add test code "feature"

18 files changed, 408 insertions, 92 deletions

diff --git a/meowpp.test/.gitignore b/meowpp.test/.gitignore
index 474b8fa..79ca24c 100644
--- a/meowpp.test/.gitignore
+++ b/meowpp.test/.gitignore
@@ -2,3 +2,4 @@ obj/*
 bin/*
 dep/*
 test_data
+test_data/*
diff --git a/meowpp.test/inc/autostitch.h b/meowpp.test/inc/autostitch.h
index 68df9c9..11039bd 100644
--- a/meowpp.test/inc/autostitch.h
+++ b/meowpp.test/inc/autostitch.h
@@ -29,8 +29,7 @@ class MyFeaturePointsDetector: public meow::ObjBase {
 public:
   virtual meow::Usage usage() const = 0;
   virtual bool        usage(meow::Usage const& usg) = 0;
-  virtual FeaturePoints detect(meow::Bitmap<meow::RGBf_Space> const& bmp)
-  = 0;
+  virtual FeaturePoints detect(meow::Bitmap<meow::RGBf_Space> const& bmp) = 0;
 };
 
 class MyK_Match {
diff --git a/meowpp.test/inc/features__.h b/meowpp.test/inc/features__.h
new file mode 100644
index 0000000..85c136b
--- /dev/null
+++ b/meowpp.test/inc/features__.h
@@ -0,0 +1,25 @@
+#ifndef   features_H__
+#define   features_H__
+
+#include "meowpp/Usage.h"
+#include "meowpp/oo/ObjBase.h"
+#include "meowpp/gra/FeaturePoint.h"
+#include "meowpp/gra/Bitmap.h"
+#include "meowpp/colors/RGB_Space.h"
+
+#include <vector>
+
+typedef std::vector<meow::FeaturePoint<double, double> > FeaturePoints;
+
+class FeaturePointsDetectors: public meow::ObjBase {
+public:
+  virtual ~FeaturePointsDetectors() { }
+  virtual std::string description() const = 0;
+  virtual meow::Usage usage(                      ) const = 0;
+  virtual bool        usage(meow::Usage const& usg)       = 0;
+  virtual FeaturePoints detect(meow::Bitmap<meow::RGBf_Space> const& bmp) = 0;
+};
+
+static int const kFPSD_ID = 123;
+
+#endif // features_H__
diff --git a/meowpp.test/src/autostitch_RansacCheck.cpp b/meowpp.test/src/autostitch_RansacCheck.cpp
index e728958..1516d1a 100644
--- a/meowpp.test/src/autostitch_RansacCheck.cpp
+++ b/meowpp.test/src/autostitch_RansacCheck.cpp
@@ -77,7 +77,7 @@ Vector<double> MyRansacCheck::vCalc(std::vector<FeaturePointIndexPair> const& __
       for (size_t j = i + 1; j < 8u; j++) {
         sum += x(j) * m(i, j);
       }
-      x.entry(i, (m(i, 8) - sum) / m(i, i));
+      x.scalar(i, (m(i, 8) - sum) / m(i, i));
     }
     return x;
   }
diff --git a/meowpp.test/src/features.cpp b/meowpp.test/src/features.cpp
index 382dffa..9547216 100644
--- a/meowpp.test/src/features.cpp
+++ b/meowpp.test/src/features.cpp
@@ -1,11 +1,33 @@
 #include <cstdio>
 
+#include "features__.h"
+
 #include "meowpp/Usage.h"
+#include "meowpp/colors/RGB_Space.h"
+#include "meowpp/geo/Vectors.h"
+#include "meowpp/gra/Bitmap.h"
+#include "meowpp/oo/ObjBase.h"
+#include "meowpp/oo/ObjSelector.h"
+
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+
+extern "C"{
+#include <sys/types.h>
+#include <dirent.h>
+}
+
+#include <vector>
+#include <algorithm>
+#include <string>
 
 using namespace meow;
 
 Usage usg("features");
 
