#ifndef _CHESSBOARDCAMERATRACKER_HPP_
#define _CHESSBOARDCAMERATRACKER_HPP_

#include "Camera.hpp"
#include "utility.hpp"

/**
 * \ingroup calibration
 * \brief Class that wraps a chessboard detector and compute the pose mat
 */
class ChessboardCameraTracker
{
public:
    /**
     * \brief Default constructor
     */
    ChessboardCameraTracker() = default;


    /**
    * It detects a chessboard inside an image and if found it returns the pose of the camera wrt the chessboard
    *
    * @param[in,out] img the original image
    * @param[out] pose the pose of the camera
    * @param[in] cam the camera
    * @param[in] boardSize the size of the chessboard to detect
    * @return true if the chessboard has been found
    */
    bool process( cv::Mat &img, cv::Mat &pose, const Camera & cam, const cv::Size &boardSize);


};

#endif /*_CHESSBOARDCAMERATRACKER_HPP_*/