Camera tracking: switch to own repo of libmv where most of patches are applied

and which includes latest changes from Keir's branch.

Hopefully it'll make backporting of changes back to main libmv repo easier.

14 files changed, 39 insertions, 992 deletions

diff --git a/extern/libmv/patches/bundle_tweaks.patch b/extern/libmv/patches/bundle_tweaks.patch
index f7b06b0a2dd..aebc257f7f9 100644
--- a/extern/libmv/patches/bundle_tweaks.patch
+++ b/extern/libmv/patches/bundle_tweaks.patch
@@ -11,6 +11,36 @@ index 067da52..af86c4b 100644
  
  #define LG LOG(INFO)
  #define V0 LOG(INFO)
+diff --git a/src/libmv/simple_pipeline/pipeline.cc b/src/libmv/simple_pipeline/pipeline.cc
+index 2459d05..2e4e5a6 100644
+--- a/src/libmv/simple_pipeline/pipeline.cc
++++ b/src/libmv/simple_pipeline/pipeline.cc
+@@ -280,25 +280,6 @@ double InternalReprojectionError(const Tracks &image_tracks,
+     double ex = reprojected_marker.x - markers[i].x;
+     double ey = reprojected_marker.y - markers[i].y;
+ 
+-    const int N = 100;
+-    char line[N];
+-    snprintf(line, N,
+-           "image %-3d track %-3d "
+-           "x %7.1f y %7.1f "
+-           "rx %7.1f ry %7.1f "
+-           "ex %7.1f ey %7.1f"
+-           "    e %7.1f",
+-           markers[i].image,
+-           markers[i].track,
+-           markers[i].x,
+-           markers[i].y,
+-           reprojected_marker.x,
+-           reprojected_marker.y,
+-           ex,
+-           ey,
+-           sqrt(ex*ex + ey*ey));
+-    LG << line;
+-
+     total_error += sqrt(ex*ex + ey*ey);
+   }
+   LG << "Skipped " << num_skipped << " markers.";
 diff --git a/src/third_party/glog/src/glog/logging.h b/src/third_party/glog/src/glog/logging.h
 index 57615ef..a58d478 100644
 --- a/src/third_party/glog/src/glog/logging.h
@@ -65,7 +95,7 @@ index 50c6a71..b179a1e 100644
  
  #ifdef HAVE_STACKTRACE
 diff --git a/src/third_party/glog/src/utilities.h b/src/third_party/glog/src/utilities.h
-index ee54f94..2d4e99e 100644
+index c4ae256..5c841a0 100644
 --- a/src/third_party/glog/src/utilities.h
 +++ b/src/third_party/glog/src/utilities.h
 @@ -79,7 +79,7 @@
@@ -106,7 +136,7 @@ index 114762e..682a1b9 100755
  /* define if you have libunwind */
  #undef HAVE_LIB_UNWIND
 diff --git a/src/third_party/glog/src/windows/glog/logging.h b/src/third_party/glog/src/windows/glog/logging.h
-index 7a6df74..de51586 100755
+index 4257375..2f41681 100755
 --- a/src/third_party/glog/src/windows/glog/logging.h
 +++ b/src/third_party/glog/src/windows/glog/logging.h
 @@ -82,8 +82,8 @@
@@ -119,4 +149,4 @@ index 7a6df74..de51586 100755
 +#include "third_party/gflags/gflags.h"
  #endif
  
- namespace google {
+ #ifdef __MINGW32__
diff --git a/extern/libmv/patches/config_mac.patch b/extern/libmv/patches/config_mac.patch
deleted file mode 100644
index 5a880155bfa..00000000000
--- a/extern/libmv/patches/config_mac.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/src/third_party/glog/src/config_mac.h b/src/third_party/glog/src/config_mac.h
-index a45575b..5f953d1 100644
---- a/src/third_party/glog/src/config_mac.h
-+++ b/src/third_party/glog/src/config_mac.h
-@@ -131,7 +131,7 @@
- #define PACKAGE_VERSION "0.3.1"
- 
- /* How to access the PC from a struct ucontext */
--#define PC_FROM_UCONTEXT uc_mcontext->__ss.__rip
-+#undef PC_FROM_UCONTEXT
- 
- /* Define to necessary symbol if this constant uses a non-standard name on
-    your system. */
diff --git a/extern/libmv/patches/detect.patch b/extern/libmv/patches/detect.patch
deleted file mode 100644
index 36fea8427db..00000000000
--- a/extern/libmv/patches/detect.patch
+++ /dev/null
@@ -1,181 +0,0 @@
-diff --git a/src/libmv/simple_pipeline/detect.cc b/src/libmv/simple_pipeline/detect.cc
-index 6fc0cdd..8ac42ab 100644
---- a/src/libmv/simple_pipeline/detect.cc
-+++ b/src/libmv/simple_pipeline/detect.cc
-@@ -23,15 +23,89 @@
- ****************************************************************************/
- 
- #include "libmv/simple_pipeline/detect.h"
-+#include <third_party/fast/fast.h>
- #include <stdlib.h>
--#include <string.h>
-+#include <memory.h>
-+
-+#ifdef __SSE2__
-+#include <emmintrin.h>
-+#endif
- 
- namespace libmv {
- 
- typedef unsigned int uint;
- 
-+int featurecmp(const void *a_v, const void *b_v)
-+{
-+  Feature *a = (Feature*)a_v;
-+  Feature *b = (Feature*)b_v;
-+
-+  return b->score - a->score;
-+}
-+
-+std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, int stride,
-+                           int min_trackness, int min_distance) {
-+  std::vector<Feature> features;
-+  // TODO(MatthiasF): Support targetting a feature count (binary search trackness)
-+  int num_features;
-+  xy* all = fast9_detect(data, width, height,
