Factor out some params used by jitter solving and bundle adjustment

src/asp/Camera/BundleAdjustCamera.h

@@ -83,14 +83,17 @@ struct BaBaseOptions: public vw::GdalWriteOptions {
     ip_edge_buffer_percent, max_num_reference_points, num_passes;
   bool have_overlap_list;
   std::set<std::pair<std::string, std::string>> overlap_list;
-  std::string overlap_list_file, auto_overlap_params, datum_str, proj_str;
+  std::string overlap_list_file, auto_overlap_params, datum_str, proj_str,
+    csv_format_str, csv_srs, csv_proj4_str, disparity_list;
   bool match_first_to_last, single_threaded_cameras, 
     update_isis_cubes_with_csm_state;
-  double min_triangulation_angle, max_init_reproj_error, robust_threshold, parameter_tolerance;
+  double forced_triangulation_distance, min_triangulation_angle, max_init_reproj_error, 
+    robust_threshold, parameter_tolerance;
   double heights_from_dem_uncertainty, reference_terrain_weight, 
     heights_from_dem_robust_threshold, camera_weight, rotation_weight, 
     camera_position_weight, camera_position_robust_threshold,
-    tri_weight, tri_robust_threshold, camera_position_uncertainty_power;
+    tri_weight, tri_robust_threshold, camera_position_uncertainty_power,
+    max_disp_error;
   std::vector<vw::Vector2> camera_position_uncertainty;    
   vw::Vector<double, 4> remove_outliers_params;
   BACameraType camera_type;
@@ -100,16 +103,18 @@ struct BaBaseOptions: public vw::GdalWriteOptions {
   vw::cartography::Datum datum;
   vw::BBox2 proj_win; // Limit input triangulated points to this projwin
 
-  BaBaseOptions(): min_triangulation_angle(0.0), camera_position_weight(0.0),
-                   camera_position_robust_threshold(0.0), camera_weight(-1.0),
-                   rotation_weight(0.0), tri_weight(0.0),
-                   robust_threshold(0.0), min_matches(0),
-                   num_iterations(0), num_passes(0), 
-                   overlap_limit(0), have_overlap_list(false),
-                   camera_type(BaCameraType_Other), max_num_reference_points(-1),
-                   datum(vw::cartography::Datum(asp::UNSPECIFIED_DATUM, 
-                                                "User Specified Spheroid",
-                                                "Reference Meridian", 1, 1, 0)) {}
+  BaBaseOptions(): 
+   forced_triangulation_distance(-1), 
+   min_triangulation_angle(0.0), camera_position_weight(0.0),
+   camera_position_robust_threshold(0.0), camera_weight(-1.0),
+   rotation_weight(0.0), tri_weight(0.0),
+   robust_threshold(0.0), min_matches(0),
+   num_iterations(0), num_passes(0), 
+   overlap_limit(0), have_overlap_list(false),
+   camera_type(BaCameraType_Other), max_num_reference_points(-1),
+   datum(vw::cartography::Datum(asp::UNSPECIFIED_DATUM, 
+                                "User Specified Spheroid",
+                                "Reference Meridian", 1, 1, 0)) {}
 };
 
 // A structure to hold percentiles of given sorted values. This sorts the inputs.

src/asp/Camera/BundleAdjustCostFuns.cc

@@ -662,8 +662,10 @@ void add_disparity_residual_block(vw::Vector3 const& reference_xyz,
                                         residual_ptrs);
  if (opt.camera_type == asp::BaCameraType_Other) {
 
-    boost::shared_ptr<CeresBundleModelBase> left_wrapper (new AdjustedCameraBundleModel(left_camera_model ));
-    boost::shared_ptr<CeresBundleModelBase> right_wrapper(new AdjustedCameraBundleModel(right_camera_model));
+    boost::shared_ptr<CeresBundleModelBase> 
+      left_wrapper (new AdjustedCameraBundleModel(left_camera_model));
+    boost::shared_ptr<CeresBundleModelBase> 
+      right_wrapper(new AdjustedCameraBundleModel(right_camera_model));
     ceres::CostFunction* cost_function =
       BaDispXyzError::Create(opt.max_disp_error, opt.reference_terrain_weight,
         reference_xyz, interp_disp, left_wrapper, right_wrapper,
@@ -913,7 +915,7 @@ void addTriConstraint(asp::BaOptions           const& opt,
 // stereo with the option --unalign-disparity. If there are n images, there must
 // be n-1 disparities, from each image to the next.
 void addReferenceTerrainCostFunction(
-         asp::BaOptions      & opt,
+         asp::BaOptions  & opt,
          asp::BAParams       & param_storage, 
          ceres::Problem      & problem,
          std::vector<vw::Vector3> & reference_vec,
@@ -1010,7 +1012,7 @@ void addReferenceTerrainCostFunction(
 
       // Call function to select the appropriate Ceres residual block to add.
       add_disparity_residual_block(reference_xyz, interp_disp[icam],
-                                    icam, icam+1, // left icam and right icam
+                                    icam, icam + 1, // left icam and right icam
                                     param_storage, opt, problem);
     }
     tpc.report_incremental_progress(inc_amount);

src/asp/Camera/BundleAdjustCostFuns.h

@@ -433,22 +433,6 @@ struct RotTransError {
 /// From the input options select the correct Ceres loss function.
 ceres::LossFunction* get_loss_function(std::string const& cost_function, double th);
 