+std::vector<std::string> names;
+std::vector<std::vector<FeaturePoint<double, double> > > fps;
+
 int setup(int argc, char** argv) {
   usg.optionAdd("h"   , "Display this help document");
   usg.optionAdd("help", "Display this help document");
@@ -17,12 +39,192 @@ int setup(int argc, char** argv) {
                 false);
   usg.optionAdd("o",
                 "Output images with denoting feature points",
+                "filename",
+                "",
+                false);
+  usg.optionAdd("f",
+                "Output text file name",
+                "filename",
+                "<<input image name>>.txt",
+                false);
+  usg.optionAdd("d",
+                "Specify which feature detect algorithm to use",
+                "name",
+                "",
+                true);
+  std::vector<std::string> algo_list(ObjSelector<kFPSD_ID>::names());
+  for (size_t i = 0, I = algo_list.size(); i < I; ++i) {
+    FeaturePointsDetectors const* f;
+    f = (FeaturePointsDetectors const*)ObjSelector<kFPSD_ID>::get(algo_list[i]);
+    usg.optionValueAcceptAdd("d", algo_list[i], f->description());
+    usg.import(f->usage());
+  }
+  std::string err;
+  bool ret = usg.arguments(argc, argv, &err);
+  if (usg.hasOptionSetup("h") || usg.hasOptionSetup("help")) {
+    fprintf(stderr, "%s\n", usg.usage().c_str());
+    return 0;
+  }
+  if (ret == false) {
+    fprintf(stderr, "%s\n", err.c_str());
+    return -1;
+  }
+  return 1;
+}
+
+int getName() {
+  if (usg.hasOptionSetup("i") == false) {
+    names = usg.procArgs();
+  }
+  else {
+    std::string base = usg.optionValue("i", 0);
+    if (base.length() == 0 || base[base.length() - 1] != '/') {
+      base += "/";
+    }
+    DIR* dir = opendir(base.c_str());
+    if (!dir) {
+      fprintf(stderr, "can't open dir '%s'\n", base.c_str());
+      return -1;
+    }
+    for (dirent* ent; (ent = readdir(dir)) != NULL; ) {
+      if (!cstringEndWith(ent->d_name, 4, ".jpeg", ".jpg", ".JPG", ".JPEG")) {
+        continue;
+      }
+      names.push_back(base + std::string(ent->d_name));
+    }
+  }
+  return 1;
+}
+
+Bitmap<RGBf_Space> readOne(std::string name) {
+  Bitmap<RGBf_Space> ret;
+  messagePrintf(1, "Loading image...");
+  cv::Mat img = cv::imread(name, CV_LOAD_IMAGE_COLOR);
+  if (img.data) {
+    size_t height = img.size().height;
+    size_t width  = img.size().width ;
+    ret.size(height, width, RGBf_Space(0));
+    for (size_t y = 0; y < height; ++y) {
+      for (size_t x = 0; x < width; ++x) {
+        Vector3D<int> v;
+        for (size_t i = 0; i < 3; ++i)
+          v.scalar(i, img.at<cv::Vec3b>(y, x)[2 - i]);
+        RGBf_Space p;
+        colorTransformate(RGBi_Space(v), &p);
+        ret.pixel(y, x, p);
+      }
+    }
+  }
+  messagePrintf(-1, (ret.size() > 0 ? "ok" : "fail"));
+  return ret;
+}
+
+int features() {
+  std::string n(usg.optionValue("d", 0));
+  FeaturePointsDetectors* fpd((FeaturePointsDetectors*)
+                              ObjSelector<kFPSD_ID>::create(n));
+  if (fpd->usage(usg) == false) {
+    fprintf(stderr, "\nArgument setup error for '%s'\n", n.c_str());
+    return -1;
+  }
+  for (size_t i = 0, I = names.size(); i < I; ++i) {
+    messagePrintf(1, "Finding feature points of '%s'", names[i].c_str());
+    Bitmap<RGBf_Space> bmp(readOne(names[i]));
+    if (bmp.size() == 0) {
+      messagePrintf(-1, "fail");
+      continue;
+    }
+    messagePrintf(0, "Height x Width = %lux%lu", bmp.height(), bmp.width());
+    fps.push_back(fpd->detect(bmp));
+    messagePrintf(-1, "ok");
+  }
+  delete fpd;
+  return 1;
+}
+
+int writeOne(FILE* f, size_t i) {
+  if (fprintf(f, "%d\n", (int)fps[i].size()) < 1) return -1;
+  for (size_t j = 0, J = fps[i].size(); j < J; ++j) {
+    if (fps[i][j].write(f, false, 0) == false) return -1;
+  }
+  return 1;
+}
+
+int writeText() {
+  for (size_t i = 0, I = fps.size(); i < I; ++i) {
+    std::string name2;
+    if (usg.hasOptionSetup("f")) { name2 = usg.optionValue("f", i); }
+    else                         { name2 = names[i] + ".txt"; }
+    messagePrintf(1, "Write text file to '%s'", name2.c_str());
+    FILE* f = fopen(name2.c_str(), "w");
+    if (f == NULL) {
+      messagePrintf(-1, "fail to open file!, ignore");
+      continue;
+    }
+    if (writeOne(f, i) < 0) {
+      messagePrintf(-1, "write fail");
+      fclose(f);
+      continue;
+    }
+    fclose(f);
+    messagePrintf(-1, "ok");
+  }
+  return 1;
+}
+
+int writeBmpOne(std::string name, Bitmap<RGBf_Space> const& bmp) {
+  size_t height = bmp.height();
+  size_t width  = bmp.width ();
+  cv::Mat img(height, width, CV_8UC3);
+  for (size_t y = 0; y < height; y++) {
+    for (size_t x = 0; x < width; x++) {
+      RGBi_Space tmp;
+      colorTransformate(bmp.pixel(y, x), &tmp);
+      for (size_t i = 0; i < 3; ++i)
+        img.at<cv::Vec3b>(y, x)[i] = tmp.rgb(2 - i);
+    }
+  }
+  if (imwrite(name, img) == false) {
+    return -1;
+  }
+  return 1;
+}
+
+int writeBmp() {
+  if (usg.hasOptionSetup("o") == false)
+    return 1;
+  for (size_t i = 0, I = names.size(); i < I; ++i) {
+    std::string name2;
+    name2 = stringPrintf("%s%lu.jpg", usg.optionValue("o", 0).c_str(), i);
+    messagePrintf(1, "Write img file to '%s'", name2.c_str());
+    Bitmap<RGBf_Space> bmp(readOne(names[i]));
+    bool succ;
+    if ((succ = (bmp.size() > 0))) {
+      int wh = std::min(bmp.height(), bmp.width()) / 16;
+      for (size_t j = 0, J = fps[i].size(); j < J; ++j) {
+        int x0 = fps[i][j].position()(0);
+        int y0 = fps[i][j].position()(1);
+        for (int dx = -wh; dx <= wh; ++dx)
+          if (0 <= x0 + dx && x0 + dx < (int)bmp.width())
+            bmp.pixel(y0, x0 + dx, RGBf_Space(Vector3D<double>(1.0, 0.0, 0.0)));
+        for (int dy = -wh; dy <= wh; ++dy)
+          if (0 <= y0 + dy && y0 + dy < (int)bmp.height())
+            bmp.pixel(y0 + dy, x0, RGBf_Space(Vector3D<double>(1.0, 0.0, 0.0)));
+      }
+      succ = (writeBmpOne(name2, bmp) > 0);
+    }
+    messagePrintf(0, "ok");
+  }
   return 1;
 }
 
