Add an executable for localizing multiple images (openMVG#629)

* extend the binary for localization of multiple images
* apply PR review corrections
* update documentation

docs/sphinx/rst/software/localization/localization.rst

@@ -2,7 +2,7 @@
 Localization
 ***************************
 
-This module provide tools to localize an image into an existing Structure from Motion scene.
+This module provide tools to localize images into an existing Structure from Motion scene.
 
 openMVG_main_SfM_Localization
 ==============================
@@ -21,10 +21,16 @@ Arguments description:
 
   - **[-o|--out_dir]** path to save the found camera position
 
+  - **[-q|--query_image_dir]** path to an image OR to the directory containing the images that must be localized 
+    (the directory can also contain the images from the initial reconstruction)
+
 **Optional parameters:**
 
-  - **[-q|--query_image]** The query image to locate
   - **[-r|--residual_error]** upper bound of the residual error tolerance
+  - **[-s|--single_intrinsics]** (switch) when switched on, the program will check if the input sfm_data 
+    contains a single intrinsics and, if so, take this value as intrinsics for the query images.
+    (OFF by default)
+
 .. code-block:: c++
 
   // Example

src/software/Localization/CMakeLists.txt

@@ -16,4 +16,3 @@ TARGET_LINK_LIBRARIES(openMVG_main_SfM_Localization
 # Installation rules
 SET_PROPERTY(TARGET openMVG_main_SfM_Localization PROPERTY FOLDER OpenMVG/software)
 INSTALL(TARGETS openMVG_main_SfM_Localization DESTINATION bin/)
-