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+// Copyright (c) 2007, 2008 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_MULTIVIEW_TEST_DATA_SETS_H_
+#define LIBMV_MULTIVIEW_TEST_DATA_SETS_H_
+
+#include "libmv/base/vector.h"
+#include "libmv/multiview/fundamental.h"
+#include "libmv/multiview/projection.h"
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+struct TwoViewDataSet {
+  Mat3 K1, K2;   // Internal parameters.
+  Mat3 R1, R2;   // Rotation.
+  Vec3 t1, t2;   // Translation.
+  Mat34 P1, P2;  // Projection matrix, P = K(R|t)
+  Mat3 F;        // Fundamental matrix.
+  Mat3X X;        // 3D points.
+  Mat2X x1, x2;   // Projected points.
+};
+
+// Two cameras at (-1,-1,-10) and (2,1,-10) looking approximately towards z+.
+TwoViewDataSet TwoRealisticCameras(bool same_K = false);
+
+// An N-view metric dataset . An important difference between this
+// and the other reconstruction data types is that all points are seen by all
+// cameras.
+struct NViewDataSet {
+  vector<Mat3> K;   // Internal parameters (fx, fy, etc).
+  vector<Mat3> R;   // Rotation.
+  vector<Vec3> t;   // Translation.
+  vector<Vec3> C;   // Camera centers.
+  Mat3X X;     // 3D points.
+  vector<Mat2X> x;  // Projected points; may have noise added.
+  vector<Vecu>  x_ids;  // Indexes of points corresponding to the projections
+
+  int n;  // Actual number of cameras.
+
+  Mat34 P(int i) {
+    assert(i < n);
+    return K[i] * HStack(R[i], t[i]);
+  }
+  Mat3 F(int i, int j) {
+    Mat3 F_;
+    FundamentalFromProjections(P(i), P(j), &F_);
+    return F_;
+  }
+  void Reproject() {
+    for (int i = 0; i < n; ++i) {
+      x[i] = Project(P(i), X);
+    }
+  }
+  // TODO(keir): Add gaussian jitter functions.
+};
+
+struct nViewDatasetConfigator {
+  /// Internal camera parameters
+  int _fx;
+  int _fy;
+  int _cx;
+  int _cy;
+
+  /// Camera random position parameters
+  double _dist;
+  double _jitter_amount;
+
+  nViewDatasetConfigator(int fx = 1000,  int fy = 1000,
+                         int cx = 500,   int cy  = 500,
+                         double distance = 1.5,
+                         double jitter_amount = 0.01);
+};
+
+NViewDataSet NRealisticCamerasFull(int nviews, int npoints,
+                                   const nViewDatasetConfigator
+                                     config = nViewDatasetConfigator());
+
+// Generates sparse projections (not all points are projected)
+NViewDataSet NRealisticCamerasSparse(int nviews, int npoints,
+                                     float view_ratio = 0.6,
+                                     unsigned min_projections = 3,
+                                     const nViewDatasetConfigator
+                                       config = nViewDatasetConfigator());
+
+}  // namespace libmv
+
+#endif  // LIBMV_MULTIVIEW_TEST_DATA_SETS_H_