 int main(int argc, char** argv) {
   int ret;
-  if ((ret = setup(argc, argv)) <= 0) return -1;
+  if ((ret = setup(argc, argv)) <= 0) return ret;
+  if ((ret = getName()) <= 0) return ret;
+  if ((ret = features()) <= 0) return ret;
+  if ((ret = writeText()) <= 0) return ret;
+  if ((ret = writeBmp()) <= 0) return ret;
   return 0;
 }
 
diff --git a/meowpp.test/src/features_Harris.cpp b/meowpp.test/src/features_Harris.cpp
new file mode 100644
index 0000000..f3c2c10
--- /dev/null
+++ b/meowpp.test/src/features_Harris.cpp
@@ -0,0 +1,85 @@
+#include "features__.h"
+
+#include "meowpp/oo/ObjBase.h"
+#include "meowpp/oo/ObjSelector.h"
+#include "meowpp/geo/Vectors.h"
+#include "meowpp/gra/FeaturePointsDetector_Harris.h"
+
+using namespace meow;
+
+class Harris: public FeaturePointsDetectors {
+  private:
+    FeaturePointsDetector_Harris<RGBf_Space> detector_;
+  public:
+    std::string description() const {
+      return "Harris-Corner-Detect";
+    }
+    
+    Usage usage() const {
+      Usage ret;
+      ret.optionAdd("harris-k",
+                    "Specify the constant K of 'R = detM - KtraceM'",
+                    "<floating point>",
+                    stringPrintf("%.10f", detector_.paramK()),
+                    false);
+      ret.optionAdd("harris-r",
+                    "Specify the threshold of R to determind whether is "
+                    "featuer point or not",
+                    "<floating point>",
+                    stringPrintf("%.10f", detector_.paramR()),
+                    false);
+      ret.optionAdd("harris-w",
+                    "Specify the sigma of the gaussian blur",
+                    "<floating point>",
+                    stringPrintf("%.10f", detector_.paramW()),
+                    false);
+      ret.optionAdd("harris-n",
+                    "Specify the sigma of the gaussian blur to de-noise",
+                    "<floating point>",
+                    stringPrintf("%.10f", detector_.paramN()),
+                    false);
+      ret.optionAdd("harris-g",
+                    "Specify sigma of the gaussian blur to generate feature",
+                    "<floating point>",
+                    stringPrintf("%.10f", detector_.paramG()),
+                    false);
+      ret.optionAdd("harris-l",
+                    ".........",
+                    "<floating point>",
+                    stringPrintf("%.10f", detector_.paramL()),
+                    false);
+      ret.optionAdd("harris-b",
+                    "Description size",
+                    "<number>",
+                    stringPrintf("%lu", detector_.paramB()),
+                    false);
+      return ret;
+    }
+    
+    bool usage(meow::Usage const& usg) {
+      double K = atof(usg.optionValue("harris-k", 0).c_str());
+      double R = atof(usg.optionValue("harris-r", 0).c_str());
+      double W = atof(usg.optionValue("harris-w", 0).c_str());
+      double N = atof(usg.optionValue("harris-n", 0).c_str());
+      double L = atof(usg.optionValue("harris-l", 0).c_str());
+      double G = atof(usg.optionValue("harris-g", 0).c_str());
+      size_t B = atoi(usg.optionValue("harris-b", 0).c_str());
+      detector_.paramK(K);
+      detector_.paramR(R);
+      detector_.paramW(W);
+      detector_.paramN(N);
+      detector_.paramL(L);
+      detector_.paramG(G);
+      detector_.paramB(B);
+      return true;
+    }
+    
+    FeaturePoints detect(Bitmap<RGBf_Space> const& bmp) {
+      return detector_.detect(bmp);
+    }
+
+    std::string type() const { return std::string("Harris"); }
+    ObjBase* create() const { return new Harris(); }
+};
+
+static meow::ObjSelector<kFPSD_ID> __(new Harris(), true);
diff --git a/meowpp.test/src/rot_bundle.cpp b/meowpp.test/src/rot_bundle.cpp
index d626e8e..38ffce8 100644
--- a/meowpp.test/src/rot_bundle.cpp
+++ b/meowpp.test/src/rot_bundle.cpp
@@ -122,8 +122,8 @@ bool read() {
         fprintf(stderr, "format error!\n");
         exit(-1);
       }
-      v.entry(0, x - center[i].x());
-      v.entry(1, -(y - center[i].y()));
+      v.scalar(0, x - center[i].x());
+      v.scalar(1, -(y - center[i].y()));
       fpsv[i].push_back(v);
       fps_id[i].push_back(id_max++);
     }
@@ -160,7 +160,7 @@ bool read() {
     for (size_t j = 0, J = fps_id[i].size(); j < J; ++j) {
       int id = st.root(fps_id[i][j]);
       s += stringPrintf("%d ", id);
-      eyes[i].cameraGet().fixedPoints2DGet().identityPointAdd(id, fpsv[i][j]);
+      eyes[i].cameraGet().fixedPoints2DGet().pointAdd(id, fpsv[i][j]);
     }
     messagePrintf(0, "%s", s.c_str());
   }
diff --git a/meowpp/Self.h b/meowpp/Self.h
index 6518c79..94db352 100644
--- a/meowpp/Self.h
+++ b/meowpp/Self.h
@@ -2,6 +2,7 @@
 #define   Self_h__
 
