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+// Copyright (c) 2014 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// 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.
+//
+// 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
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+
+#ifndef LIBMV_AUTOTRACK_MARKER_H_
+#define LIBMV_AUTOTRACK_MARKER_H_
+
+#include <ostream>
+
+#include "libmv/autotrack/quad.h"
+#include "libmv/autotrack/region.h"
+#include "libmv/numeric/numeric.h"
+
+namespace mv {
+
+using libmv::Vec2f;
+
+// A marker is the 2D location of a tracked region (quad) in an image.
+// Note that some of this information could be normalized by having a
+// collection of inter-connected structs. Instead the "fat Marker" design below
+// trades memory for data structure simplicity.
+struct Marker {
+  int clip;   // The clip this marker is from.
+  int frame;  // The frame within the clip this marker is from.
+  int track;  // The track this marker is from.
+
+  // The center of the marker in frame coordinates. This is typically, but not
+  // always, the same as the center of the patch.
+  Vec2f center;
+
+  // A frame-realtive quad defining the part of the image the marker covers.
+  // For reference markers, the pixels in the patch are the tracking pattern.
+  Quad2Df patch;
+
+  // Some markers are less certain than others; the weight determines the
+  // amount this marker contributes to the error. 1.0 indicates normal
+  // contribution; 0.0 indicates a zero-weight track (and will be omitted from
+  // bundle adjustment).
+  float weight;
+
+  enum Source {
+    MANUAL,      // The user placed this marker manually.
+    DETECTED,    // A keypoint detector found this point.
+    TRACKED,     // The tracking algorithm placed this marker.
+    MATCHED,     // A matching algorithm (e.g. SIFT or SURF or ORB) found this.
+    PREDICTED,   // A motion model predicted this marker. This is needed for
+                 // handling occlusions in some cases where an imaginary marker
+                 // is placed to keep camera motion smooth.
+  };
+  Source source;
+
+  // Markers may be inliers or outliers if the tracking fails; this allows
+  // visualizing the markers in the image.
+  enum Status {
+    UNKNOWN,
+    INLIER,
+    OUTLIER
+  };
+  Status status;
+
+  // When doing correlation tracking, where to search in the current frame for
+  // the pattern from the reference frame, in absolute frame coordinates.
+  Region search_region;
+
+  // For tracked and matched markers, indicates what the reference was.
+  int reference_clip;
+  int reference_frame;
+
+  // Model related information for non-point tracks.
+  //
+  // Some tracks are on a larger object, such as a plane or a line or perhaps
+  // another primitive (a rectangular prisim). This captures the information
+  // needed to say that for example a collection of markers belongs to model #2
+  // (and model #2 is a plane).
+  enum ModelType {
+    POINT,
+    PLANE,
+    LINE,
+    CUBE
+  };
+  ModelType model_type;
+
+  // The model ID this track (e.g. the second model, which is a plane).
+  int model_id;
+
+  // TODO(keir): Add a "int model_argument" to capture that e.g. a marker is on
+  // the 3rd face of a cube.
+
+  enum Channel {
+    CHANNEL_R = (1 << 0),
+    CHANNEL_G = (1 << 1),
+    CHANNEL_B = (1 << 2),
+  };
+
+  // Channels from the original frame which this marker is unable to see.
+  int disabled_channels;
+
+  // Offset everything (center, patch, search) by the given delta.
+  template<typename T>
+  void Offset(const T& offset) {
+    center += offset.template cast<float>();
+    patch.coordinates.rowwise() += offset.template cast<int>();
+    search_region.Offset(offset);
+  }
+
+  // Shift the center to the given new position (and patch, search).
+  template<typename T>
+  void SetPosition(const T& new_center) {
+    Offset(new_center - center);
+  }
+};
+
+inline std::ostream& operator<<(std::ostream& out, const Marker& marker) {
+  out << "{"
+      << marker.clip << ", "
+      << marker.frame << ", "
+      << marker.track << ", ("
+      << marker.center.x() << ", "
+      << marker.center.y() << ")"
+      << "}";
+  return out;
+}
+
+}  // namespace mv
+
+#endif  // LIBMV_AUTOTRACK_MARKER_H_