add test code "feature"

9 files changed, 85 insertions, 82 deletions

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