-+                         stride, min_trackness, &num_features);
-+  if(num_features == 0) {
-+    free(all);
-+    return features;
-+  }
-+  int* scores = fast9_score(data, stride, all, num_features, min_trackness);
-+  // TODO: merge with close feature suppression
-+  xy* nonmax = nonmax_suppression(all, scores, num_features, &num_features);
-+  free(all);
-+  // Remove too close features
-+  // TODO(MatthiasF): A resolution independent parameter would be better than distance
-+  // e.g. a coefficient going from 0 (no minimal distance) to 1 (optimal circle packing)
-+  // FIXME(MatthiasF): this method will not necessarily give all maximum markers
-+  if(num_features) {
-+    Feature *all_features = new Feature[num_features];
-+
-+    for(int i = 0; i < num_features; ++i) {
-+      Feature a = { nonmax[i].x, nonmax[i].y, scores[i], 0 };
-+      all_features[i] = a;
-+    }
-+
-+    qsort((void *)all_features, num_features, sizeof(Feature), featurecmp);
-+
-+    features.reserve(num_features);
-+
-+    int prev_score = all_features[0].score;
-+    for(int i = 0; i < num_features; ++i) {
-+      bool ok = true;
-+      Feature a = all_features[i];
-+      if(a.score>prev_score)
-+        abort();
-+      prev_score = a.score;
-+
-+      // compare each feature against filtered set
-+      for(int j = 0; j < features.size(); j++) {
-+        Feature& b = features[j];
-+        if ( (a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance*min_distance ) {
-+          // already a nearby feature
-+          ok = false;
-+          break;
-+        }
-+      }
-+
-+      if(ok) {
-+        // add the new feature
-+        features.push_back(a);
-+      }
-+    }
-+
-+    delete [] all_features;
-+  }
-+  free(scores);
-+  free(nonmax);
-+  return features;
-+}
-+
- #ifdef __SSE2__
--#include <emmintrin.h>
- static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strideB) {
-   __m128i a = _mm_setzero_si128();
-   for(int i = 0; i < 16; i++) {
-@@ -52,7 +126,7 @@ static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strid
- }
- #endif
- 
--void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) {
-+void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) {
-   unsigned short histogram[256];
-   memset(histogram,0,sizeof(histogram));
-   ubyte* scores = new ubyte[width*height];
-diff --git a/src/libmv/simple_pipeline/detect.h b/src/libmv/simple_pipeline/detect.h
-index 23b239b..bbe7aed 100644
---- a/src/libmv/simple_pipeline/detect.h
-+++ b/src/libmv/simple_pipeline/detect.h
-@@ -25,27 +25,52 @@
- #ifndef LIBMV_SIMPLE_PIPELINE_DETECT_H_
- #define LIBMV_SIMPLE_PIPELINE_DETECT_H_
- 
--#ifdef __cplusplus
-+#include <vector>
-+
- namespace libmv {
--#endif
- 
- typedef unsigned char ubyte;
- 
- /*!
--    \a Feature is the 2D location of a detected feature in an image.
-+    A Feature is the 2D location of a detected feature in an image.
- 
--    \a x, \a y is the position of the center in pixels (from image top-left).
--    \a score is an estimate of how well the pattern will be tracked.
--    \a size can be used as an initial size to track the pattern.
-+    \a x, \a y is the position of the feature in pixels from the top left corner.
-+    \a score is an estimate of how well the feature will be tracked.
-+    \a size can be used as an initial pattern size to track the feature.
- 
-     \sa Detect
- */
- struct Feature {
-+  /// Position in pixels (from top-left corner)
-+  /// \note libmv might eventually support subpixel precision.
-   float x, y;
-+  /// Trackness of the feature
-   float score;
-+  /// Size of the feature in pixels
-   float size;
- };
-- //radius for non maximal suppression
-+
-+/*!
-+    Detect features in an image.
-+
-+    You need to input a single channel 8-bit image using pointer to image \a data,
-+    \a width, \a height and \a stride (i.e bytes per line).
-+
-+    You can tweak the count of detected features using \a min_trackness, which is
-+    the minimum score to add a feature, and \a min_distance which is the minimal
-+    distance accepted between two featuress.
-+
-+    \note You can binary search over \a min_trackness to get a given feature count.
-+
-+    \note a way to get an uniform distribution of a given feature count is:
-+          \a min_distance = \a width * \a height / desired_feature_count ^ 2
-+
-+    \return All detected feartures matching given parameters
-+*/
-+std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height,
-+                           int stride, int min_trackness = 128,
-+                           int min_distance = 120);
-+
- /*!
-     Detect features in an image.
