1054 | 319 1555343398390 44.655571 10.934344
1055 | 320 1555343398410 44.655567 10.934431
1056 | 320 1555343398410 44.655529 10.934380
1057 | 320 1555343398410 44.655434 10.934430
1058 | 321 1555343398429 44.655567 10.934431
1059 | 321 1555343398429 44.655529 10.934380
1060 | 321 1555343398429 44.655434 10.934430
1061 | 322 1555343398448 44.655567 10.934431
1062 | 322 1555343398448 44.655529 10.934380
1063 | 322 1555343398448 44.655434 10.934430
1064 | 323 1555343398470 44.655567 10.934431
1065 | 323 1555343398470 44.655529 10.934380
1066 | 323 1555343398470 44.655434 10.934430
1067 | 324 1555343398491 44.655567 10.934431
1068 | 324 1555343398491 44.655529 10.934380
1069 | 324 1555343398491 44.655434 10.934430
1070 | 325 1555343398510 44.655567 10.934436
1071 | 325 1555343398510 44.655529 10.934380
1072 | 326 1555343398528 44.655567 10.934441
1073 | 326 1555343398528 44.655529 10.934380
1074 | 326 1555343398528 44.655434 10.934430
1075 | 327 1555343398547 44.655567 10.934441
1076 | 327 1555343398547 44.655529 10.934380
1077 | 327 1555343398547 44.655434 10.934430
1078 | 328 1555343398567 44.655567 10.934441
1079 | 328 1555343398567 44.655529 10.934380
1080 | 329 1555343398588 44.655567 10.934441
1081 | 329 1555343398588 44.655529 10.934380
1082 | 330 1555343398607 44.655567 10.934436
1083 | 330 1555343398607 44.655529 10.934380
1084 | 330 1555343398607 44.655434 10.934430
1085 | 331 1555343398626 44.655567 10.934441
1086 | 331 1555343398626 44.655533 10.934377
1087 | 332 1555343398645 44.655567 10.934441
1088 | 332 1555343398645 44.655533 10.934377
1089 | 333 1555343398664 44.655567 10.934441
1090 | 333 1555343398664 44.655533 10.934377
1091 | 334 1555343398685 44.655567 10.934441
1092 | 334 1555343398685 44.655529 10.934380
1093 | 335 1555343398704 44.655567 10.934441
1094 | 335 1555343398704 44.655529 10.934380
1095 | 336 1555343398724 44.655567 10.934441
1096 | 336 1555343398724 44.655533 10.934377
1097 | 337 1555343398743 44.655567 10.934441
1098 | 337 1555343398743 44.655533 10.934377
1099 | 338 1555343398761 44.655563 10.934443
1100 | 338 1555343398761 44.655533 10.934377
1101 | 338 1555343398761 44.655434 10.934430
1102 | 339 1555343398780 44.655563 10.934443
1103 | 339 1555343398780 44.655525 10.934388
1104 | 339 1555343398780 44.655430 10.934435
1105 | 340 1555343398799 44.655563 10.934443
1106 | 340 1555343398799 44.655533 10.934377
1107 | 340 1555343398799 44.655434 10.934430
1108 | 341 1555343398820 44.655563 10.934444
1109 | 341 1555343398820 44.655533 10.934377
1110 | 341 1555343398820 44.655434 10.934430
1111 | 342 1555343398839 44.655567 10.934441
1112 | 342 1555343398839 44.655533 10.934377
1113 | 342 1555343398839 44.655434 10.934430
1114 | 343 1555343398858 44.655560 10.934457
1115 | 343 1555343398858 44.655533 10.934377
1116 | 343 1555343398858 44.655434 10.934430
1117 | 344 1555343398877 44.655560 10.934461
1118 | 344 1555343398877 44.655525 10.934388
1119 | 345 1555343398897 44.655560 10.934456
1120 | 345 1555343398897 44.655525 10.934388
1121 | 345 1555343398897 44.655434 10.934430
1122 | 346 1555343398918 44.655560 10.934456
1123 | 346 1555343398918 44.655525 10.934388
1124 | 347 1555343398937 44.655560 10.934456
1125 | 347 1555343398937 44.655525 10.934388
