text: // Copyright (c) 2011 libmv authors.
  //
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  // of this software and associated documentation files (the "Software"), to
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  // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  // sell copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
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  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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  // IN THE SOFTWARE.
  
  #ifndef LIBMV_SIMPLE_PIPELINE_INITIALIZE_RECONSTRUCTION_H
  #define LIBMV_SIMPLE_PIPELINE_INITIALIZE_RECONSTRUCTION_H
  
  #include "libmv/base/vector.h"
  
  namespace libmv {
  
  struct Marker;
  class EuclideanReconstruction;
  class ProjectiveReconstruction;
  
  /*!
      Initialize the \link EuclideanReconstruction reconstruction \endlink using
      two frames.
  
      \a markers should contain all \link Marker markers \endlink belonging to
      tracks visible in both frames. The pose estimation of the camera for
      these frames will be inserted into \a *reconstruction.
  
      \note The two frames need to have both enough parallax and enough common
            tracks for accurate reconstruction. At least 8 tracks are suggested.
      \note The origin of the coordinate system is defined to be the camera of the
            first keyframe.
      \note This assumes a calibrated reconstruction, e.g. the
            markers are already corrected for camera intrinsics and radial
            distortion.
      \note This assumes an outlier-free set of markers.
  
      \sa EuclideanResect, EuclideanIntersect, EuclideanBundle
  */
  bool EuclideanReconstructTwoFrames(const vector<Marker>& markers,
                                     EuclideanReconstruction* reconstruction);
  
  /*!
      Initialize the \link ProjectiveReconstruction reconstruction \endlink using
      two frames.
  
      \a markers should contain all \link Marker markers \endlink belonging to
      tracks visible in both frames. An estimate of the projection matrices for
      the two frames will get added to the reconstruction.
  
      \note The two frames need to have both enough parallax and enough common
            tracks for accurate reconstruction. At least 8 tracks are suggested.
      \note The origin of the coordinate system is defined to be the camera of the
            first keyframe.
      \note This assumes the markers are already corrected for radial distortion.
      \note This assumes an outlier-free set of markers.
  
      \sa ProjectiveResect, ProjectiveIntersect, ProjectiveBundle
  */
  bool ProjectiveReconstructTwoFrames(const vector<Marker>& markers,
                                      ProjectiveReconstruction* reconstruction);
  }  // namespace libmv
  
  #endif  // LIBMV_SIMPLE_PIPELINE_INITIALIZE_RECONSTRUCTION_H
  