- 
-@@ -63,10 +88,8 @@ struct Feature {
-     \note \a You can crop the image (to avoid detecting markers near the borders) without copying:
-              image += marginY*stride+marginX, width -= 2*marginX, height -= 2*marginY;
- */
--void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/);
-+void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/);
- 
--#ifdef __cplusplus
- }
--#endif
- 
- #endif
diff --git a/extern/libmv/patches/fast.patch b/extern/libmv/patches/fast.patch
deleted file mode 100644
index 8e0aeb7e721..00000000000
--- a/extern/libmv/patches/fast.patch
+++ /dev/null
@@ -1,24 +0,0 @@
-diff --git a/src/third_party/fast/fast.h b/src/third_party/fast/fast.h
-index 2b3825a..06fa90e 100644
---- a/src/third_party/fast/fast.h
-+++ b/src/third_party/fast/fast.h
-@@ -1,6 +1,10 @@
- #ifndef FAST_H
- #define FAST_H
- 
-+#ifdef __cplusplus
-+extern "C" {
-+#endif
-+
- typedef struct { int x, y; } xy; 
- typedef unsigned char byte;
- 
-@@ -28,4 +32,8 @@ xy* fast12_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b
- xy* nonmax_suppression(const xy* corners, const int* scores, int num_corners, int* ret_num_nonmax);
- 
- 
-+#ifdef __cplusplus
-+}
-+#endif
-+
- #endif
diff --git a/extern/libmv/patches/function_derivative.patch b/extern/libmv/patches/function_derivative.patch
deleted file mode 100644
index be7ccfc911a..00000000000
--- a/extern/libmv/patches/function_derivative.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-diff --git a/src/libmv/numeric/function_derivative.h b/src/libmv/numeric/function_derivative.h
-index 0075d23..d7bc437 100644
---- a/src/libmv/numeric/function_derivative.h
-+++ b/src/libmv/numeric/function_derivative.h
-@@ -24,6 +24,7 @@
- #include <cmath>
- 
- #include "libmv/numeric/numeric.h"
-+#include "libmv/logging/logging.h"
- 
- namespace libmv {
- 
-@@ -97,7 +98,7 @@ bool CheckJacobian(const Function &f, const typename Function::XMatrixType &x) {
- 
-   typename NumericJacobian<Function>::JMatrixType J_numeric = j_numeric(x);
-   typename NumericJacobian<Function>::JMatrixType J_analytic = j_analytic(x);
--  //LG << J_numeric - J_analytic;
-+  LG << J_numeric - J_analytic;
-   return true;
- }
- 
diff --git a/extern/libmv/patches/high_distortion_crash_fix.patch b/extern/libmv/patches/high_distortion_crash_fix.patch
deleted file mode 100644
index 54ab66fa27c..00000000000
--- a/extern/libmv/patches/high_distortion_crash_fix.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc
-index 4e88e1f..f9888ff 100644
---- a/src/libmv/simple_pipeline/camera_intrinsics.cc
-+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc
-@@ -160,9 +160,13 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
-       if( iy < 0 ) { iy = 0, fy = 0; }
-       if( ix >= width-2 ) ix = width-2;
-       if( iy >= height-2 ) iy = height-2;
--      //assert( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 );
--      Offset offset = { ix-x, iy-y, fx, fy };
--      grid[y*width+x] = offset;
-+      if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) {
-+        Offset offset = { ix-x, iy-y, fx, fy };
-+        grid[y*width+x] = offset;
-+      } else {
-+        Offset offset = { 0, 0, 0, 0 };
-+        grid[y*width+x] = offset;
-+      }
-     }
-   }
- }
diff --git a/extern/libmv/patches/levenberg_marquardt.patch b/extern/libmv/patches/levenberg_marquardt.patch
deleted file mode 100644
index 49ef82d73d2..00000000000
--- a/extern/libmv/patches/levenberg_marquardt.patch
+++ /dev/null
@@ -1,71 +0,0 @@
-diff --git a/src/libmv/numeric/levenberg_marquardt.h b/src/libmv/numeric/levenberg_marquardt.h
-index 6a54f66..4473b72 100644
---- a/src/libmv/numeric/levenberg_marquardt.h
-+++ b/src/libmv/numeric/levenberg_marquardt.h
-@@ -33,6 +33,7 @@
- 
- #include "libmv/numeric/numeric.h"
- #include "libmv/numeric/function_derivative.h"
-+#include "libmv/logging/logging.h"
- 
- namespace libmv {
- 
-@@ -123,26 +124,40 @@ class LevenbergMarquardt {
-     Parameters dx, x_new;
-     int i;
-     for (i = 0; results.status == RUNNING && i < params.max_iterations; ++i) {
--      if (dx.norm() <= params.relative_step_threshold * x.norm()) {
-+      VLOG(1) << "iteration: " << i;
-+      VLOG(1) << "||f(x)||: " << f_(x).norm();
-+      VLOG(1) << "max(g): " << g.array().abs().maxCoeff();
-+      VLOG(1) << "u: " << u;
-+      VLOG(1) << "v: " << v;
-+
-+      AMatrixType A_augmented = A + u*AMatrixType::Identity(J.cols(), J.cols());
-+      Solver solver(A_augmented);
-+      dx = solver.solve(g);
-+      bool solved = (A_augmented * dx).isApprox(g);
-+      if (!solved) {
-+        LOG(ERROR) << "Failed to solve";
-+      }
-+      if (solved && dx.norm() <= params.relative_step_threshold * x.norm()) {
-         results.status = RELATIVE_STEP_SIZE_TOO_SMALL;
-         break;
--      }
--      x_new = x + dx;
--      // Rho is the ratio of the actual reduction in error to the reduction
--      // in error that would be obtained if the problem was linear.
--      // See [1] for details.
--      Scalar rho((error.squaredNorm() - f_(x_new).squaredNorm())
--                 / dx.dot(u*dx + g));
--      if (rho > 0) {
--        // Accept the Gauss-Newton step because the linear model fits well.
--        x = x_new;
--        results.status = Update(x, params, &J, &A, &error, &g);
--        Scalar tmp = Scalar(2*rho-1);
--        u = u*std::max(1/3., 1 - (tmp*tmp*tmp));
--        v = 2;
--        continue;
--      }
--
-+      } 
-+      if (solved) {
-+        x_new = x + dx;
-+        // Rho is the ratio of the actual reduction in error to the reduction
-+        // in error that would be obtained if the problem was linear.
-+        // See [1] for details.
-+        Scalar rho((error.squaredNorm() - f_(x_new).squaredNorm())
-+                   / dx.dot(u*dx + g));
-+        if (rho > 0) {
-+          // Accept the Gauss-Newton step because the linear model fits well.
