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+
+///////////////////////////////////////////////////////////////////////////
+// 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 factorizes the information from a PoseCell needed by a
+  PiFeature to be evaluated on an image. Since there can be in there
+  costly operations such as trigonometric mappings, it provides a
+  substantial cost optimization.
+
+*/
+
+#ifndef PI_REFERENTIAL_H
+#define PI_REFERENTIAL_H
+
+#include "rectangle.h"
+#include "pose_cell.h"
+#include "rgb_image.h"
+
+class PiReferential {
+  // The best scale so that the head size is
+  // ~global.reference_head_size. This is an integer scale as defined
+  // for the RichImage
+  int _common_scale;
+
+  scalar_t _horizontal_polarity;
+
+  // The head frame in _common_scale. The vectors are of length the _RADIUS_ of the head
+  scalar_t _head_xc, _head_yc, _head_radius;
+  scalar_t _head_window_scaling;
+  scalar_t _head_ux, _head_uy, _head_vx, _head_vy;
+  scalar_t _head_ux_nopolarity, _head_uy_nopolarity, _head_vx_nopolarity, _head_vy_nopolarity;
+
+  // The body frame in that _common_scale. The vectors are of length the radii of the ellipse
+  scalar_t _body_xc, _body_yc;
+  scalar_t _body_radius_1, _body_radius_2, _body_tilt;
+  scalar_t _body_ux, _body_uy, _body_vx, _body_vy;
+  scalar_t _body_window_scaling;
+  int _body_edge_shift;
+
+  // The belly frame is defined by the body location and head scale
+  scalar_t _belly_xc, _belly_yc;
+  scalar_t _belly_ux, _belly_uy, _belly_vx, _belly_vy;
+  scalar_t _belly_ux_nopolarity, _belly_uy_nopolarity, _belly_vx_nopolarity, _belly_vy_nopolarity;
+  scalar_t _belly_window_scaling;
+
+  // The head-belly frame is defined by the head location and the body
+  // center location
+  scalar_t _head_belly_xc, _head_belly_yc;
+  scalar_t _head_belly_ux, _head_belly_uy, _head_belly_vx, _head_belly_vy;
+  int _head_belly_edge_shift;
+
+  void draw_frame(RGBImage *image,
+                  int registration_mode,
+                  int x1, int y1,
+                  int x2, int y2,
+                  int x3, int y3,
+                  int x4, int y4);
+
+public:
+  PiReferential(PoseCell *cell);
+
+  enum {
+    // A frame centered on the head, of size four times the head radius
+    // and, flipped verically if the body center is on the left of the
+    // head center
+    RM_HEAD,
+
+    // Same as above, without the flipping
+    RM_HEAD_NO_POLARITY,
+    // A frame centered on the body center, of size size times the
+    // head rardius, flipped vertically if the body center is on the
+    // left of the head center
+    RM_BELLY,
+
+    // Same as above, without the flipping
+    RM_BELLY_NO_POLARITY,
+
+    // A frame centered on the middle point between the head center
+    // and the body center, of size twice the distance head center -
+    // body center in the head-body direction, and of four times the
+    // head radius in the other
+    RM_HEAD_BELLY,
+
+    // Same as above with rotation of the edges
+    RM_HEAD_BELLY_EDGES,
+
+    // Not finished yet
+    RM_BODY,
+    RM_BODY_EDGES
+  };
+
+  int common_scale();
+
+  // The rectangle coordinates are in the reference frames. For the
+  // head for instance , [-1,1] x [-1,1] corresponds to the head
+  // bounding box
+
+  void register_rectangle(int registration_mode,
+                          Rectangle *original,
+                          Rectangle *result);
+
+  int register_edge(int registration_type, int edge_type);
+
+  void draw(RGBImage *image, int level);
+
+  void draw_window(RGBImage *image,
+                   int registration_mode, Rectangle *window,
+                   int filled);
+
+  void draw_edge_and_scale(RGBImage *image,
+                           int registration_mode, Rectangle *window,
+                           int _tag, int _edge_scale);
+
+  static void print_registration_mode(ostream *out, int registration_mode);
+};
+
+#endif