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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_PIPELINE_H_
+#define LIBMV_SIMPLE_PIPELINE_PIPELINE_H_
+
+#include "libmv/simple_pipeline/callbacks.h"
+#include "libmv/simple_pipeline/tracks.h"
+#include "libmv/simple_pipeline/reconstruction.h"
+
+namespace libmv {
+
+/*!
+    Estimate camera poses and scene 3D coordinates for all frames and tracks.
+
+    This method should be used once there is an initial reconstruction in
+    place, for example by reconstructing from two frames that have a sufficient
+    baseline and number of tracks in common. This function iteratively
+    triangulates points that are visible by cameras that have their pose
+    estimated, then resections (i.e. estimates the pose) of cameras that are
+    not estimated yet that can see triangulated points. This process is
+    repeated until all points and cameras are estimated. Periodically, bundle
+    adjustment is run to ensure a quality reconstruction.
+
+    \a tracks should contain markers used in the reconstruction.
+    \a reconstruction should contain at least some 3D points or some estimated
+    cameras. The minimum number of cameras is two (with no 3D points) and the
+    minimum number of 3D points (with no estimated cameras) is 5.
+
+    \sa EuclideanResect, EuclideanIntersect, EuclideanBundle
+*/
+void EuclideanCompleteReconstruction(
+        const Tracks &tracks,
+        EuclideanReconstruction *reconstruction,
+        ProgressUpdateCallback *update_callback = NULL);
+
+/*!
+    Estimate camera matrices and homogeneous 3D coordinates for all frames and
+    tracks.
+
+    This method should be used once there is an initial reconstruction in
+    place, for example by reconstructing from two frames that have a sufficient
+    baseline and number of tracks in common. This function iteratively
+    triangulates points that are visible by cameras that have their pose
+    estimated, then resections (i.e. estimates the pose) of cameras that are
+    not estimated yet that can see triangulated points. This process is
+    repeated until all points and cameras are estimated. Periodically, bundle
+    adjustment is run to ensure a quality reconstruction.
+
+    \a tracks should contain markers used in the reconstruction.
+    \a reconstruction should contain at least some 3D points or some estimated
+    cameras. The minimum number of cameras is two (with no 3D points) and the
+    minimum number of 3D points (with no estimated cameras) is 5.
+
+    \sa ProjectiveResect, ProjectiveIntersect, ProjectiveBundle
+*/
+void ProjectiveCompleteReconstruction(const Tracks &tracks,
+                                      ProjectiveReconstruction *reconstruction);
+
+
+class CameraIntrinsics;
+
+// TODO(keir): Decide if we want these in the public API, and if so, what the
+// appropriate include file is.
+
+double EuclideanReprojectionError(const Tracks &image_tracks,
+                                  const EuclideanReconstruction &reconstruction,
+                                  const CameraIntrinsics &intrinsics);
+
+double ProjectiveReprojectionError(
+    const Tracks &image_tracks,
+    const ProjectiveReconstruction &reconstruction,
+    const CameraIntrinsics &intrinsics);
+
+void InvertIntrinsicsForTracks(const Tracks &raw_tracks,
+                               const CameraIntrinsics &camera_intrinsics,
+                               Tracks *calibrated_tracks);
+
+}  // namespace libmv
+
+#endif  // LIBMV_SIMPLE_PIPELINE_PIPELINE_H_