-+          x = x_new;
-+          results.status = Update(x, params, &J, &A, &error, &g);
-+          Scalar tmp = Scalar(2*rho-1);
-+          u = u*std::max(1/3., 1 - (tmp*tmp*tmp));
-+          v = 2;
-+          continue;
-+        } 
-+      } 
-       // Reject the update because either the normal equations failed to solve
-       // or the local linear model was not good (rho < 0). Instead, increase u
-       // to move closer to gradient descent.
diff --git a/extern/libmv/patches/mingw.patch b/extern/libmv/patches/mingw.patch
deleted file mode 100644
index 029e7d7f979..00000000000
--- a/extern/libmv/patches/mingw.patch
+++ /dev/null
@@ -1,171 +0,0 @@
-diff --git a/src/libmv/multiview/euclidean_resection.cc b/src/libmv/multiview/euclidean_resection.cc
-index 6d918a1..9286251 100644
---- a/src/libmv/multiview/euclidean_resection.cc
-+++ b/src/libmv/multiview/euclidean_resection.cc
-@@ -32,6 +32,8 @@
- namespace libmv {
- namespace euclidean_resection {
- 
-+typedef unsigned int uint;
-+
- bool EuclideanResection(const Mat2X &x_camera, 
-                         const Mat3X &X_world,
-                         Mat3 *R, Vec3 *t,
-diff --git a/src/libmv/numeric/numeric.h b/src/libmv/numeric/numeric.h
-index f39d126..21e0f06 100644
---- a/src/libmv/numeric/numeric.h
-+++ b/src/libmv/numeric/numeric.h
-@@ -40,7 +40,7 @@
-   }
- #endif //_WIN32 || __APPLE__
- 
--#if _WIN32
-+#if (defined(WIN32) || defined(WIN64)) && !defined(__MINGW32__)
-   inline long lround(double d) {
-     return (long)(d>0 ? d+0.5 : ceil(d-0.5));
-   }
-diff --git a/src/third_party/glog/src/config.h b/src/third_party/glog/src/config.h
-index ed8d56e..06ed686 100644
---- a/src/third_party/glog/src/config.h
-+++ b/src/third_party/glog/src/config.h
-@@ -4,6 +4,8 @@
- /* Namespace for Google classes */
- #ifdef __APPLE__
-  #include "config_mac.h"
-+#elif __MINGW32__
-+ #include "windows/config.h"
- #elif __GNUC__
-  #include "config_linux.h"
- #elif _MSC_VER
-diff --git a/src/third_party/glog/src/utilities.h b/src/third_party/glog/src/utilities.h
-index ee54f94..c4ae256 100644
---- a/src/third_party/glog/src/utilities.h
-+++ b/src/third_party/glog/src/utilities.h
-@@ -101,7 +101,9 @@
- // correctly when GetStackTrace() is called with max_depth == 0.
- // Some code may do that.
- 
--#if defined(HAVE_LIB_UNWIND)
-+#if __MINGW32__
-+# undef STACKTRACE_H
-+#elif defined(HAVE_LIB_UNWIND)
- # define STACKTRACE_H "stacktrace_libunwind-inl.h"
- #elif !defined(NO_FRAME_POINTER)
- # if defined(__i386__) && __GNUC__ >= 2
-diff --git a/src/third_party/glog/src/windows/glog/logging.h b/src/third_party/glog/src/windows/glog/logging.h
-index 7a6df74..4257375 100755
---- a/src/third_party/glog/src/windows/glog/logging.h
-+++ b/src/third_party/glog/src/windows/glog/logging.h
-@@ -59,7 +59,7 @@
- 
- // Annoying stuff for windows -- makes sure clients can import these functions
- #ifndef GOOGLE_GLOG_DLL_DECL
--# if defined(_WIN32) && !defined(__CYGWIN__)
-+# if defined(_WIN32) && !defined(__CYGWIN__) && !defined(__MINGW32__)
- #   define GOOGLE_GLOG_DLL_DECL  __declspec(dllimport)
- # else
- #   define GOOGLE_GLOG_DLL_DECL
-@@ -86,6 +86,15 @@
- #include <gflags/gflags.h>
- #endif
- 
-+#ifdef __MINGW32__
-+#  include <stdlib.h>
-+#  include <unistd.h>
-+#  include <stdint.h>             // the normal place uint16_t is defined
-+#  include <sys/types.h>          // the normal place u_int16_t is defined
-+#  include <inttypes.h>           // a third place for uint16_t or u_int16_t
-+#  define _exit(x) exit(x)
-+#endif
-+
- namespace google {
- 
- #if 0      // the C99 format
-@@ -98,11 +107,16 @@ typedef int32_t int32;
- typedef u_int32_t uint32;
- typedef int64_t int64;
- typedef u_int64_t uint64;
--#elif 1    // the windows (vc7) format
-+#elif defined(_MSC_VER)
- typedef __int32 int32;
- typedef unsigned __int32 uint32;
- typedef __int64 int64;
- typedef unsigned __int64 uint64;
-+#elif defined(__MINGW32__)
-+typedef int32_t int32;
-+typedef uint32_t uint32;
-+typedef int64_t int64;
-+typedef uint64_t uint64;
- #else
- #error Do not know how to define a 32-bit integer quantity on your system
- #endif
-diff --git a/src/third_party/glog/src/windows/port.h b/src/third_party/glog/src/windows/port.h
-index d093bf5..d507812 100755
---- a/src/third_party/glog/src/windows/port.h
-+++ b/src/third_party/glog/src/windows/port.h
-@@ -59,14 +59,16 @@
-  * used by both C and C++ code, so we put all the C++ together.
