Camera tracking: synchronize changes with own branch

Should be no functional changes.

4 files changed, 36 insertions, 18 deletions

diff --git a/extern/libmv/libmv/multiview/fundamental.cc b/extern/libmv/libmv/multiview/fundamental.cc
index 80f155e804d..12a611c748f 100644
--- a/extern/libmv/libmv/multiview/fundamental.cc
+++ b/extern/libmv/libmv/multiview/fundamental.cc
@@ -254,8 +254,8 @@ double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) {
   Vec3 Ft_y = F.transpose() * y;
   double y_F_x = y.dot(F_x);
 
-  return Square(y_F_x) * (  1 / F_x.head<2>().squaredNorm()
-                          + 1 / Ft_y.head<2>().squaredNorm());
+  return y_F_x * (  1 / F_x.head<2>().norm()
+                  + 1 / Ft_y.head<2>().norm());
 }
 
 // HZ 9.6 pag 257 (formula 9.12)
diff --git a/extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc b/extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc
index 9c06d1ef4e6..84d143b77d6 100644
--- a/extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc
+++ b/extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc
@@ -31,22 +31,6 @@
 namespace libmv {
 namespace {
 
-void CoordinatesForMarkersInImage(const vector<Marker> &markers,
-                                  int image,
-                                  Mat *coordinates) {
-  vector<Vec2> coords;
-  for (int i = 0; i < markers.size(); ++i) {
-    const Marker &marker = markers[i];
-    if (markers[i].image == image) {
-      coords.push_back(Vec2(marker.x, marker.y));
-    }
-  }
-  coordinates->resize(2, coords.size());
-  for (int i = 0; i < coords.size(); i++) {
-    coordinates->col(i) = coords[i];
-  }
-}
-
 void GetImagesInMarkers(const vector<Marker> &markers,
                         int *image1, int *image2) {
   if (markers.size() < 2) {
diff --git a/extern/libmv/libmv/simple_pipeline/tracks.cc b/extern/libmv/libmv/simple_pipeline/tracks.cc
index 3fb8ddbe513..620f6fc880a 100644
--- a/extern/libmv/libmv/simple_pipeline/tracks.cc
+++ b/extern/libmv/libmv/simple_pipeline/tracks.cc
@@ -72,6 +72,16 @@ vector<Marker> Tracks::MarkersForTrack(int track) const {
   return markers;
 }
 
+vector<Marker> Tracks::MarkersInBothImages(int image1, int image2) const {
+  vector<Marker> markers;
+  for (int i = 0; i < markers_.size(); ++i) {
+    int image = markers_[i].image;
+    if (image == image1 || image == image2)
+      markers.push_back(markers_[i]);
+  }
+  return markers;
+}
+
 vector<Marker> Tracks::MarkersForTracksInBothImages(int image1, int image2) const {
   std::vector<int> image1_tracks;
   std::vector<int> image2_tracks;
@@ -156,4 +166,20 @@ int Tracks::NumMarkers() const {
   return markers_.size();
 }
 
+void CoordinatesForMarkersInImage(const vector<Marker> &markers,
+                                  int image,
+                                  Mat *coordinates) {
+  vector<Vec2> coords;
+  for (int i = 0; i < markers.size(); ++i) {
+    const Marker &marker = markers[i];
+    if (markers[i].image == image) {
+      coords.push_back(Vec2(marker.x, marker.y));
+    }
+  }
+  coordinates->resize(2, coords.size());
+  for (int i = 0; i < coords.size(); i++) {
+    coordinates->col(i) = coords[i];
+  }
+}
+
 }  // namespace libmv
diff --git a/extern/libmv/libmv/simple_pipeline/tracks.h b/extern/libmv/libmv/simple_pipeline/tracks.h
index aa0fbaa6e4c..f9af3ada45b 100644
--- a/extern/libmv/libmv/simple_pipeline/tracks.h
+++ b/extern/libmv/libmv/simple_pipeline/tracks.h
@@ -22,6 +22,7 @@
 #define LIBMV_SIMPLE_PIPELINE_TRACKS_H_
 
 #include "libmv/base/vector.h"
+#include "libmv/numeric/numeric.h"
 
 namespace libmv {
 
@@ -84,6 +85,9 @@ class Tracks {
   /// 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.
 
@@ -114,6 +118,10 @@ class Tracks {
   vector<Marker> markers_;
 };
 
+void CoordinatesForMarkersInImage(const vector<Marker> &markers,
+                                  int image,
+                                  Mat *coordinates);
+
 }  // namespace libmv
 
 #endif  // LIBMV_SIMPLE_PIPELINE_MARKERS_H_