1126 | 348 1555343398957 44.655560 10.934456
1127 | 351 1555343399016 44.655525 10.934387
1128 | 351 1555343399016 44.655560 10.934457
1129 | 352 1555343399035 44.655521 10.934392
1130 | 352 1555343399035 44.655560 10.934460
1131 | 353 1555343399054 44.655560 10.934460
1132 | 353 1555343399054 44.655525 10.934387
1133 | 353 1555343399054 44.655430 10.934435
1134 | 354 1555343399074 44.655560 10.934457
1135 | 354 1555343399074 44.655525 10.934387
1136 | 354 1555343399074 44.655434 10.934430
1137 | 355 1555343399093 44.655560 10.934457
1138 | 355 1555343399093 44.655521 10.934392
1139 | 355 1555343399093 44.655434 10.934430
1140 | 356 1555343399113 44.655560 10.934461
1141 | 356 1555343399113 44.655521 10.934391
1142 | 356 1555343399113 44.655430 10.934435
1143 | 357 1555343399132 44.655560 10.934461
1144 | 357 1555343399132 44.655525 10.934387
1145 | 357 1555343399132 44.655430 10.934435
1146 | 358 1555343399153 44.655560 10.934464
1147 | 358 1555343399153 44.655430 10.934436
1148 | 359 1555343399173 44.655430 10.934435
1149 | 359 1555343399173 44.655560 10.934464
1150 | 360 1555343399192 44.655510 10.934179
1151 | 360 1555343399192 44.655430 10.934435
1152 | 360 1555343399192 44.655560 10.934464
1153 | 361 1555343399212 44.655510 10.934180
1154 | 361 1555343399212 44.655430 10.934435
1155 | 362 1555343399231 44.655510 10.934180
1156 | 362 1555343399231 44.655430 10.934435
1157 | 363 1555343399251 44.655510 10.934180
1158 | 363 1555343399251 44.655430 10.934435
1159 | 364 1555343399270 44.655510 10.934181
1160 | 364 1555343399270 44.655430 10.934435
1161 | 365 1555343399290 44.655510 10.934181
1162 | 365 1555343399290 44.655430 10.934435
1163 | 366 1555343399309 44.655510 10.934181
1164 | 366 1555343399309 44.655430 10.934435
1165 | 367 1555343399330 44.655514 10.934181
1166 | 367 1555343399330 44.655430 10.934435
1167 | 368 1555343399350 44.655514 10.934181
1168 | 368 1555343399350 44.655430 10.934435
1169 | 369 1555343399370 44.655510 10.934182
1170 | 369 1555343399370 44.655552 10.934478
1171 | 369 1555343399370 44.655430 10.934435
1172 | 370 1555343399389 44.655506 10.934182
1173 | 370 1555343399389 44.655430 10.934435
1174 | 371 1555343399409 44.655514 10.934182
1175 | 371 1555343399409 44.655552 10.934478
1176 | 371 1555343399409 44.655430 10.934435
1177 | 372 1555343399428 44.655514 10.934182
1178 | 372 1555343399428 44.655552 10.934478
1179 | 372 1555343399428 44.655430 10.934435
1180 | 373 1555343399449 44.655514 10.934183
1181 | 373 1555343399449 44.655552 10.934484
1182 | 373 1555343399449 44.655430 10.934435
1183 | 373 1555343399449 44.655441 10.934201
1184 | 374 1555343399468 44.655514 10.934183
1185 | 374 1555343399468 44.655552 10.934484
1186 | 374 1555343399468 44.655430 10.934435
1187 | 375 1555343399488 44.655514 10.934183
1188 | 375 1555343399488 44.655552 10.934484
1189 | 375 1555343399488 44.655430 10.934435
1190 | 376 1555343399507 44.655514 10.934183
1191 | 376 1555343399507 44.655552 10.934484
1192 | 376 1555343399507 44.655430 10.934435
1193 | 376 1555343399507 44.655441 10.934201
1194 | 376 1555343399507 44.655502 10.934198
1195 | 377 1555343399527 44.655514 10.934183
1196 | 377 1555343399527 44.655552 10.934484
1197 | 377 1555343399527 44.655430 10.934435