-  */
- 
--/* 4244: otherwise we get problems when substracting two size_t's to an int
-- * 4251: it's complaining about a private struct I've chosen not to dllexport
-- * 4355: we use this in a constructor, but we do it safely
-- * 4715: for some reason VC++ stopped realizing you can't return after abort()
-- * 4800: we know we're casting ints/char*'s to bools, and we're ok with that
-- * 4996: Yes, we're ok using "unsafe" functions like fopen() and strerror()
-- */
--#pragma warning(disable:4244 4251 4355 4715 4800 4996)
-+#if _MSC_VER
-+ /* 4244: otherwise we get problems when substracting two size_t's to an int
-+  * 4251: it's complaining about a private struct I've chosen not to dllexport
-+  * 4355: we use this in a constructor, but we do it safely
-+  * 4715: for some reason VC++ stopped realizing you can't return after abort()
-+  * 4800: we know we're casting ints/char*'s to bools, and we're ok with that
-+  * 4996: Yes, we're ok using "unsafe" functions like fopen() and strerror()
-+  */
-+# pragma warning(disable:4244 4251 4355 4715 4800 4996)
-+#endif
- 
- /* file I/O */
- #define PATH_MAX 1024
-@@ -108,7 +110,9 @@ extern int snprintf(char *str, size_t size,
- extern int safe_vsnprintf(char *str, size_t size,
-                           const char *format, va_list ap);
- #define vsnprintf(str, size, format, ap)  safe_vsnprintf(str, size, format, ap)
-+#if !defined(__MINGW32__)
- #define va_copy(dst, src)  (dst) = (src)
-+#endif
- 
- /* Windows doesn't support specifying the number of buckets as a
-  * hash_map constructor arg, so we leave this blank.
-@@ -130,13 +134,30 @@ enum { PTHREAD_ONCE_INIT = 0 };   // important that this be 0! for SpinLock
- #define pthread_equal(pthread_t_1, pthread_t_2)  ((pthread_t_1)==(pthread_t_2))
- 
- inline struct tm* localtime_r(const time_t* timep, struct tm* result) {
-+#if __MINGW32__
-+   struct tm *local_result;
-+   local_result = localtime (timep);
-+
-+   if (local_result == NULL || result == NULL)
-+     return NULL;
-+
-+   memcpy (result, local_result, sizeof (result));
-+
-+   return result;
-+#else
-   localtime_s(result, timep);
-   return result;
-+#endif
- }
- 
- inline char* strerror_r(int errnum, char* buf, size_t buflen) {
-+#if __MINGW32__
-+  strncpy(buf, "Not implemented yet", buflen);
-+  return buf;
-+#else
-   strerror_s(buf, buflen, errnum);
-   return buf;
-+#endif
- }
- 
- #ifndef __cplusplus
diff --git a/extern/libmv/patches/msvc2010.patch b/extern/libmv/patches/msvc2010.patch
deleted file mode 100644
index c090b070628..00000000000
--- a/extern/libmv/patches/msvc2010.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/src/libmv/simple_pipeline/tracks.cc b/src/libmv/simple_pipeline/tracks.cc
-index 0e2a1b6..3fb8ddb 100644
---- a/src/libmv/simple_pipeline/tracks.cc
-+++ b/src/libmv/simple_pipeline/tracks.cc
-@@ -20,6 +20,7 @@
- 
- #include <algorithm>
- #include <vector>
-+#include <iterator>
- 
- #include "libmv/numeric/numeric.h"
- #include "libmv/simple_pipeline/tracks.h"
diff --git a/extern/libmv/patches/overscan.patch b/extern/libmv/patches/overscan.patch
deleted file mode 100644
index c68f36804ec..00000000000
--- a/extern/libmv/patches/overscan.patch
+++ /dev/null
@@ -1,182 +0,0 @@
-diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc
-index 110a16d..366129d 100644
---- a/src/libmv/simple_pipeline/camera_intrinsics.cc
-+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc
-@@ -31,6 +31,7 @@ struct Offset {
- struct Grid {
-   struct Offset *offset;
-   int width, height;
-+  double overscan;
- };
- 
- static struct Grid *copyGrid(struct Grid *from)
-@@ -42,6 +43,7 @@ static struct Grid *copyGrid(struct Grid *from)
- 
-     to->width = from->width;
-     to->height = from->height;
-+    to->overscan = from->overscan;
- 
-     to->offset = new Offset[to->width*to->height];
-     memcpy(to->offset, from->offset, sizeof(struct Offset)*to->width*to->height);
-@@ -184,17 +186,19 @@ void CameraIntrinsics::InvertIntrinsics(double image_x,
- 
- // TODO(MatthiasF): downsample lookup
- template<typename WarpFunction>
--void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height) {
--  double aspx = (double)width / image_width_;
--  double aspy = (double)height / image_height_;
-+void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height, double overscan) {
-+  double w = (double)width / (1 + overscan);
-+  double h = (double)height / (1 + overscan);
-+  double aspx = (double)w / image_width_;
-+  double aspy = (double)h / image_height_;
- 
-   for (int y = 0; y < height; y++) {
-     for (int x = 0; x < width; x++) {
--      double src_x = x / aspx, src_y = y / aspy;
-+      double src_x = (x - 0.5 * overscan * w) / aspx, src_y = (y - 0.5 * overscan * h) / aspy;
-       double warp_x, warp_y;
-       WarpFunction(this,src_x,src_y,&warp_x,&warp_y);
--      warp_x = warp_x*aspx;
--      warp_y = warp_y*aspy;
-+      warp_x = warp_x*aspx + 0.5 * overscan * w;
-+      warp_y = warp_y*aspy + 0.5 * overscan * h;
-       int ix = int(warp_x), iy = int(warp_y);
-       int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256);
-       if(fx == 256) { fx=0; ix++; }
-@@ -264,10 +268,10 @@ struct InvertIntrinsicsFunction {
-   }
- };
- 
--void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
-+void CameraIntrinsics::CheckDistortLookupGrid(int width, int height, double overscan)
- {
-   if(distort_) {
--    if(distort_->width != width || distort_->height != height) {
-+    if(distort_->width != width || distort_->height != height || distort_->overscan != overscan) {
-       delete [] distort_->offset;
-       distort_->offset = NULL;
-     }