 #include <cstdlib>
+#include <algorithm>
 
 namespace meow {
 
@@ -166,7 +167,7 @@ private:
         --(pointer_->counter_);
         Kernel* dupl = new Kernel(this, *pointer_->data_);
         if (pointer_->master_ == this || pointer_->master_ == NULL) {
-          std::swap(pointer_->pointer_, dupl->pointer_);
+          std::swap(pointer_->data_, dupl->data_);
           pointer_->master_ = NULL;
         }
         pointer_ = dupl;
diff --git a/meowpp/gra/BundleAdjustment_LM.h b/meowpp/gra/BundleAdjustment_LM.h
index 15eaac5..a93a6ef 100644
--- a/meowpp/gra/BundleAdjustment_LM.h
+++ b/meowpp/gra/BundleAdjustment_LM.h
@@ -44,18 +44,18 @@ private:
       if (flag == false) {
         Vector<double> v(4, 0.0);
         int i = (*pho_).size() - 1, n = 0;
-        v.entry(n++, (*pho_)[i].focal());
-        v.entry(n++, (*rot_)[i].theta(0));
-        v.entry(n++, (*rot_)[i].theta(1));
-        v.entry(n++, (*rot_)[i].theta(2));
+        v.scalar(n++, (*pho_)[i].focal());
+        v.scalar(n++, (*rot_)[i].theta(0));
+        v.scalar(n++, (*rot_)[i].theta(1));
+        v.scalar(n++, (*rot_)[i].theta(2));
         return v;
       }
       Vector<double> v((*rot_).size() * 4, 0.0);
       for (size_t n = 0, i = 0, I = (*rot_).size(); i < I; ++i) {
-        v.entry(n++, (*pho_)[i].focal());
-        v.entry(n++, (*rot_)[i].theta(0));
-        v.entry(n++, (*rot_)[i].theta(1));
-        v.entry(n++, (*rot_)[i].theta(2));
+        v.scalar(n++, (*pho_)[i].focal());
+        v.scalar(n++, (*rot_)[i].theta(0));
+        v.scalar(n++, (*rot_)[i].theta(1));
+        v.scalar(n++, (*rot_)[i].theta(2));
       }
       return v;
     }
@@ -90,8 +90,8 @@ private:
             )
           )
         );
-        ret.entry(n * 2    , tr(0, 0));
-        ret.entry(n * 2 + 1, tr(1, 0));
+        ret.scalar(n * 2    , tr(0, 0));
+        ret.scalar(n * 2 + 1, tr(1, 0));
       }
       //*
       //for (size_t i = 0; i < ret.dimension(); i++) {
@@ -216,8 +216,8 @@ public:
     std::vector<FPS_K> beg(N), end(N);
     FPS_K it1, it2;
     for (size_t i = 0; i < N; ++i) {
-      beg[i] = (*seq)[i].eye->camera().fixedPoints2D().identityPoints().begin();
-      end[i] = (*seq)[i].eye->camera().fixedPoints2D().identityPoints().end  ();
+      beg[i] = (*seq)[i].eye->camera().fixedPoints2D().points().begin();
+      end[i] = (*seq)[i].eye->camera().fixedPoints2D().points().end  ();
     }
     std::vector<std::vector<std::vector<MatchPair> > > all_pairs(N);
     for (size_t i = 0; i < N; ++i) {
diff --git a/meowpp/gra/Camera.h b/meowpp/gra/Camera.h
index 174b196..8682ad1 100644
--- a/meowpp/gra/Camera.h
+++ b/meowpp/gra/Camera.h
@@ -32,9 +32,11 @@ private:
     Myself() {
       fixed2D_.dimension(2);
     }
+    
     Myself(Myself const& v):
     photo_(v.photo_), rot_(v.rot_), fixed2D_(v.fixed2D_) {
     }
+    
     ~Myself() {
     }
   };
@@ -78,7 +80,7 @@ public:
   /*!
    * @brief 取得 photo
    */
-  Photo<Pixel> const& photo() const {
+  Photo<Pixel> photo() const {
     return self->photo_;
   }
 