1198 | 377 1555343399527 44.655441 10.934201
1199 | 377 1555343399527 44.655502 10.934198
1200 | 378 1555343399548 44.655518 10.934183
1201 | 378 1555343399548 44.655552 10.934484
1202 | 378 1555343399548 44.655430 10.934435
1203 | 379 1555343399567 44.655518 10.934184
1204 | 379 1555343399567 44.655552 10.934484
1205 | 379 1555343399567 44.655441 10.934200
1206 | 379 1555343399567 44.655430 10.934435
1207 | 379 1555343399567 44.655502 10.934198
1208 | 379 1555343399567 44.655437 10.934196
1209 | 380 1555343399587 44.655518 10.934184
1210 | 380 1555343399587 44.655552 10.934484
1211 | 380 1555343399587 44.655502 10.934199
1212 | 380 1555343399587 44.655430 10.934435
1213 | 380 1555343399587 44.655445 10.934201
1214 | 380 1555343399587 44.655437 10.934197
1215 | 381 1555343399606 44.655518 10.934185
1216 | 381 1555343399606 44.655552 10.934484
1217 | 381 1555343399606 44.655430 10.934435
1218 | 381 1555343399606 44.655502 10.934199
1219 | 381 1555343399606 44.655445 10.934201
1220 | 381 1555343399606 44.655434 10.934197
1221 | 382 1555343399625 44.655518 10.934185
1222 | 382 1555343399625 44.655548 10.934488
1223 | 382 1555343399625 44.655430 10.934435
1224 | 382 1555343399625 44.655502 10.934199
1225 | 383 1555343399647 44.655518 10.934185
1226 | 383 1555343399647 44.655548 10.934488
1227 | 383 1555343399647 44.655430 10.934435
1228 | 383 1555343399647 44.655437 10.934196
1229 | 384 1555343399666 44.655548 10.934488
1230 | 384 1555343399666 44.655571 10.934351
1231 | 384 1555343399666 44.655430 10.934435
1232 | 384 1555343399666 44.655510 10.934187
1233 | 385 1555343399684 44.655567 10.934341
1234 | 385 1555343399684 44.655548 10.934488
1235 | 385 1555343399684 44.655510 10.934188
1236 | 385 1555343399684 44.655437 10.934196
1237 | 385 1555343399684 44.655430 10.934436
1238 | 386 1555343399703 44.655548 10.934488
1239 | 386 1555343399703 44.655518 10.934186
1240 | 386 1555343399703 44.655571 10.934343
1241 | 386 1555343399703 44.655529 10.934379
1242 | 386 1555343399703 44.655430 10.934436
1243 | 386 1555343399703 44.655567 10.934353
1244 | 387 1555343399723 44.655518 10.934187
1245 | 387 1555343399723 44.655567 10.934344
1246 | 387 1555343399723 44.655548 10.934488
1247 | 387 1555343399723 44.655430 10.934435
1248 | 387 1555343399723 44.655441 10.934195
1249 | 387 1555343399723 44.655529 10.934380
1250 | 387 1555343399723 44.655445 10.934202
1251 | 388 1555343399743 44.655518 10.934187
1252 | 388 1555343399743 44.655548 10.934488
1253 | 388 1555343399743 44.655563 10.934349
1254 | 388 1555343399743 44.655430 10.934435
1255 | 388 1555343399743 44.655529 10.934376
1256 | 388 1555343399743 44.655445 10.934202
1257 | 389 1555343399763 44.655521 10.934187
1258 | 389 1555343399763 44.655563 10.934355
1259 | 389 1555343399763 44.655548 10.934494
1260 | 389 1555343399763 44.655430 10.934436
1261 | 389 1555343399763 44.655567 10.934352
1262 | 389 1555343399763 44.655529 10.934376
1263 | 390 1555343399783 44.655521 10.934187
1264 | 390 1555343399783 44.655563 10.934360
1265 | 390 1555343399783 44.655548 10.934493
1266 | 390 1555343399783 44.655529 10.934376
1267 | 390 1555343399783 44.655567 10.934352
1268 | 390 1555343399783 44.655430 10.934435
1269 | 391 1555343399802 44.655518 10.934188