-@@ -278,17 +282,18 @@ void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
- 
-   if(!distort_->offset) {
-       distort_->offset = new Offset[width*height];
--      ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
-+      ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height,overscan);
-   }
- 
-   distort_->width = width;
-   distort_->height = height;
-+  distort_->overscan = overscan;
- }
- 
--void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
-+void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height, double overscan)
- {
-   if(undistort_) {
--    if(undistort_->width != width || undistort_->height != height) {
-+    if(undistort_->width != width || undistort_->height != height || undistort_->overscan != overscan) {
-       delete [] undistort_->offset;
-       undistort_->offset = NULL;
-     }
-@@ -299,15 +304,16 @@ void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
- 
-   if(!undistort_->offset) {
-       undistort_->offset = new Offset[width*height];
--      ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
-+      ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height,overscan);
-   }
- 
-   undistort_->width = width;
-   undistort_->height = height;
-+  undistort_->overscan = overscan;
- }
- 
--void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
--  CheckDistortLookupGrid(width, height);
-+void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, double overscan, int channels) {
-+  CheckDistortLookupGrid(width, height, overscan);
-        if(channels==1) Warp<float,1>(distort_,src,dst,width,height);
-   else if(channels==2) Warp<float,2>(distort_,src,dst,width,height);
-   else if(channels==3) Warp<float,3>(distort_,src,dst,width,height);
-@@ -315,8 +321,8 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig
-   //else assert("channels must be between 1 and 4");
- }
- 
--void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
--  CheckDistortLookupGrid(width, height);
-+void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) {
-+  CheckDistortLookupGrid(width, height, overscan);
-        if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height);
-   else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height);
-   else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height);
-@@ -324,8 +330,8 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int
-   //else assert("channels must be between 1 and 4");
- }
- 
--void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, int channels) {
--  CheckUndistortLookupGrid(width, height);
-+void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, double overscan, int channels) {
-+  CheckUndistortLookupGrid(width, height, overscan);
-        if(channels==1) Warp<float,1>(undistort_,src,dst,width,height);
-   else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height);
-   else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height);
-@@ -333,8 +339,8 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he
-   //else assert("channels must be between 1 and 4");
- }
- 
--void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
--  CheckUndistortLookupGrid(width, height);
-+void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) {
-+  CheckUndistortLookupGrid(width, height, overscan);
-        if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height);
-   else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height);
-   else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height);
-diff --git a/src/libmv/simple_pipeline/camera_intrinsics.h b/src/libmv/simple_pipeline/camera_intrinsics.h
-index f525571..f4bf903 100644
---- a/src/libmv/simple_pipeline/camera_intrinsics.h
-+++ b/src/libmv/simple_pipeline/camera_intrinsics.h
-@@ -91,7 +91,7 @@ class CameraIntrinsics {
-       \note This is the reference implementation using floating point images.
-   */
-   void Distort(const float* src, float* dst,
--               int width, int height, int channels);
-+               int width, int height, double overscan, int channels);
-   /*!
-       Distort an image using the current camera instrinsics
- 
-@@ -101,7 +101,7 @@ class CameraIntrinsics {
-       \note This version is much faster.
-   */
-   void Distort(const unsigned char* src, unsigned char* dst,
--               int width, int height, int channels);
-+               int width, int height, double overscan, int channels);
-   /*!
-       Undistort an image using the current camera instrinsics
- 
-@@ -111,7 +111,7 @@ class CameraIntrinsics {
-       \note This is the reference implementation using floating point images.
-   */
-   void Undistort(const float* src, float* dst,
--                 int width, int height, int channels);
-+                 int width, int height, double overscan, int channels);
-   /*!
-       Undistort an image using the current camera instrinsics
- 
-@@ -121,12 +121,12 @@ class CameraIntrinsics {
-       \note This version is much faster.
-   */
-   void Undistort(const unsigned char* src, unsigned char* dst,
--                 int width, int height, int channels);
-+                 int width, int height, double overscan, int channels);
- 
-  private:
--  template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height);
--  void CheckUndistortLookupGrid(int width, int height);
--  void CheckDistortLookupGrid(int width, int height);
-+  template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height, double overscan);
-+  void CheckUndistortLookupGrid(int width, int height, double overscan);
-+  void CheckDistortLookupGrid(int width, int height, double overscan);
-   void FreeLookupGrid();
- 
-   // The traditional intrinsics matrix from x = K[R|t]X.
