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+// Copyright (c) 2011 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.
+
+#ifndef LIBMV_SIMPLE_PIPELINE_BUNDLE_H
+#define LIBMV_SIMPLE_PIPELINE_BUNDLE_H
+
+namespace libmv {
+
+class EuclideanReconstruction;
+class ProjectiveReconstruction;
+class Tracks;
+
+/*!
+    Refine camera poses and 3D coordinates using bundle adjustment.
+
+    This routine adjusts all cameras and points in \a *reconstruction. This
+    assumes a full observation for reconstructed tracks; this implies that if
+    there is a reconstructed 3D point (a bundle) for a track, then all markers
+    for that track will be included in the minimization. \a tracks should
+    contain markers used in the initial reconstruction.
+
+    The cameras and bundles (3D points) are refined in-place.
+
+    \note This assumes an outlier-free set of markers.
+    \note This assumes a calibrated reconstruction, e.g. the markers are
+          already corrected for camera intrinsics and radial distortion.
+
+    \sa EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames
+*/
+void EuclideanBundle(const Tracks &tracks,
+                     EuclideanReconstruction *reconstruction);
+
+/*!
+    Refine camera poses and 3D coordinates using bundle adjustment.
+
+    This routine adjusts all cameras and points in \a *reconstruction. This
+    assumes a full observation for reconstructed tracks; this implies that if
+    there is a reconstructed 3D point (a bundle) for a track, then all markers
+    for that track will be included in the minimization. \a tracks should
+    contain markers used in the initial reconstruction.
+
+    The cameras and bundles (homogeneous 3D points) are refined in-place.
+
+    \note This assumes an outlier-free set of markers.
+    \note This assumes that radial distortion is already corrected for, but 
+          does not assume that that other intrinsics are.
+
+    \sa ProjectiveResect, ProjectiveIntersect, ProjectiveReconstructTwoFrames
+*/
+void ProjectiveBundle(const Tracks &tracks,
+                      ProjectiveReconstruction *reconstruction);
+
+}  // namespace libmv
+
+#endif   // LIBMV_SIMPLE_PIPELINE_BUNDLE_H