1270 | 391 1555343399802 44.655548 10.934488
1271 | 391 1555343399802 44.655529 10.934376
1272 | 391 1555343399802 44.655567 10.934352
1273 | 391 1555343399802 44.655487 10.934184
1274 | 391 1555343399802 44.655430 10.934435
1275 | 392 1555343399821 44.655518 10.934188
1276 | 392 1555343399821 44.655533 10.934377
1277 | 392 1555343399821 44.655548 10.934494
1278 | 392 1555343399821 44.655567 10.934352
1279 | 392 1555343399821 44.655487 10.934183
1280 | 392 1555343399821 44.655430 10.934435
1281 | 393 1555343399840 44.655529 10.934376
1282 | 393 1555343399840 44.655548 10.934493
1283 | 393 1555343399840 44.655571 10.934348
1284 | 393 1555343399840 44.655518 10.934189
1285 | 393 1555343399840 44.655487 10.934183
1286 | 393 1555343399840 44.655434 10.934430
1287 | 394 1555343399860 44.655548 10.934494
1288 | 394 1555343399860 44.655533 10.934377
1289 | 394 1555343399860 44.655518 10.934190
1290 | 394 1555343399860 44.655571 10.934346
1291 | 394 1555343399860 44.655434 10.934430
1292 | 394 1555343399860 44.655487 10.934183
1293 | 395 1555343399881 44.655548 10.934494
1294 | 395 1555343399881 44.655533 10.934377
1295 | 395 1555343399881 44.655521 10.934189
1296 | 395 1555343399881 44.655487 10.934183
1297 | 395 1555343399881 44.655430 10.934436
1298 | 395 1555343399881 44.655571 10.934348
1299 | 395 1555343399881 44.655567 10.934371
1300 | 396 1555343399900 44.655548 10.934487
1301 | 396 1555343399900 44.655533 10.934377
1302 | 396 1555343399900 44.655571 10.934348
1303 | 396 1555343399900 44.655521 10.934190
1304 | 396 1555343399900 44.655487 10.934183
1305 | 396 1555343399900 44.655430 10.934436
1306 | 396 1555343399900 44.655418 10.934446
1307 | 397 1555343399920 44.655548 10.934488
1308 | 397 1555343399920 44.655529 10.934380
1309 | 397 1555343399920 44.655487 10.934183
1310 | 397 1555343399920 44.655430 10.934436
1311 | 397 1555343399920 44.655571 10.934351
1312 | 397 1555343399920 44.655521 10.934190
1313 | 397 1555343399920 44.655418 10.934446
1314 | 398 1555343399939 44.655548 10.934494
1315 | 398 1555343399939 44.655521 10.934190
1316 | 398 1555343399939 44.655487 10.934183
1317 | 398 1555343399939 44.655529 10.934380
1318 | 398 1555343399939 44.655430 10.934436
1319 | 398 1555343399939 44.655418 10.934445
1320 | 399 1555343399958 44.655521 10.934191
1321 | 399 1555343399958 44.655548 10.934494
1322 | 399 1555343399958 44.655487 10.934183
1323 | 399 1555343399958 44.655529 10.934380
1324 | 399 1555343399958 44.655430 10.934436
1325 | 399 1555343399958 44.655418 10.934445
1326 | 400 1555343399979 44.655521 10.934190
1327 | 400 1555343399979 44.655544 10.934505
1328 | 400 1555343399979 44.655525 10.934388
1329 | 400 1555343399979 44.655487 10.934183
1330 | 400 1555343399979 44.655430 10.934436
1331 | 400 1555343399979 44.655418 10.934445
1332 | 401 1555343399999 44.655521 10.934191
1333 | 401 1555343399999 44.655544 10.934500
1334 | 401 1555343399999 44.655525 10.934388
1335 | 401 1555343399999 44.655430 10.934436
1336 | 401 1555343399999 44.655418 10.934445
1337 | 402 1555343400018 44.655544 10.934500
1338 | 402 1555343400018 44.655525 10.934388
1339 | 402 1555343400018 44.655525 10.934192
1340 | 402 1555343400018 44.655430 10.934436
1341 | 402 1555343400018 44.655418 10.934445