@@ -92,7 +94,7 @@ public:
   /*!
    * @brief 設定 photo
    */
-  Photo<Pixel> const& photo(Photo<Pixel> const& pho) {
+  Photo<Pixel> photo(Photo<Pixel> const& pho) {
     self()->photo_.copyFrom(pho);
     return photo();
   }
@@ -100,7 +102,7 @@ public:
   /*!
    * @brief 取得rotation
    */
-  Rotation3D<double> const& rotation() const {
+  Rotation3D<double> rotation() const {
     return self->rot_;
   }
 
@@ -114,7 +116,7 @@ public:
   /*!
    * @brief 設定rotation
    */
-  Rotation3D<double> const& rotation(Rotation3D<double> const& rot) {
+  Rotation3D<double> rotation(Rotation3D<double> const& rot) {
     self()->rot_.copyFrom(rot);
     return rotation();
   }
@@ -122,7 +124,7 @@ public:
   /*!
    * @brief 取得所有FixedPoint
    */
-  FixedPoints2D const& fixedPoints2D() const {
+  FixedPoints2D fixedPoints2D() const {
     return self->fixed2D_;
   }
 
@@ -136,7 +138,7 @@ public:
   /*!
    * @brief 設定FixedPoint
    */
-  FixedPoints2D const& fixedPoints2D(FixedPoints2D const& fps2d) const {
+  FixedPoints2D fixedPoints2D(FixedPoints2D const& fps2d) const {
     if (fps2d.dimension() == 2) {
       self()->fixed2D_.copyFrom(fps2d);
     }
@@ -243,8 +245,7 @@ public:
    *  @return \c char \c const\c * 形式的typename
    */
   char const* ctype() const{
-    static char const* ptr = typeid(*this).name();
-    return ptr;
+    return typeid(*this).name();
   }
 
   /*! @brief 回傳class的type
diff --git a/meowpp/gra/Eye.h b/meowpp/gra/Eye.h
index 0d62892..cff5ccd 100644
--- a/meowpp/gra/Eye.h
+++ b/meowpp/gra/Eye.h
@@ -57,7 +57,7 @@ public:
     return *this;
   }
 
-  Camera<Pixel> const& camera() const {
+  Camera<Pixel> camera() const {
     return self->cam_;
   }
 
@@ -65,12 +65,12 @@ public:
     return self()->cam_;
   }
 
-  Camera<Pixel> const& camera(Camera<Pixel> const& c) {
+  Camera<Pixel> camera(Camera<Pixel> const& c) {
     self()->cam_.copyFrom(c);
     return camera();
   }
 
-  Vector3D<double> const& offset() const {
+  Vector3D<double> offset() const {
     return self->ofs_;
   }
 
@@ -78,7 +78,7 @@ public:
     return self()->ofs_;
   }
 
-  Vector3D<double> const& offset(Vector3D<double> const& ofs) {
+  Vector3D<double> offset(Vector3D<double> const& ofs) {
     self()->ofs_ = ofs;
     return offset();
   }
@@ -149,7 +149,7 @@ public:
    *  @return this
    */
   ObjBase* copyFrom(ObjBase const* b) {
-    return &(copyFrom(*(Eye*)b));
+    return &(copyFrom(*(Eye const*)b));
   }
 