-/// Add error source for projecting a 3D point into the camera.
-void add_reprojection_residual_block(vw::Vector2 const& observation, 
-                                     vw::Vector2 const& pixel_sigma,
-                                     int point_index, int camera_index, 
-                                     asp::BAParams & param_storage,
-                                     asp::BaOptions const& opt,
-                                     ceres::Problem & problem);
-
-/// Add residual block for the error using reference xyz.
-void add_disparity_residual_block(vw::Vector3 const& reference_xyz,
-                                  vw::ImageViewRef<DispPixelT> const& interp_disp, 
-                                  int left_cam_index, int right_cam_index,
-                                  asp::BAParams & param_storage,
-                                  asp::BaOptions const& opt,
-                                  ceres::Problem & problem);
-
 // Pixel reprojection error. Note: cam_residual_counts and num_pixels_per_cam
 // serve different purposes. 
 void addPixelReprojCostFun(asp::BaOptions                         const& opt,

src/asp/Camera/BundleAdjustOptions.h

@@ -31,7 +31,7 @@ struct BaOptions: public asp::BaBaseOptions {
   std::string cnet_file, vwip_prefix,
     cost_function, mapprojected_data, gcp_from_mapprojected;
   int ip_per_tile, ip_per_image, matches_per_tile;
-  double forced_triangulation_distance, overlap_exponent, ip_triangulation_max_error;
+  double overlap_exponent, ip_triangulation_max_error;
   int instance_count, instance_index, num_random_passes, ip_num_ransac_iterations;
   bool save_intermediate_cameras, approximate_pinhole_intrinsics,
     init_camera_using_gcp, disable_pinhole_gcp_init,
@@ -40,23 +40,23 @@ struct BaOptions: public asp::BaBaseOptions {
     ip_normalize_tiles, ip_debug_images, stop_after_stats, stop_after_matching,
     skip_matching, apply_initial_transform_only, save_vwip, propagate_errors;
   std::string camera_position_file, initial_transform_file,
-    csv_format_str, csv_srs, csv_proj4_str, disparity_list,
+
     dem_file_for_overlap;
   double semi_major, semi_minor, position_filter_dist;
   std::string remove_outliers_params_str;
   std::vector<double> intrinsics_limits;
   boost::shared_ptr<vw::ba::ControlNetwork> cnet;
   int ip_detect_method, num_scales;
   double epipolar_threshold; // Max distance from epipolar line to search for IP matches.
-  double ip_inlier_factor, ip_uniqueness_thresh, nodata_value, max_disp_error,
+  double ip_inlier_factor, ip_uniqueness_thresh, nodata_value, 
     auto_overlap_buffer, pct_for_overlap, min_distortion;
   bool skip_rough_homography, enable_rough_homography, disable_tri_filtering,
     enable_tri_filtering, no_datum, individually_normalize, use_llh_error,
     force_reuse_match_files, no_poses_from_nvm, save_cnet_as_csv, aster_use_csm;
   vw::Vector2 elevation_limit;   // Expected range of elevation to limit results to.
   vw::BBox2 lon_lat_limit;       // Limit the triangulated interest points to this lonlat range
   vw::Matrix<double> initial_transform;
-  std::string   fixed_cameras_indices_str, flann_method;
+  std::string fixed_cameras_indices_str, flann_method;
   std::set<int> fixed_cameras_indices;
   asp::IntrinsicOptions intrinsics_options;
   vw::Vector2i matches_per_tile_params;
@@ -66,7 +66,7 @@ struct BaOptions: public asp::BaBaseOptions {
   // Make sure all values are initialized, even though they will be
   // over-written later.
   BaOptions(): ip_per_tile(0), ip_per_image(0), 
-             forced_triangulation_distance(-1), overlap_exponent(0), 
+             overlap_exponent(0), 
              save_intermediate_cameras(false),
              fix_gcp_xyz(false), solve_intrinsics(false), 
              semi_major(0), semi_minor(0), position_filter_dist(-1),

src/asp/Tools/bundle_adjust.cc

@@ -1770,15 +1770,15 @@ void handle_arguments(int argc, char *argv[], asp::BaOptions& opt) {
   if (opt.reference_terrain != "") {
     std::string file_type = asp::get_cloud_type(opt.reference_terrain);
     if (file_type == "DEM") {
-    // TODO(oalexan1): What if a different planet is specified in the images?
       vw::cartography::GeoReference georef;
       bool is_good = vw::cartography::read_georeference(georef, opt.reference_terrain);
       if (!is_good)
         vw_throw(ArgumentErr() 
                  << "The reference terrain DEM does not have a georeference.\n");
+      // Ensure the datum read from the DEM agrees with the one from the cameras/user
       if (is_good && have_datum)
         vw::checkDatumConsistency(opt.datum, georef.datum(), warn_only);
-      if (opt.datum_str == ""){
+      if (opt.datum_str == "") {
         opt.datum = georef.datum();
         opt.datum_str = opt.datum.name();
         have_datum = true;

src/asp/Tools/jitter_solve.cc

@@ -77,7 +77,6 @@ struct Options: public asp::BaBaseOptions {
     use_initial_rig_transforms;
   double quat_norm_weight, anchor_weight, roll_weight, yaw_weight;
   std::map<int, int> cam2group;
-  double forced_triangulation_distance;
 };
 
 void handle_arguments(int argc, char *argv[], Options& opt, rig::RigSet & rig) {