1342 | 403 1555343400037 44.655544 10.934499
1343 | 403 1555343400037 44.655525 10.934388
1344 | 403 1555343400037 44.655525 10.934192
1345 | 403 1555343400037 44.655430 10.934436
1346 | 403 1555343400037 44.655418 10.934446
1347 | 403 1555343400037 44.655571 10.934344
1348 | 404 1555343400056 44.655544 10.934499
1349 | 404 1555343400056 44.655525 10.934388
1350 | 404 1555343400056 44.655525 10.934191
1351 | 404 1555343400056 44.655430 10.934436
1352 | 404 1555343400056 44.655571 10.934344
1353 | 404 1555343400056 44.655418 10.934446
1354 | 405 1555343400076 44.655548 10.934493
1355 | 405 1555343400076 44.655525 10.934388
1356 | 405 1555343400076 44.655529 10.934192
1357 | 405 1555343400076 44.655430 10.934436
1358 | 405 1555343400076 44.655571 10.934344
1359 | 405 1555343400076 44.655418 10.934446
1360 | 406 1555343400095 44.655548 10.934493
1361 | 406 1555343400095 44.655525 10.934388
1362 | 406 1555343400095 44.655525 10.934192
1363 | 406 1555343400095 44.655430 10.934436
1364 | 406 1555343400095 44.655571 10.934344
1365 | 406 1555343400095 44.655418 10.934446
1366 | 407 1555343400115 44.655548 10.934493
1367 | 407 1555343400115 44.655525 10.934388
1368 | 407 1555343400115 44.655430 10.934436
1369 | 407 1555343400115 44.655571 10.934344
1370 | 407 1555343400115 44.655525 10.934192
1371 | 407 1555343400115 44.655418 10.934446
1372 | 408 1555343400135 44.655548 10.934493
1373 | 408 1555343400135 44.655525 10.934388
1374 | 408 1555343400135 44.655430 10.934436
1375 | 408 1555343400135 44.655571 10.934344
1376 | 408 1555343400135 44.655418 10.934446
1377 | 409 1555343400154 44.655544 10.934499
1378 | 409 1555343400154 44.655525 10.934388
1379 | 409 1555343400154 44.655434 10.934430
1380 | 409 1555343400154 44.655571 10.934344
1381 | 409 1555343400154 44.655418 10.934446
1382 | 409 1555343400154 44.655567 10.934547
1383 | 410 1555343400175 44.655544 10.934504
1384 | 410 1555343400175 44.655525 10.934388
1385 | 410 1555343400175 44.655430 10.934436
1386 | 410 1555343400175 44.655418 10.934446
1387 | 410 1555343400175 44.655567 10.934546
1388 | 410 1555343400175 44.655571 10.934346
1389 | 411 1555343400193 44.655544 10.934499
1390 | 411 1555343400193 44.655529 10.934380
1391 | 411 1555343400193 44.655567 10.934542
1392 | 411 1555343400193 44.655430 10.934436
1393 | 411 1555343400193 44.655571 10.934344
1394 | 412 1555343400212 44.655544 10.934499
1395 | 412 1555343400213 44.655529 10.934380
1396 | 412 1555343400213 44.655434 10.934430
1397 | 412 1555343400213 44.655567 10.934541
1398 | 412 1555343400213 44.655571 10.934344
1399 | 412 1555343400213 44.655418 10.934446
1400 | 413 1555343400232 44.655544 10.934499
1401 | 413 1555343400232 44.655529 10.934380
1402 | 413 1555343400232 44.655434 10.934430
1403 | 413 1555343400232 44.655571 10.934344
1404 | 413 1555343400232 44.655567 10.934541
1405 | 414 1555343400253 44.655544 10.934504
1406 | 414 1555343400253 44.655529 10.934380
1407 | 414 1555343400253 44.655567 10.934541
1408 | 414 1555343400253 44.655434 10.934430
1409 | 414 1555343400253 44.655571 10.934344
1410 | 415 1555343400273 44.655544 10.934504
1411 | 415 1555343400273 44.655529 10.934380
1412 | 415 1555343400273 44.655434 10.934430
1413 | 415 1555343400273 44.655571 10.934344
