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+/*****************************
+Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied, of Rafael Muñoz Salinas.
+********************************/
+#ifndef _Aruco_BoardDetector_H
+#define _Aruco_BoardDetector_H
+#include <opencv2/opencv.hpp>
+#include "exports.h"
+#include "board.h"
+#include "cameraparameters.h"
+#include "markerdetector.h"
+using namespace std;
+
+namespace aruco
+{
+
+/**\brief This class detects AR boards
+ * Version 1.2
+ * There are two modes for board detection.
+ * First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class.
+ * 
+ * Second: New mode, marker detection is included in the class
+ * \code
+ 
+  CameraParameters CP;
+  CP.readFromFile(path_cp)
+  BoardConfiguration BC;
+  BC.readFromFile(path_bc);
+  BoardDetector BD;
+  BD.setParams(BC,CP); //or only BD.setParams(BC)
+  //capture image
+  cv::Mat im;
+  capture_image(im);
+  
+  float prob=BD.detect(im);
+  if (prob>0.3) 
+	CvDrawingUtils::draw3DAxis(im,BD.getDetectedBoard(),CP);
+ 
+ \endcode
+ * 
+*/
+class ARUCO_EXPORTS  BoardDetector
+{
+public:
+  /** See discussion in @see enableRotateXAxis.
+   * Do not change unless you know what you are doing
+   */
+    BoardDetector(bool  setYPerperdicular=true);
+    
+    
+    /**
+     * Use if you plan to let this class to perform marker detection too
+     */
+    void setParams(const BoardConfiguration &bc,const CameraParameters &cp, float markerSizeMeters=-1);
+    void setParams(const BoardConfiguration &bc);
+    /**
+     * Detect markers, and then, look for the board indicated in setParams()
+     * @return value indicating  the  likelihood of having found the marker
+     */
+    float  detect(const cv::Mat &im)throw (cv::Exception);
+    /**Returns a reference to the board detected
+     */
+    Board & getDetectedBoard(){return _boardDetected;}
+    /**Returns a reference to the internal marker detector
+     */
+    MarkerDetector &getMarkerDetector(){return _mdetector;}
+    /**Returns the vector of markers detected
+     */
+    vector<Marker> &getDetectedMarkers(){return _vmarkers;}
+    
+    
+    //ALTERNATIVE DETECTION METHOD, BASED ON MARKERS PREVIOUSLY DETECTED
+    
+    /** Given the markers detected, determines if there is the board passed
+    * @param detectedMarkers result provided by aruco::ArMarkerDetector
+    * @param BConf the board you want to see if is present
+    * @param Bdetected output information of the detected board
+    * @param camMatrix camera matrix with intrinsics
+    * @param distCoeff camera distorsion coeff
+    * @param camMatrix intrinsic camera information.
+    * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera distorion
+    * @param markerSizeMeters size of the marker sides expressed in meters
+    * @return value indicating  the  likelihood of having found the marker
+    */
+    float detect(const vector<Marker> &detectedMarkers,const  BoardConfiguration &BConf, Board &Bdetected, cv::Mat camMatrix=cv::Mat(),cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1 )throw (cv::Exception);
+    float detect(const vector<Marker> &detectedMarkers,const  BoardConfiguration &BConf, Board &Bdetected,const CameraParameters &cp, float markerSizeMeters=-1 )throw (cv::Exception);
+
+
+    /**
+     * By default, the Y axis is set to point up. However this is not the default
+     * operation mode of opencv, which produces the Z axis pointing up instead. 
+     * So, to achieve this change, we have to rotate the X axis.
+     */
+    void setYPerperdicular(bool enable){_setYPerperdicular=enable;}
+    
+    
+    
+    
+private:
+    void rotateXAxis(cv::Mat &rotation);
+    bool _setYPerperdicular;
+    
+    //-- Functionality to detect markers inside
+    bool _areParamsSet;
+    BoardConfiguration _bconf;
+    Board _boardDetected;
+    float _markerSize;
+    CameraParameters _camParams;
+    MarkerDetector _mdetector;//internal markerdetector
+    vector<Marker> _vmarkers;//markers detected in the call to : float  detect(const cv::Mat &im);
+    
+};
+
+};
+#endif
+