text: // Copyright (C) 2015 The Regents of the University of California (Regents).
  // All rights reserved.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are
  // met:
  //
  //     * Redistributions of source code must retain the above copyright
  //       notice, this list of conditions and the following disclaimer.
  //
  //     * 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.
  //
  //     * Neither the name of The Regents or University of California nor the
  //       names of its contributors may be used to endorse or promote products
  //       derived from this software without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 THE COPYRIGHT HOLDERS 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.
  //
  // Please contact the author of this library if you have any questions.
  // Author: Chris Sweeney (cmsweeney@cs.ucsb.edu)
  
  #ifndef THEIA_SFM_ESTIMATORS_ESTIMATE_RELATIVE_POSE_WITH_KNOWN_ORIENTATION_H_
  #define THEIA_SFM_ESTIMATORS_ESTIMATE_RELATIVE_POSE_WITH_KNOWN_ORIENTATION_H_
  
  #include <Eigen/Core>
  #include <vector>
  
  #include "theia/sfm/create_and_initialize_ransac_variant.h"
  
  namespace theia {
  
  struct FeatureCorrespondence2D3D;
  struct RansacParameters;
  struct RansacSummary;
  
  // Estimates the relative pose with known orientation. It is assumed that the 2D
  // features are normalized by the camera intrinsics and rotated to be in the
  // same world coordinate system. Returns true if the position could be
  // successfully estimated and false otherwise. The quality of the result depends
  // on the quality of the input data.
  bool EstimateRelativePoseWithKnownOrientation(
      const RansacParameters& ransac_params,
      const RansacType& ransac_type,
      const std::vector<FeatureCorrespondence>& rotated_correspondences,
      Eigen::Vector3d* relative_camera2_position,
      RansacSummary* ransac_summary);
  
  }  // namespace theia
  
  #endif  // THEIA_SFM_ESTIMATORS_ESTIMATE_RELATIVE_POSE_WITH_KNOWN_ORIENTATION_H_
  