1414 | 416 1555343400293 44.655544 10.934504
1415 | 416 1555343400293 44.655529 10.934380
1416 | 416 1555343400293 44.655434 10.934430
1417 | 416 1555343400293 44.655571 10.934345
1418 | 417 1555343400313 44.655525 10.934388
1419 | 417 1555343400313 44.655434 10.934430
1420 | 417 1555343400313 44.655540 10.934510
1421 | 417 1555343400313 44.655571 10.934345
1422 | 418 1555343400333 44.655529 10.934380
1423 | 418 1555343400333 44.655434 10.934430
1424 | 418 1555343400333 44.655544 10.934504
1425 | 419 1555343400352 44.655544 10.934504
1426 | 419 1555343400352 44.655529 10.934380
1427 | 419 1555343400352 44.655434 10.934430
1428 | 420 1555343400373 44.655544 10.934504
1429 | 420 1555343400373 44.655529 10.934380
1430 | 420 1555343400373 44.655434 10.934430
1431 | 421 1555343400392 44.655544 10.934504
1432 | 421 1555343400392 44.655529 10.934380
1433 | 421 1555343400392 44.655434 10.934430
1434 | 422 1555343400412 44.655544 10.934503
1435 | 422 1555343400412 44.655529 10.934380
1436 | 422 1555343400412 44.655434 10.934430
1437 | 423 1555343400432 44.655544 10.934503
1438 | 423 1555343400432 44.655529 10.934380
1439 | 423 1555343400432 44.655434 10.934430
1440 | 424 1555343400452 44.655529 10.934380
1441 | 424 1555343400452 44.655544 10.934503
1442 | 424 1555343400452 44.655434 10.934430
1443 | 425 1555343400471 44.655544 10.934503
1444 | 425 1555343400471 44.655529 10.934380
1445 | 425 1555343400471 44.655434 10.934430
1446 | 426 1555343400490 44.655544 10.934503
1447 | 426 1555343400490 44.655529 10.934380
1448 | 426 1555343400490 44.655434 10.934430
1449 | 427 1555343400510 44.655544 10.934503
1450 | 427 1555343400510 44.655529 10.934380
1451 | 427 1555343400510 44.655434 10.934430
1452 | 428 1555343400529 44.655529 10.934380
1453 | 428 1555343400529 44.655434 10.934430
1454 | 429 1555343400549 44.655529 10.934380
1455 | 430 1555343400568 44.655529 10.934380
1456 | 430 1555343400568 44.655434 10.934430
1457 | 431 1555343400588 44.655529 10.934380
1458 | 431 1555343400588 44.655434 10.934430
1459 | 432 1555343400607 44.655529 10.934380
1460 | 432 1555343400607 44.655434 10.934430
1461 | 433 1555343400626 44.655529 10.934380
1462 | 433 1555343400626 44.655434 10.934430
1463 | 434 1555343400647 44.655529 10.934380
1464 | 434 1555343400647 44.655540 10.934509
1465 | 434 1555343400647 44.655434 10.934430
1466 | 435 1555343400667 44.655529 10.934380
1467 | 435 1555343400667 44.655540 10.934509
1468 | 435 1555343400667 44.655434 10.934430
1469 | 436 1555343400701 44.655529 10.934380
1470 | 436 1555343400701 44.655434 10.934430
1471 | 437 1555343400721 44.655529 10.934380
1472 | 437 1555343400721 44.655434 10.934430
1473 | 438 1555343400740 44.655529 10.934380
1474 | 438 1555343400740 44.655434 10.934430
1475 | 439 1555343400759 44.655529 10.934380
1476 | 439 1555343400759 44.655434 10.934430
1477 | 440 1555343400779 44.655529 10.934380
1478 | 440 1555343400779 44.655434 10.934430
1479 | 441 1555343400800 44.655529 10.934380
1480 | 441 1555343400800 44.655434 10.934430
1481 | 442 1555343400820 44.655529 10.934380
1482 | 442 1555343400820 44.655434 10.934430
1483 | 443 1555343400839 44.655529 10.934380
1484 | 444 1555343400858 44.655529 10.934380
1485 | 445 1555343400879 44.655529 10.934380
