affine2d.cc

torch tracking code, it is a good code

const char *help = "\
progname: affine2D.cc\n\
code2html: This program tests Affine2D class methods.\n\
version: Torch3 vision2.0, 2003-2005\n\
(c) Sebastien Marcel ([e-mail])\n";

#include "general.h"
#include "RotationMatrix2D.h"
#include "Affine2D.h"
#include "CmdLine.h"

using namespace Torch;

int main(int argc, char **argv)
{
 	real x, y;
 	real xc, yc;
	real angle;
	bool verbose;

	// Construct the command line
  	CmdLine cmd;
	cmd.setBOption("write log", false);
	
  	// Put the help line at the beginning
  	cmd.info(help);

  	cmd.addText("\nArguments:");
  	cmd.addRCmdArg("x", &x, "x");
  	cmd.addRCmdArg("y", &y, "y");
  	cmd.addRCmdArg("xc", &xc, "xc");
  	cmd.addRCmdArg("yc", &yc, "yc");
  	cmd.addRCmdArg("angle", &angle, "ccw angle in degree");
  	cmd.addText("\nOptions:");
  	cmd.addBCmdOption("-verbose", &verbose, false, "verbose");

	cmd.read(argc, argv);

	//
	RotationMatrix2D r(angle);
	print("rotation matrix = %s\n", r.sprint());

	//
	Vector2D v(xc, yc);
	print("translation vector = %s\n", v.sprint());

	//
	Affine2D affine(r, v);

	//
	Vector2D X(x, y);
	print("X = %s\n", X.sprint());

	Vector2D X_(0, 0);

	//
	X_ = affine * X;
	print("X' = %s\n", X_.sprint());

	//
	Vector2D w(xc, xc);
	print("translation vector = %s\n", w.sprint());

	//
	X_ = X_ + w;
	print("X' + w = %s\n", X_.sprint());


	//
	RotationMatrix2D r_1(-angle);
	print("rotation matrix inverse = %s\n", r_1.sprint());
	
	//
	Affine2D affine_1(r_1, w);

	print("X' + w = %s\n", X_.sprint());
	
	Vector2D X_1(0, 0);
	X_1 = affine_1 * X_;
	print("X_1 = %s\n", X_1.sprint());
	X_1 += v;
	print("X-1 + v = %s == %s\n", X_1.sprint(), X.sprint());
}