--- /dev/null
+
+///////////////////////////////////////////////////////////////////////////
+// This program is free software: you can redistribute it and/or modify //
+// it under the terms of the version 3 of the GNU General Public License //
+// as published by the Free Software Foundation. //
+// //
+// This program is distributed in the hope that it will be useful, but //
+// WITHOUT ANY WARRANTY; without even the implied warranty of //
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
+// General Public License for more details. //
+// //
+// You should have received a copy of the GNU General Public License //
+// along with this program. If not, see <http://www.gnu.org/licenses/>. //
+// //
+// Written by Francois Fleuret, (C) IDIAP //
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports //
+///////////////////////////////////////////////////////////////////////////
+
+/*
+
+ This class implement the notion of pi-feature, that is a feature
+ which can be evaluated on a pair image / referential, where the
+ referential is computed from a pose cell.
+
+*/
+
+#ifndef PI_FEATURE_H
+#define PI_FEATURE_H
+
+#include "misc.h"
+#include "global.h"
+#include "rich_image.h"
+#include "pi_referential.h"
+
+class PiFeature {
+
+ enum {
+ PF_EDGE_THRESHOLDING,
+ PF_EDGE_HISTOGRAM_COMPARISON,
+ PF_GRAYSCALE_HISTOGRAM_COMPARISON,
+ } _type;
+
+ int _tag, _edge_scale;
+ Rectangle _window_a, _window_b;
+ int _registration_a, _registration_b;
+
+ int random_registration_mode(int level);
+ void randomize_window(int registration_mode, Rectangle *window);
+ void draw_window(RGBImage *image, int registration_mode, Rectangle *window);
+
+ // EDGE THRESHOLDING
+
+ scalar_t response_edge_thresholding(RichImage *image, PiReferential *referential);
+ void draw_edge_thresholding(RGBImage *image, int r, int g, int b,
+ PiReferential *referential);
+ void print_edge_thresholding(ostream *os);
+
+ // EDGE ORIENTATION HISTOGRAM COMPARISON
+
+ scalar_t response_edge_histogram_comparison(RichImage *image, PiReferential *referential);
+ void draw_edge_histogram_comparison(RGBImage *image, int r, int g, int b,
+ PiReferential *referential);
+ void print_edge_histogram_comparison(ostream *os);
+
+ // GRAYSCALE HISTOGRAM COMPARISON
+
+ scalar_t response_grayscale_histogram_comparison(RichImage *image, PiReferential *referential);
+ void draw_grayscale_histogram_comparison(RGBImage *image,
+ int r, int g, int b,
+ PiReferential *referential);
+ void print_grayscale_histogram_comparison(ostream *os);
+
+public:
+
+ void randomize(int level);
+
+ scalar_t response(RichImage *image, PiReferential *referential);
+
+ void draw(RGBImage *image,
+ int r, int g, int b,
+ PiReferential *referential);
+
+ void print(ostream *os);
+};
+
+#endif