   /*! @brief 回傳class的type
diff --git a/meowpp/gra/FeaturePoint.h b/meowpp/gra/FeaturePoint.h
index c3ab8f3..b2cbd37 100644
--- a/meowpp/gra/FeaturePoint.h
+++ b/meowpp/gra/FeaturePoint.h
@@ -70,7 +70,7 @@ public:
   /*!
    * @brief 回傳position
    */
-  Vector<Scalar> const& position() const {
+  Vector<Scalar> position() const {
     return pos_;
   }
 
@@ -84,7 +84,7 @@ public:
   /*!
    * @brief 回傳description
    */
-  Vector<Description> const& description() const {
+  Vector<Description> description() const {
     return des_;
   }
 
@@ -98,7 +98,7 @@ public:
   /*!
    * @brief 修改position
    */
-  Vector<Scalar> const& position(Vector<Scalar> const& p) const {
+  Vector<Scalar> position(Vector<Scalar> const& p) const {
     pos_.copyFrom(p);
     return position();
   }
@@ -106,7 +106,7 @@ public:
   /*!
    * @brief 修改description
    */
-  Vector<Description> const& description(Vector<Description> const& d) {
+  Vector<Description> description(Vector<Description> const& d) {
     des_.copyFrom(d);
     return description();
   }
@@ -129,7 +129,7 @@ public:
    * @brief 修改position的第i個scalar
    */
   Scalar position(size_t i, Scalar const& s) {
-    pos_.entry(i, s);
+    pos_.scalar(i, s);
     return position(i);
   }
 
@@ -137,7 +137,7 @@ public:
    * @brief 修改description的第i個Description
    */
   Description description(size_t i, Description const& d) {
-    des_.entry(i, d);
+    des_.scalar(i, d);
     return description(i);
   }
 
@@ -217,7 +217,7 @@ public:
   }
 
   ObjBase* copyFrom(ObjBase const& b) {
-    return &(copyFrom(*(FeaturePoint*)b));
+    return &(copyFrom(*(FeaturePoint const*)b));
   }
 
   char const* ctype() const {
diff --git a/meowpp/gra/FeaturePointsDetector_Harris.h b/meowpp/gra/FeaturePointsDetector_Harris.h
index e7c6b91..8f0f8fe 100644
--- a/meowpp/gra/FeaturePointsDetector_Harris.h
+++ b/meowpp/gra/FeaturePointsDetector_Harris.h
@@ -16,7 +16,7 @@
 namespace meow {
 
 /*!
- * @brief Harris corner detect
+ * @brief Harris-Corner-Detect algorithm for finding feature points.
  *
  * @author cat_leopard
  */
@@ -190,10 +190,12 @@ public:
     Ixx.gaussianed(self->sizeW_, self->sizeW_);
     Iyy.gaussianed(self->sizeW_, self->sizeW_);
     Ixy.gaussianed(self->sizeW_, self->sizeW_);
+    input_gx.clear();
+    input_gy.clear();
 
     // filter too flat or on edge
-    Bitmap<double>  R(input.height(), input.width(),   0.0);
-    Bitmap<bool> good(input.height(), input.width(), false);
+    Bitmap<double>    R(input.height(), input.width(),   0.0);
+    Bitmap<bool>   good(input.height(), input.width(), false);
     ssize_t b = self->boundB_;
     for (ssize_t y = b, Y = -b + input.height(); y < Y; y++) {
       for (ssize_t x = b, X = -b + input.width(); x < X; x++) {
@@ -204,6 +206,9 @@ public:
         good.pixel(y, x, (r >= self->thresholdR_));
       }
     }
+    Ixx.clear();
+    Iyy.clear();
+    Ixy.clear();
 
     // find union neighbor
     DisjointSet dsj(input.size());
diff --git a/meowpp/gra/IdentityPoints.h b/meowpp/gra/IdentityPoints.h
index 1646bf7..edac56e 100644
--- a/meowpp/gra/IdentityPoints.h
+++ b/meowpp/gra/IdentityPoints.h
@@ -29,11 +29,12 @@ private:
     IdentityPointsMap    points_;
     size_t            dimension_;
 
-    Myself() {
-      dimension_ = 1;
+    Myself(): dimension_(1) {
     }
+    
     Myself(Myself const& m): points_(m.points_), dimension_(m.dimension_) {
     }
+    
     ~Myself() {
     }
   };
@@ -134,77 +135,77 @@ public:
   /*!
    * @brief 取得所有identity points
    */
-  IdentityPointsMap const& identityPoints() const {
-    return self->points_;
+  IdentityPointsMap const& points() const {
+    return self()->points_;
   }
 
   /*!
    * @brief 設定所有identity points
    */
-  IdentityPointsMap const& identityPoints(IdentityPointsMap const& points) {
+  IdentityPointsMap const& points(IdentityPointsMap const& points) {
     clear();
-    return identityPointsAdd(points);
+    return pointsAdd(points);
   }
 