1486 | 445 1555343400879 44.655434 10.934430
1487 | 446 1555343400898 44.655529 10.934380
1488 | 446 1555343400898 44.655434 10.934430
1489 | 446 1555343400898 44.655537 10.934520
1490 | 447 1555343400918 44.655529 10.934380
1491 | 447 1555343400918 44.655537 10.934520
1492 | 447 1555343400918 44.655434 10.934430
1493 | 448 1555343400937 44.655529 10.934380
1494 | 448 1555343400938 44.655434 10.934430
1495 | 449 1555343400957 44.655529 10.934380
1496 | 449 1555343400957 44.655434 10.934430
1497 | 450 1555343400977 44.655529 10.934380
1498 | 450 1555343400977 44.655434 10.934430
1499 | 451 1555343400996 44.655529 10.934380
1500 | 451 1555343400996 44.655434 10.934430
1501 | 452 1555343401016 44.655529 10.934380
1502 | 452 1555343401016 44.655434 10.934430
1503 | 453 1555343401035 44.655529 10.934380
1504 | 453 1555343401035 44.655533 10.934525
1505 | 454 1555343401054 44.655529 10.934380
1506 | 455 1555343401075 44.655529 10.934380
1507 | 456 1555343401093 44.655529 10.934380
1508 | 457 1555343401114 44.655529 10.934380
1509 | 458 1555343401134 44.655529 10.934380
1510 | 459 1555343401153 44.655529 10.934380
1511 | 459 1555343401153 44.655533 10.934525
1512 | 460 1555343401174 44.655533 10.934525
1513 | 460 1555343401174 44.655529 10.934380
1514 | 461 1555343401192 44.655529 10.934380
1515 | 461 1555343401192 44.655533 10.934525
1516 | 462 1555343401213 44.655533 10.934525
1517 | 462 1555343401213 44.655529 10.934380
1518 | 463 1555343401232 44.655533 10.934525
1519 | 463 1555343401232 44.655529 10.934380
1520 | 464 1555343401252 44.655533 10.934525
1521 | 464 1555343401252 44.655529 10.934380
1522 | 465 1555343401273 44.655529 10.934380
1523 | 466 1555343401292 44.655529 10.934380
1524 | 467 1555343401312 44.655529 10.934380
1525 | 467 1555343401312 44.655533 10.934530
1526 | 468 1555343401331 44.655529 10.934380
1527 | 469 1555343401350 44.655529 10.934380
1528 | 470 1555343401369 44.655529 10.934380
1529 | 471 1555343401389 44.655529 10.934380
1530 | 472 1555343401409 44.655529 10.934380
1531 | 473 1555343401430 44.655533 10.934525
1532 | 473 1555343401430 44.655529 10.934380
1533 | 474 1555343401449 44.655533 10.934525
1534 | 474 1555343401449 44.655533 10.934377
1535 | 474 1555343401449 44.655571 10.934344
1536 | 475 1555343401469 44.655533 10.934530
1537 | 475 1555343401469 44.655533 10.934377
1538 | 475 1555343401469 44.655552 10.934222
1539 | 475 1555343401469 44.655571 10.934344
1540 | 475 1555343401469 44.655434 10.934430
1541 | 476 1555343401488 44.655533 10.934530
1542 | 476 1555343401488 44.655533 10.934377
1543 | 476 1555343401488 44.655571 10.934212
1544 | 476 1555343401489 44.655571 10.934344
1545 | 476 1555343401489 44.655434 10.934430
1546 | 477 1555343401509 44.655533 10.934377
1547 | 477 1555343401509 44.655571 10.934212
1548 | 477 1555343401509 44.655552 10.934222
1549 | 477 1555343401509 44.655533 10.934530
1550 | 477 1555343401509 44.655434 10.934430
1551 | 477 1555343401509 44.655571 10.934344
1552 | 478 1555343401528 44.655552 10.934222
1553 | 478 1555343401528 44.655533 10.934377
1554 | 478 1555343401528 44.655434 10.934430
1555 | 478 1555343401528 44.655571 10.934344
1556 | 478 1555343401528 44.655533 10.934530