diff --git a/extern/libmv/patches/scaled_distortion.patch b/extern/libmv/patches/scaled_distortion.patch
deleted file mode 100644
index 2da832931d1..00000000000
--- a/extern/libmv/patches/scaled_distortion.patch
+++ /dev/null
@@ -1,261 +0,0 @@
-diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc
-index f9888ff..110a16d 100644
---- a/src/libmv/simple_pipeline/camera_intrinsics.cc
-+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc
-@@ -23,7 +23,32 @@
- 
- namespace libmv {
- 
--struct Offset { signed char ix,iy; unsigned char fx,fy; };
-+struct Offset {
-+  signed char ix, iy;
-+  unsigned char fx,fy;
-+};
-+
-+struct Grid {
-+  struct Offset *offset;
-+  int width, height;
-+};
-+
-+static struct Grid *copyGrid(struct Grid *from)
-+{
-+  struct Grid *to = NULL;
-+
-+  if (from) {
-+    to = new Grid;
-+
-+    to->width = from->width;
-+    to->height = from->height;
-+
-+    to->offset = new Offset[to->width*to->height];
-+    memcpy(to->offset, from->offset, sizeof(struct Offset)*to->width*to->height);
-+  }
-+
-+  return to;
-+}
- 
- CameraIntrinsics::CameraIntrinsics()
-     : K_(Mat3::Identity()),
-@@ -37,9 +62,22 @@ CameraIntrinsics::CameraIntrinsics()
-       distort_(0),
-       undistort_(0) {}
- 
-+CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics &from)
-+    : K_(from.K_),
-+      image_width_(from.image_width_),
-+      image_height_(from.image_height_),
-+      k1_(from.k1_),
-+      k2_(from.k2_),
-+      k3_(from.k3_),
-+      p1_(from.p1_),
-+      p2_(from.p2_)
-+{
-+  distort_ = copyGrid(from.distort_);
-+  undistort_ = copyGrid(from.undistort_);
-+}
-+
- CameraIntrinsics::~CameraIntrinsics() {
--  if(distort_) delete[] distort_;
--  if(undistort_) delete[] undistort_;
-+  FreeLookupGrid();
- }
- 
- /// Set the entire calibration matrix at once.
-@@ -146,11 +184,17 @@ void CameraIntrinsics::InvertIntrinsics(double image_x,
- 
- // TODO(MatthiasF): downsample lookup
- template<typename WarpFunction>
--void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
-+void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height) {
-+  double aspx = (double)width / image_width_;
-+  double aspy = (double)height / image_height_;
-+
-   for (int y = 0; y < height; y++) {
-     for (int x = 0; x < width; x++) {
-+      double src_x = x / aspx, src_y = y / aspy;
-       double warp_x, warp_y;
--      WarpFunction(this,x,y,&warp_x,&warp_y);
-+      WarpFunction(this,src_x,src_y,&warp_x,&warp_y);
-+      warp_x = warp_x*aspx;
-+      warp_y = warp_y*aspy;
-       int ix = int(warp_x), iy = int(warp_y);
-       int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256);
-       if(fx == 256) { fx=0; ix++; }
-@@ -162,10 +206,10 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
-       if( iy >= height-2 ) iy = height-2;
-       if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) {
-         Offset offset = { ix-x, iy-y, fx, fy };
--        grid[y*width+x] = offset;
-+        grid->offset[y*width+x] = offset;
-       } else {
-         Offset offset = { 0, 0, 0, 0 };
--        grid[y*width+x] = offset;
-+        grid->offset[y*width+x] = offset;
-       }
-     }
-   }
-@@ -173,11 +217,11 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
- 
- // TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup
- template<typename T,int N>
--static void Warp(const Offset* grid, const T* src, T* dst,
-+static void Warp(const Grid* grid, const T* src, T* dst,
-                  int width, int height) {
-   for (int y = 0; y < height; y++) {
-     for (int x = 0; x < width; x++) {
--      Offset offset = grid[y*width+x];
-+      Offset offset = grid->offset[y*width+x];
-       const T* s = &src[((y+offset.iy)*width+(x+offset.ix))*N];
-       for (int i = 0; i < N; i++) {
-         dst[(y*width+x)*N+i] = ((s[        i] * (256-offset.fx) + s[        N+i] * offset.fx) * (256-offset.fy)
-@@ -188,8 +232,17 @@ static void Warp(const Offset* grid, const T* src, T* dst,
- }
- 
- void CameraIntrinsics::FreeLookupGrid() {
--  if(distort_) delete distort_, distort_=0;
--  if(undistort_) delete undistort_, undistort_=0;
-+  if(distort_) {
-+    delete distort_->offset;
-+    delete distort_;
-+    distort_ = NULL;
-+  }
-+
-+  if(undistort_) {
-+    delete undistort_->offset;
-+    delete undistort_;
-+    undistort_ = NULL;
-+  }
- }
- 
- // FIXME: C++ templates limitations makes thing complicated, but maybe there is a simpler method.