   /*!
    * @brief 加入identity Points
    */
-  IdentityPointsMap const& identityPointsAdd(IdentityPointsMap const& points) {
+  IdentityPointsMap const& pointsAdd(IdentityPointsMap const& points) {
     for (IdentityPointsMapIterK it = points.begin(); it != points.end(); ++it) {
-      identityPointAdd(it.first, it.second);
+      pointAdd(it.first, it.second);
     }
-    return identityPoints();
+    return points();
   }
 
   /*!
    * @brief 移除identity Points
    */
-  IdentityPointsMap const& identityPointsDel(std::set<ID> const& ids) {
+  IdentityPointsMap const& pointsDel(std::set<ID> const& ids) {
     for (typename std::set<ID>::const_iterator
          it = ids.begin(); it != ids.end(); ++it) {
-      identityPointDel(*it);
+      pointDel(*it);
     }
-    return identityPoints();
+    return points();
   }
 
   /*!
    * @brief 取得一個identity point
    */
-  Vector<Scalar> identityPoint(ID const& id) const {
+  Vector<Scalar> point(ID const& id) const {
     return (exist(id) ? self->points_.find(id)->second : Vector<Scalar>());
   }
 
   /*!
    * @brief 修改一個identity point
    */
-  Vector<Scalar> identityPoint(ID const& id, Vector<Scalar> const& b) {
+  Vector<Scalar> point(ID const& id, Vector<Scalar> const& b) {
     if (b.dimension() == self->dimension_ && exist(id)) {
       self()->points_[id].copyFrom(b);
     }
-    return identityPoint(id);
+    return point(id);
   }
 
   /*!
    * @brief 新增一個identity point
    */
-  Vector<Scalar> identityPointAdd(ID const& id, Vector<Scalar> const& b) {
+  Vector<Scalar> pointAdd(ID const& id, Vector<Scalar> const& b) {
     if (b.dimension() == self->dimension_ && !exist(id)) {
       self()->points_[id].copyFrom(b);
     }
-    return identityPoint(id);
+    return point(id);
   }
 
   /*!
    * @brief 刪除一個identity point
    */
-  void identityPointDel(ID const& id) {
+  void pointDel(ID const& id) {
     self()->points_.erase(id);
   }
 
   /*!
    * @brief 取得一個identity point, non-constant reference
    */
-  Vector<Scalar>& identityPointGet(ID const& id) {
+  Vector<Scalar>& pointGet(ID const& id) {
     return self()->points_[id];
   }
 
@@ -225,8 +226,7 @@ public:
       if (fwrite(&(dim = dimension()), sizeof(dim), 1, f) < 1) return false;
       if (fwrite(&(ct = size()), sizeof(ct), 1, f) < 1) return false;
       for (IdentityPointsMapIterK
-           it = identityPoints().begin(), ed = identityPoints().end();
-           it != ed; ++it) {
+           it = points().begin(), ed = points().end(); it != ed; ++it) {
         double tmp;
         if (fwrite(&(tmp = it->first), sizeof(tmp), 1, f) < 1) return false;
         for (long i = 0; i < dim; ++i) {
@@ -238,8 +238,7 @@ public:
     else {
       if (fprintf(f, "%ld %lu\n", dimension(), size()) < 1) return false;
       for (IdentityPointsMapIterK
-           it = identityPoints().begin(), ed = identityPoints().end();
-           it != ed; ++it) {
+           it = points().begin(), ed = points().end(); it != ed; ++it) {
         if (fprintf(f, "%f   ", (double)it->first) < 1) return false;
         for (long i = 0, I = dimension(); i < I; ++i) {
           if (fprintf(f, "%f ", (double)it->second(i)) < 1) return false;
@@ -266,9 +265,9 @@ public:
         if (fread(&id, sizeof(id), 1, f) < 1) return false;
         for (size_t j = 0, J = dim; j < J; ++j) {
           if (fread(&tt, sizeof(tt), 1, f) < 1) return false;
-          tmp.entry(j, tt);
+          tmp.scalar(j, tt);
         }
-        identityPointAdd((ID)id, tmp);
+        pointAdd((ID)id, tmp);
       }
     }
     else {
@@ -280,9 +279,9 @@ public:
         if (fscanf(f, "%lf", &id) < 1) return false;
         for (int j = 0, J = dim; j < J; ++j) {
           if (fscanf(f, "%lf", &tt) < 1) return false;
-          tmp.entry(j, tt);
+          tmp.scalar(j, tt);
         }
-        identityPointAdd((ID)id, tmp);
+        pointAdd((ID)id, tmp);
       }
     }
     return true;
@@ -326,6 +325,6 @@ public:
   }
 };
 
-}
+} // meow
 
 #endif // gra_IdentityPoints_H__
diff --git a/meowpp/gra/Photo.h b/meowpp/gra/Photo.h
index 78063ec..1545608 100644
--- a/meowpp/gra/Photo.h
+++ b/meowpp/gra/Photo.h
@@ -178,7 +178,7 @@ public:
   /*!
    * @brief 回傳\c bitmap
    */
-  Bitmap<Pixel> const& bitmap() const {
+  Bitmap<Pixel> bitmap() const {
     return self->bmp_;
   }
 
