Document the two passes

NEWS.rst

@@ -15,7 +15,8 @@ jitter_solve (:numref:`jitter_solve`):
   * Add an example for the Kaguya Terrain Camera (:numref:`jitter_kaguya`).
   * Can use GCP files.
   * Can read a control network from an nvm file.
-
+  * Do two passes. This improves the results.
+
 stereo_gui (:numref:`stereo_gui`):
   * Changing the image threshold updates the display correctly.
   * When creating GCP, ask before quitting without saving them. Save the IP as

docs/tools/jitter_solve.rst

@@ -2121,6 +2121,11 @@ Command-line options for jitter_solve
     ahead of the camera, in units of meters. Some of these
     may be later filtered as outliers. 
 
+--num-passes <integer (default: 2)>
+    How many passes of jitter solving to do, with the given number of iterations
+    in each pass. Each pass uses the previously refined cameras, which improves
+    the accuracy of the DEM constraint and the final result.
+
 --rig-config <string>
     Assume that the cameras are acquired with a set of rigs with this
     configuration file (:numref:`jitter_rig`). The intrinsics will be read, but

src/asp/Camera/BundleAdjustResiduals.cc

@@ -467,7 +467,7 @@ void saveTriOffsetsPerCamera(std::vector<std::string> const& image_files,
 
       // Sanity check
       if (ipt < 0 || ipt >= num_points)
-        vw_throw(LogicErr() << "Invalid point index " << ipt 
+        vw::vw_throw(vw::LogicErr() << "Invalid point index " << ipt 
                  << " in saveTriOffsetsPerCamera().\n");
 
       if (outliers.find(ipt) != outliers.end())

src/asp/Tools/jitter_solve.cc

@@ -248,7 +248,7 @@ void handle_arguments(int argc, char *argv[], Options& opt, rig::RigSet & rig) {
     ("num-passes",
      po::value(&opt.num_passes)->default_value(2),
      "How many passes of jitter solving to do, with given number of iterations in each "
-     "pass. For more than one pass.")
+     "pass.")
     ("rig-config", po::value(&opt.rig_config)->default_value(""),
      "Assume that the cameras are acquired with a set of rigs with this configuration "
      "file. The intrinsics will be read, but not the transforms between sensors, as those "
@@ -870,7 +870,7 @@ void jitterSolvePass(int                                 pass,
                      rig::RigSet                       & rig,
                      std::vector<double>               & ref_to_curr_sensor_vec) {
 
-  vw::vw_out() << "Jitter solving pass: " << pass << "\n";
+  vw::vw_out() << "\nJitter solving pass: " << pass << "\n";
 
   // If some of the input cameras are frame, need to store position and
   // quaternion variables for them outside the camera model.
@@ -1095,6 +1095,15 @@ void jitterSolvePass(int                                 pass,
                            orig_cam_positions, opt_cam_positions,
                            cam_offsets_file); 
 
+  // Resize the tri_points_vec to eliminate the anchor points that were appended.
+  // The number of those can be variable in each pass and those do not contribute
+  // to the triangulation offsets. This must be at the end.
+  int num_tri_points = cnet.size();
+  size_t tri_len = num_tri_points*NUM_XYZ_PARAMS;
+  if (orig_tri_points_vec.size() < tri_len || tri_points_vec.size() < tri_len)
+    vw_throw(ArgumentErr() << "Expecting more triangulated points.\n");
+  orig_tri_points_vec.resize(tri_len);
+  tri_points_vec.resize(tri_len);
   std::string tri_offsets_file = opt.out_prefix + "-triangulation_offsets.txt";     
   asp::saveTriOffsetsPerCamera(opt.image_files, outliers,
                                orig_tri_points_vec, tri_points_vec,