x

1 files changed, 28 insertions, 31 deletions

diff --git a/meowpp/gra/FeaturePointsDetector_Harris.h b/meowpp/gra/FeaturePointsDetector_Harris.h
index 25a46b2..11529f0 100644
--- a/meowpp/gra/FeaturePointsDetector_Harris.h
+++ b/meowpp/gra/FeaturePointsDetector_Harris.h
@@ -13,7 +13,6 @@
 
 #include <vector>
 
-
 namespace meow {
 
 /*!
@@ -33,27 +32,26 @@ private:
     double     lightL_;
     double   featureG_;
     size_t     boundB_;
-    
-    Myself() {
-      ratioK_     = 0.03;
-      thresholdR_ = 0.001;
-      sizeW_      = 2.0;
-      noiseN_     = 3.0;
-      lightL_     = 30.0;
-      featureG_   = 3.0;
-      boundB_     = 10u;
+
+    Myself():
+    ratioK_(0.03),
+    thresholdR_(0.001),
+    sizeW_(2.0),
+    noiseN_(3.0),
+    lightL_(30.0),
+    featureG_(3.0),
+    boundB_(10u) {
     }
-    ~Myself() {
+    Myself(Myself const& m):
+    ratioK_(m.ratioK_),
+    thresholdR_(m.thresholdR_),
+    sizeW_(m.sizeW_),
+    noiseN_(m.noiseN_),
+    lightL_(m.lightL_),
+    featureG_(m.featureG_),
+    boundB_(m.boundB_){
     }
-    Myself& copyFrom(Myself const& b) {
-      ratioK_     = b.ratioK_     ;
-      thresholdR_ = b.thresholdR_ ;
-      sizeW_      = b.sizeW_      ;
-      noiseN_     = b.noiseN_     ;
-      lightL_     = b.lightL_     ;
-      featureG_   = b.featureG_   ;
-      boundB_     = b.boundB_     ;
-      return *this;
+    ~Myself() {
     }
   };
 
@@ -62,19 +60,11 @@ public:
   typedef FeaturePoint<double, double> MyFeaturePoint;
   typedef std::vector<MyFeaturePoint>  MyFeaturePoints;
   //! @brief constructor 使用預設參數
-  FPD_Harris(): self(true) {
-    self()->ratioK_     = 0.03;
-    self()->thresholdR_ = 0.001;
-    self()->sizeW_      = 2.0;
-    self()->noiseN_     = 3.0;
-    self()->lightL_     = 30.0;
-    self()->featureG_   = 3.0;
-    self()->boundB_     = 10u;
+  FPD_Harris(): self() {
   }
   
   //! @brief constructor 參數複製自另一個 FeaturePointsDetector_Harris
-  FPD_Harris(FPD_Harris const& fps): self(false) {
-    self().copyFrom(fps.self);
+  FPD_Harris(FPD_Harris const& fps): self(fps.self, Self<Myself>::COPY_FROM) {
   }
   
   //! @brief 解構子
@@ -178,9 +168,11 @@ public:
   MyFeaturePoints detect(Bitmap<Pixel> const& bmp) const {
     Bitmap<Pixel> input = bmp;
     
+    // gradiance
     Bitmap<Pixel> input_gx(input.gradianceX(0, self->noiseN_));
     Bitmap<Pixel> input_gy(input.gradianceY(self->noiseN_, 0));
     
+    // get Matrix I for each pixel
     Bitmap<double> Ixx(input.height(), input.width(), 0.0);
     Bitmap<double> Iyy(input.height(), input.width(), 0.0);
     Bitmap<double> Ixy(input.height(), input.width(), 0.0);
@@ -194,10 +186,12 @@ public:
       }
     }
     
+    // blur
     Ixx.gaussianed(self->sizeW_, self->sizeW_);
     Iyy.gaussianed(self->sizeW_, self->sizeW_);
     Ixy.gaussianed(self->sizeW_, self->sizeW_);
     
+    // filter too flat or on edge
     Bitmap<double>  R(input.height(), input.width(),   0.0);
     Bitmap<bool> good(input.height(), input.width(), false);
     ssize_t b = self->boundB_;
@@ -211,6 +205,7 @@ public:
       }
     }
     
+    // find union neighbor
     DisjointSet dsj(input.size());
     ssize_t dy[2] = {0, 1};
     ssize_t dx[2] = {1, 0};
@@ -227,6 +222,7 @@ public:
       }
     }
 
+    // find local maximum
     std::vector<size_t> max_i(input.size());
     for (size_t i = 0, I = input.size(); i < I; i++) {
       max_i[i] = i;
@@ -239,6 +235,7 @@ public:
       }
     }
     
+    // blur before get description
     input.gaussianed(self->featureG_, self->featureG_);
 
     MyFeaturePoints ret;
@@ -253,7 +250,7 @@ public:
         }
         ssize_t dx[4] = {1, 0, -1, 0};
         ssize_t dy[4] = {0, 1, 0, -1};
-        std::vector<double> desc;
+        std::vector<double> desc; // description
         for (ssize_t d = 1; d <= (ssize_t)self->boundB_; d++) {
           std::vector<double> light;
           size_t max_id = 0;