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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_TRACKS_H_
+#define LIBMV_SIMPLE_PIPELINE_TRACKS_H_
+
+#include "libmv/base/vector.h"
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+/*!
+    A Marker is the 2D location of a tracked point in an image.
+
+    \a x, \a y is the position of the marker in pixels from the top left corner
+    in the image identified by \a image. All markers for to the same target
+    form a track identified by a common \a track number.
+
+    \a weight is used by bundle adjustment and weight means how much the
+    track affects on a final solution.
+
+    \note Markers are typically aggregated with the help of the \l Tracks class.
+
+    \sa Tracks
+*/
+// TODO(sergey): Consider using comment for every member separately
+//               instead of having one giantic comment block.
+struct Marker {
+  int image;
+  int track;
+  double x, y;
+  double weight;
+};
+
+/*!
+    The Tracks class stores \link Marker reconstruction markers \endlink.
+
+    The Tracks container is intended as the store of correspondences between
+    images, which must get created before any 3D reconstruction can take place.
+
+    The container has several fast lookups for queries typically needed for
+    structure from motion algorithms, such as \l MarkersForTracksInBothImages().
+
+    \sa Marker
+*/
+class Tracks {
+ public:
+  Tracks() { }
+
+  // Copy constructor for a tracks object.
+  Tracks(const Tracks &other);
+
+  /// Construct a new tracks object using the given markers to start.
+  explicit Tracks(const vector<Marker> &markers);
+
+  /*!
+      Inserts a marker into the set. If there is already a marker for the given
+      \a image and \a track, the existing marker is replaced. If there is no
+      marker for the given \a image and \a track, a new one is added.
+
+      \a image and \a track are the keys used to retrieve the markers with the
+      other methods in this class.
+
+      \a weight is used by bundle adjustment and weight means how much the
+      track affects on a final solution.
+
+      \note To get an identifier for a new track, use \l MaxTrack() + 1.
+  */
+  // TODO(sergey): Consider using InsetWeightedMarker istead of using
+  //               stupid default value?
+  void Insert(int image, int track, double x, double y, double weight = 1.0);
+
+  /// Returns all the markers.
+  vector<Marker> AllMarkers() const;
+
+  /// Returns all the markers belonging to a track.
+  vector<Marker> MarkersForTrack(int track) const;
+
+  /// Returns all the markers visible in \a image.
+  vector<Marker> MarkersInImage(int image) const;
+
+  /// Returns all the markers visible in \a image1 and \a image2.
+  vector<Marker> MarkersInBothImages(int image1, int image2) const;
+
+  /*!
+      Returns the markers in \a image1 and \a image2 which have a common track.
+
+      This is not the same as the union of the markers in \a image1 and \a
+      image2; each marker is for a track that appears in both images.
+  */
+  vector<Marker> MarkersForTracksInBothImages(int image1, int image2) const;
+
+  /// Returns the marker in \a image belonging to \a track.
+  Marker MarkerInImageForTrack(int image, int track) const;
+
+  /// Removes all the markers belonging to \a track.
+  void RemoveMarkersForTrack(int track);
+
+  /// Removes the marker in \a image belonging to \a track.
+  void RemoveMarker(int image, int track);
+
+  /// Returns the maximum image identifier used.
+  int MaxImage() const;
+
+  /// Returns the maximum track identifier used.
+  int MaxTrack() const;
+
+  /// Returns the number of markers.
+  int NumMarkers() const;
+
+ private:
+  vector<Marker> markers_;
+};
+
+void CoordinatesForMarkersInImage(const vector<Marker> &markers,
+                                  int image,
+                                  Mat *coordinates);
+
+}  // namespace libmv
+
+#endif  // LIBMV_SIMPLE_PIPELINE_MARKERS_H_