-@@ -211,11 +264,50 @@ struct InvertIntrinsicsFunction {
-   }
- };
- 
--void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
--  if(!distort_) {
--    distort_ = new Offset[width*height];
--    ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
-+void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
-+{
-+  if(distort_) {
-+    if(distort_->width != width || distort_->height != height) {
-+      delete [] distort_->offset;
-+      distort_->offset = NULL;
-+    }
-+  } else {
-+    distort_ = new Grid;
-+    distort_->offset = NULL;
-+  }
-+
-+  if(!distort_->offset) {
-+      distort_->offset = new Offset[width*height];
-+      ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
-   }
-+
-+  distort_->width = width;
-+  distort_->height = height;
-+}
-+
-+void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
-+{
-+  if(undistort_) {
-+    if(undistort_->width != width || undistort_->height != height) {
-+      delete [] undistort_->offset;
-+      undistort_->offset = NULL;
-+    }
-+  } else {
-+    undistort_ = new Grid;
-+    undistort_->offset = NULL;
-+  }
-+
-+  if(!undistort_->offset) {
-+      undistort_->offset = new Offset[width*height];
-+      ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
-+  }
-+
-+  undistort_->width = width;
-+  undistort_->height = height;
-+}
-+
-+void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
-+  CheckDistortLookupGrid(width, height);
-        if(channels==1) Warp<float,1>(distort_,src,dst,width,height);
-   else if(channels==2) Warp<float,2>(distort_,src,dst,width,height);
-   else if(channels==3) Warp<float,3>(distort_,src,dst,width,height);
-@@ -224,10 +316,7 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig
- }
- 
- void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
--  if(!distort_) {
--    distort_ = new Offset[width*height];
--    ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
--  }
-+  CheckDistortLookupGrid(width, height);
-        if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height);
-   else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height);
-   else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height);
-@@ -236,10 +325,7 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int
- }
- 
- void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, int channels) {
--  if(!undistort_) {
--    undistort_ = new Offset[width*height];
--    ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
--  }
-+  CheckUndistortLookupGrid(width, height);
-        if(channels==1) Warp<float,1>(undistort_,src,dst,width,height);
-   else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height);
-   else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height);
-@@ -248,10 +334,7 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he
- }
- 
- void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
--  if(!undistort_) {
--    undistort_ = new Offset[width*height];
--    ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
--  }
-+  CheckUndistortLookupGrid(width, height);
-        if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height);
-   else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height);
-   else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height);
-diff --git a/src/libmv/simple_pipeline/camera_intrinsics.h b/src/libmv/simple_pipeline/camera_intrinsics.h
-index 29bc8a1..f525571 100644
---- a/src/libmv/simple_pipeline/camera_intrinsics.h
-+++ b/src/libmv/simple_pipeline/camera_intrinsics.h
-@@ -26,11 +26,12 @@ typedef Eigen::Matrix<double, 3, 3> Mat3;
- 
- namespace libmv {
- 
--struct Offset;
-+struct Grid;
- 
- class CameraIntrinsics {
-  public:
-   CameraIntrinsics();
-+  CameraIntrinsics(const CameraIntrinsics &from);
-   ~CameraIntrinsics();
- 
-   const Mat3 &K()                 const { return K_;            }
-@@ -123,7 +124,9 @@ class CameraIntrinsics {
-                  int width, int height, int channels);
- 
-  private:
--  template<typename WarpFunction> void ComputeLookupGrid(Offset* grid, int width, int height);
-+  template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height);
-+  void CheckUndistortLookupGrid(int width, int height);
-+  void CheckDistortLookupGrid(int width, int height);
-   void FreeLookupGrid();
- 
-   // The traditional intrinsics matrix from x = K[R|t]X.
-@@ -140,8 +143,8 @@ class CameraIntrinsics {
-   // independent of image size.
-   double k1_, k2_, k3_, p1_, p2_;
- 
--  Offset* distort_;
--  Offset* undistort_;
-+  struct Grid *distort_;
-+  struct Grid *undistort_;
- };
- 
- }  // namespace libmv
diff --git a/extern/libmv/patches/series b/extern/libmv/patches/series
index 00a52c1cfaa..ca671122a61 100644
--- a/extern/libmv/patches/series
+++ b/extern/libmv/patches/series
@@ -1,13 +1,2 @@
 v3d_verbosity.patch
-snrptinf_fix.patch
 bundle_tweaks.patch
-fast.patch
-config_mac.patch
-levenberg_marquardt.patch
-function_derivative.patch
-high_distortion_crash_fix.patch
-mingw.patch
-msvc2010.patch
-scaled_distortion.patch
-overscan.patch
-detect.patch
diff --git a/extern/libmv/patches/snrptinf_fix.patch b/extern/libmv/patches/snrptinf_fix.patch
deleted file mode 100644
index e886a671de0..00000000000
--- a/extern/libmv/patches/snrptinf_fix.patch
+++ /dev/null
@@ -1,15 +0,0 @@
-diff --git a/src/libmv/simple_pipeline/pipeline.cc b/src/libmv/simple_pipeline/pipeline.cc
-index 652d70c..25cd2c2 100644
---- a/src/libmv/simple_pipeline/pipeline.cc
-+++ b/src/libmv/simple_pipeline/pipeline.cc
-@@ -28,6 +28,10 @@
- #include "libmv/simple_pipeline/tracks.h"
- #include "libmv/simple_pipeline/camera_intrinsics.h"
- 
-+#ifdef _MSC_VER
-+#  define snprintf _snprintf
-+#endif
-+
- namespace libmv {
- 
- void CompleteReconstruction(const Tracks &tracks,
diff --git a/extern/libmv/patches/v3d_verbosity.patch b/extern/libmv/patches/v3d_verbosity.patch
index a54f3dc44be..f5c6afbd0b5 100644
--- a/extern/libmv/patches/v3d_verbosity.patch
+++ b/extern/libmv/patches/v3d_verbosity.patch
@@ -1,12 +1,12 @@
 diff --git a/src/libmv/simple_pipeline/bundle.cc b/src/libmv/simple_pipeline/bundle.cc
-index 310660d..f819603 100644
+index fa0b6cc..d382cd5 100644
 --- a/src/libmv/simple_pipeline/bundle.cc
 +++ b/src/libmv/simple_pipeline/bundle.cc
-@@ -141,7 +141,6 @@ void Bundle(const Tracks &tracks, Reconstruction *reconstruction) {
-   v3d_distortion.p2 = 0;
+@@ -194,7 +194,6 @@ void EuclideanBundleCommonIntrinsics(const Tracks &tracks,
+   double v3d_inlier_threshold = 500000.0;
  
    // Finally, run the bundle adjustment.
 -  V3D::optimizerVerbosenessLevel = 1;
-   double const inlierThreshold = 500000.0;
-   V3D::CommonInternalsMetricBundleOptimizer opt(V3D::FULL_BUNDLE_METRIC,
-                                                 inlierThreshold,
+   V3D::CommonInternalsMetricBundleOptimizer opt(v3d_bundle_intrinsics,
+                                                 v3d_inlier_threshold,
+                                                 v3d_K,