@@ -195,7 +195,7 @@ public:
    * @param [in] bmp 新的 bitmap
    * @return 新的 \c bitmap
    */
-  Bitmap<Pixel> const& bitmap(Bitmap<Pixel> const& bmp) {
+  Bitmap<Pixel> bitmap(Bitmap<Pixel> const& bmp) {
     self()->bmp_.copyFrom(bmp);
     return bitmap();
   }
diff --git a/meowpp/gra/ViewPort.h b/meowpp/gra/ViewPort.h
index 16d8ae1..81ad8f3 100644
--- a/meowpp/gra/ViewPort.h
+++ b/meowpp/gra/ViewPort.h
@@ -13,7 +13,7 @@ class ViewPort: public ObjBase {
 };
 
 
-}
+} // meow
 
 #endif // gra_ViewPort_H__
 
diff --git a/meowpp/gra/WatchBall.h b/meowpp/gra/WatchBall.h
index 8bccf7f..8bc99d0 100644
--- a/meowpp/gra/WatchBall.h
+++ b/meowpp/gra/WatchBall.h
@@ -29,12 +29,11 @@ private:
 
     Myself() {
     }
-    ~Myself() {
+    
+    Myself(Myself const& b): cameras_(b.cameras_), offset_(b.offset_) {
     }
-    Myself& copyFrom(Myself const& b) {
-      cameras_ = b.cameras_;
-      offset_  = b. offset_;
-      return *this;
+      
+    ~Myself() {
     }
   };
 
@@ -84,7 +83,7 @@ public:
   /*!
    * @brief 取得 cameras
    */
-  Cameras const& cameras() const {
+  Cameras cameras() const {
     return self->cameras_;
   }
 
@@ -98,7 +97,7 @@ public:
   /*!
    * @brief 設定 camera
    */
-  Cameras const& cameras(Cameras const& c) {
+  Cameras cameras(Cameras const& c) {
     self()->cameras_ = c;
     return cameras();
   }
@@ -106,21 +105,21 @@ public:
   /*!
    * @brief 取得第i個camera
    */
-  Camera<Pixel> const& camera(size_t i) const {
+  Camera<Pixel> camera(size_t i) const {
     return cameras()[i];
   }
 
   /*!
    * @brief 取得第i個camera (non-constant reference)
    */
-  Camera<Pixel>& camera(size_t i) {
+  Camera<Pixel>& cameraGet(size_t i) {
     return cameras()[i];
   }
 
   /*!
    * @brief 設定第i個camera
    */
-  Camera<Pixel> const& camera(size_t i, Camera<Pixel> const& c) {
+  Camera<Pixel> camera(size_t i, Camera<Pixel> const& c) {
     cameras()[i] = c;
     return camera(i);
   }
@@ -128,21 +127,21 @@ public:
   /*!
    * @brief 取得offset
    */
-  Vector3D<double> const& offset() const {
+  Vector3D<double> offset() const {
     return self->offset_;
   }
 
   /*!
    * @brief 取得offset (non-constant reference)
    */
-  Vector3D<double>& offset() {
+  Vector3D<double>& offsetGet() {
     return self()->offset_;
   }
 
   /*!
    * @brief 設定offset
    */
-  Vector3D<double> const& offset(Vector3D<double> const& ofs) {
+  Vector3D<double> offset(Vector3D<double> const& ofs) {
     self()->offset_ = ofs;
     return offset();
   }
@@ -228,7 +227,7 @@ public:
    *  @return this
    */
   ObjBase* copyFrom(ObjBase const* b) {
-    return &(copyFrom(*(WatchBall*)b));
+    return &(copyFrom(*(WatchBall const*)b));
   }
 
   /*! @brief 回傳class的type
@@ -236,8 +235,7 @@ public:
    *  @return \c char \c const\c * 形式的typename
    */
   char const* ctype() const{
-    static char const* ptr = typeid(*this).name();
-    return ptr;
+    return typeid(*this).name();
   }
 
   /*! @brief 回傳class的type
diff --git a/meowpp/math/Vector.h b/meowpp/math/Vector.h
index 4dd95a5..f72b043 100644
--- a/meowpp/math/Vector.h
+++ b/meowpp/math/Vector.h
@@ -134,7 +134,7 @@ public:
    */
   Scalar scalar(size_t i, Scalar const& s) {
     matrix_.entry(i, 0, s);
-    return entry(i);
+    return scalar(i);
   }
 
   //! @brief return \a i -th scalar with non-constant type
@@ -223,7 +223,7 @@ public:
 
   //! @brief same as entry(i)
   Scalar operator()(size_t i) const {
-    return entry(i);
+    return scalar(i);
   }
 
   //! @brief same as positive()