1557 | 479 1555343401547 44.655533 10.934377
1558 | 479 1555343401547 44.655434 10.934430
1559 | 479 1555343401547 44.655571 10.934344
1560 | 480 1555343401567 44.655533 10.934525
1561 | 480 1555343401567 44.655529 10.934380
1562 | 480 1555343401567 44.655434 10.934430
1563 | 481 1555343401586 44.655533 10.934525
1564 | 481 1555343401586 44.655529 10.934380
1565 | 481 1555343401586 44.655434 10.934430
1566 | 481 1555343401586 44.655556 10.934222
1567 | 482 1555343401607 44.655533 10.934530
1568 | 482 1555343401607 44.655556 10.934223
1569 | 482 1555343401607 44.655533 10.934377
1570 | 482 1555343401607 44.655434 10.934430
1571 | 482 1555343401607 44.655571 10.934344
1572 | 483 1555343401626 44.655533 10.934530
1573 | 483 1555343401626 44.655556 10.934224
1574 | 483 1555343401626 44.655533 10.934377
1575 | 483 1555343401626 44.655434 10.934430
1576 | 483 1555343401626 44.655571 10.934344
1577 | 484 1555343401645 44.655556 10.934224
1578 | 484 1555343401645 44.655533 10.934525
1579 | 484 1555343401645 44.655533 10.934377
1580 | 484 1555343401645 44.655434 10.934430
1581 | 484 1555343401645 44.655571 10.934344
1582 | 485 1555343401664 44.655533 10.934525
1583 | 485 1555343401664 44.655556 10.934224
1584 | 485 1555343401664 44.655533 10.934377
1585 | 485 1555343401664 44.655434 10.934430
1586 | 485 1555343401664 44.655571 10.934344
1587 | 486 1555343401683 44.655556 10.934226
1588 | 486 1555343401683 44.655533 10.934377
1589 | 486 1555343401683 44.655434 10.934430
1590 | 486 1555343401683 44.655533 10.934530
1591 | 486 1555343401683 44.655571 10.934344
1592 | 487 1555343401703 44.655556 10.934226
1593 | 487 1555343401704 44.655533 10.934377
1594 | 487 1555343401704 44.655434 10.934430
1595 | 487 1555343401704 44.655571 10.934344
1596 | 487 1555343401704 44.655533 10.934530
1597 | 488 1555343401722 44.655556 10.934227
1598 | 488 1555343401722 44.655533 10.934377
1599 | 488 1555343401722 44.655434 10.934430
1600 | 488 1555343401722 44.655571 10.934344
1601 | 488 1555343401722 44.655529 10.934537
1602 | 489 1555343401741 44.655556 10.934226
1603 | 489 1555343401741 44.655529 10.934537
1604 | 489 1555343401741 44.655533 10.934377
1605 | 489 1555343401741 44.655434 10.934430
1606 | 489 1555343401741 44.655571 10.934344
1607 | 490 1555343401760 44.655556 10.934227
1608 | 490 1555343401760 44.655529 10.934537
1609 | 490 1555343401760 44.655533 10.934377
1610 | 490 1555343401760 44.655434 10.934430
1611 | 490 1555343401760 44.655571 10.934344
1612 | 491 1555343401779 44.655556 10.934228
1613 | 491 1555343401779 44.655529 10.934537
1614 | 491 1555343401779 44.655533 10.934377
1615 | 491 1555343401779 44.655434 10.934430
1616 | 492 1555343401801 44.655560 10.934228
1617 | 492 1555343401801 44.655529 10.934537
1618 | 492 1555343401801 44.655434 10.934430
1619 | 492 1555343401801 44.655533 10.934377
1620 | 493 1555343401820 44.655434 10.934430
1621 | 493 1555343401820 44.655529 10.934537
1622 | 493 1555343401820 44.655533 10.934377
1623 | 493 1555343401820 44.655556 10.934229
1624 | 494 1555343401840 44.655556 10.934230
1625 | 494 1555343401840 44.655533 10.934377
1626 | 494 1555343401840 44.655434 10.934430
1627 | 494 1555343401840 44.655529 10.934537
1628 | 


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