libmv: bundle new upstream version of libmv from own branch

Added modal solver module which is needed for tripod solving.
For details of this solver read changelog of libmv.

extern/libmv/CMakeLists.txt

@@ -69,6 +69,7 @@ set(SRC
 	libmv/simple_pipeline/detect.cc
 	libmv/simple_pipeline/initialize_reconstruction.cc
 	libmv/simple_pipeline/intersect.cc
+	libmv/simple_pipeline/modal_solver.cc
 	libmv/simple_pipeline/pipeline.cc
 	libmv/simple_pipeline/reconstruction.cc
 	libmv/simple_pipeline/resect.cc
@@ -126,6 +127,7 @@ set(SRC
 	libmv/simple_pipeline/detect.h
 	libmv/simple_pipeline/initialize_reconstruction.h
 	libmv/simple_pipeline/intersect.h
+	libmv/simple_pipeline/modal_solver.h
 	libmv/simple_pipeline/pipeline.h
 	libmv/simple_pipeline/reconstruction.h
 	libmv/simple_pipeline/resect.h

extern/libmv/ChangeLog

@@ -1,3 +1,16 @@
+commit a44312a7beb2963b8e3bf8015c516d2eff40cc3d
+Author: Sergey Sharybin <sergey.vfx@gmail.com>
+Date:   Thu Apr 12 13:56:02 2012 +0600
+
+    Added solver for modal camera motion, currently supports only tripod solving
+    
+    This solver is intended to deal with such camera motions as tripod and panning,
+    where it's impossible to reconstruct exact position of markers in 3d view.
+    
+    It projects markers onto sphere and uses rigid registration of rotation to
+    find rotation angles which makes bundles from previous and current frame be
+    as closest as it's possible.
+
 commit fa3842e472e3b9c789e47bf6d8f592aa40a84f16
 Author: Sergey Sharybin <sergey.vfx@gmail.com>
 Date:   Thu Apr 12 12:32:48 2012 +0600
@@ -520,9 +533,3 @@ Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
 Date:   Fri Aug 19 16:04:37 2011 +0200
 
     MSVC compatibility: heap allocate pattern, explicit float cast.
-
-commit 702658d2f8616964a6eeb3743fd85e97ac7ff09d
-Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
-Date:   Fri Aug 19 14:59:24 2011 +0200
-
-    Expose regularization parameters (areaPenalty and conditionPenalty) in API.

extern/libmv/files.txt

@@ -42,6 +42,8 @@ libmv/simple_pipeline/initialize_reconstruction.cc
 libmv/simple_pipeline/initialize_reconstruction.h
 libmv/simple_pipeline/intersect.cc
 libmv/simple_pipeline/intersect.h
+libmv/simple_pipeline/modal_solver.cc
+libmv/simple_pipeline/modal_solver.h
 libmv/simple_pipeline/pipeline.cc
 libmv/simple_pipeline/pipeline.h
 libmv/simple_pipeline/reconstruction.cc

extern/libmv/libmv/simple_pipeline/modal_solver.cc

@@ -0,0 +1,130 @@
+// Copyright (c) 2012 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.
+
+#include <cstdio>
+
+#include "libmv/logging/logging.h"
+#include "libmv/simple_pipeline/modal_solver.h"
+#include "libmv/simple_pipeline/rigid_registration.h"
+
+#ifdef _MSC_VER
+#  define snprintf _snprintf
+#endif
+
+namespace libmv {
+
+static void ProjectMarkerOnSphere(Marker &marker, Vec3 &X) {
+  X(0) = marker.x;
+  X(1) = marker.y;
+  X(2) = 1.0;
+
+  X *= 5.0 / X.norm();
+}
+
+static void ModalSolverLogProress(ProgressUpdateCallback *update_callback,
+    double progress)
+{
+  if (update_callback) {
+    char message[256];
+
+    snprintf(message, sizeof(message), "Solving progress %d%%", (int)(progress * 100));
+
+    update_callback->invoke(progress, message);
+  }
+}
+
+void ModalSolver(Tracks &tracks,
+                 EuclideanReconstruction *reconstruction,
+                 ProgressUpdateCallback *update_callback) {
+  int max_image = tracks.MaxImage();
+  int max_track = tracks.MaxTrack();
+
+  LG << "Max image: " << max_image;
+  LG << "Max track: " << max_track;
+
+  Mat3 R = Mat3::Identity();
+
+  for (int image = 0; image <= max_image; ++image) {
+    vector<Marker> all_markers = tracks.MarkersInImage(image);
+
+    ModalSolverLogProress(update_callback, (float) image / max_image);
+
+    // Skip empty frames without doing anything
+    if (all_markers.size() == 0) {
+      LG << "Skipping frame: " << image;
+      continue;
+    }
+
+    vector<Vec3> points, reference_points;
+
+    // Cnstruct pairs of markers from current and previous image,
+    // to reproject them and find rigid transformation between
+    // previous and current image
+    for (int track = 0; track <= max_track; ++track) {
+      EuclideanPoint *point = reconstruction->PointForTrack(track);
+
+      if (point) {
+        Marker marker = tracks.MarkerInImageForTrack(image, track);
+
+        if (marker.image == image) {
+          Vec3 X;
+
+          LG << "Use track " << track << " for rigid registration between image " <<
+            image - 1 << " and " << image;
+
+          ProjectMarkerOnSphere(marker, X);
+
+          points.push_back(R * point->X);
+          reference_points.push_back(X);
+        }
+      }
+    }
+
+    if (points.size()) {
+      Mat3 dR = Mat3::Identity();
+
+      // Find rigid delta transformation from previous image to current image
+      RigidRegistration(reference_points, points, dR);
+
+      R *= dR;
+    }
+
+    reconstruction->InsertCamera(image, R, Vec3::Zero());
+
+    // Review if there's new tracks for which position might be reconstructed
+    for (int track = 0; track <= max_track; ++track) {
+      if (!reconstruction->PointForTrack(track)) {
+        Marker marker = tracks.MarkerInImageForTrack(image, track);
+
+        if (marker.image == image) {
+          // New track appeared on this image, project it's position onto sphere
+
+          LG << "Projecting track " << track << " at image " << image;
+
+          Vec3 X;
+          ProjectMarkerOnSphere(marker, X);
+          reconstruction->InsertPoint(track, R.inverse() * X);
+        }
+      }
+    }
+  }
+}
+
+}  // namespace libmv

extern/libmv/libmv/simple_pipeline/modal_solver.h

@@ -0,0 +1,48 @@
+// Copyright (c) 2012 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_MODAL_SOLVER_H_
+#define LIBMV_SIMPLE_PIPELINE_MODAL_SOLVER_H_
+
+#include "libmv/simple_pipeline/tracks.h"
+#include "libmv/simple_pipeline/reconstruction.h"
+#include "libmv/simple_pipeline/callbacks.h"
+
+namespace libmv {
+
+/*!
+    This solver solves such camera motion as tripod rotation, reconstructing
+    only camera motion itself. Bundles are not reconstructing properly, they're
+    just getting projected onto sphere.
+
+    Markers from tracks object would be used for recosntruction, and algorithm
+    assumes thir's positions are undistorted already and they're in nnormalized
+    space.
+
+    Reconstructed cameras and projected bundles would be added to reconstruction
+    object.
+*/
+void ModalSolver(Tracks &tracks,
+                 EuclideanReconstruction *reconstruction,
+                 ProgressUpdateCallback *update_callback = NULL);
+
+}  // namespace libmv
+
+#endif  // LIBMV_SIMPLE_PIPELINE_MODAL_SOLVER_H_