Gama Adjustment with Constrained/Free? with Autonomous GPS points
Jim Sutherland <[email protected]> Sun, 28 Mar 2004 10:37:36 -0800
| Newsgroups | gmane.comp.gnu.gama.announce |
|---|---|
| Message-ID | <[email protected]> |
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Thanks Ales for your processing suggestion. =20
>to solve your problem I would probably use the classical 'free =
>network
>adjustment' where all points are defined as 'constrained' (no =
fixed
>points are needed)
<point .... adj=3D"XY" />
I created the input file and used Rocinante to edit and run the =
adjustment. I checked off "active xy" in the point edit box and =
selected constrained for each point. I looked at the saved file and it =
looks like it saved the file in the format that you suggest <point =
.... adj=3D"XY" />. I must admit I was getting a little confused in =
using the Rocinante edit GUI. But, I must say it is excellent and =
robust - I am just a new user. You mention that it should probably be =
run as a classical 'free adjustment' Rocinante seems to select the same =
format labeled as 'constrained'.
Please see the input file below which has the seeded autonomous =
coordinates. Also see a list of the true coordinates preceeding the =
input. Thank you again for your comments.
True coordinates derived by GPS RTK Observations
=20
1
5368175.111
476682.276
4
5368128.815
476713.854
=20
2
5368155.686
476651.344
5
5368144.984
476686.583
=20
3
5368115.384
476678.766
=20
The Gama input file follows:
<?xml version=3D"1.0" ?>
<!DOCTYPE gama-xml SYSTEM "gama-xml.dtd">
<!-- this file was created by Rocinante 1.0.0 -->
<gama-xml version=3D"2.0">
<network axes-xy =3D "en" angles=3D"right-handed">
<description>
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
XML input stream of points and observation data for program GaMa
* Five point survey network (Point 2, 3, 4, 5 directions only to 1a)
* Images captured via elevated monopod 5.6 meters above ground level
* Equirectangular panorama images created for each node using PTGui =
stitching software
* PTGui corrected for FOV, a, b and c lens parameters for each node
* Distances measured with cloth tape
* Uni4 Data
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
</description>
<parameters
sigma-apr =3D "10.000"
conf-pr =3D "0.950"
tol-abs =3D "1200.000"
sigma-act =3D "aposteriori"
/>
<points-observations distance-stdev=3D"0.00 0.00 1.00">
<point id=3D"2" x=3D"476648.60000" y=3D"5368157.00000" adj=3D"XY" />
<point id=3D"3" x=3D"476674.80000" y=3D"5368116.70000" adj=3D"XY" />
<point id=3D"4" x=3D"476715.30000" y=3D"5368129.80000" adj=3D"XY" />
<point id=3D"5" x=3D"476685.00000" y=3D"5368148.50000" adj=3D"XY" />
<point id=3D"1a" adj=3D"XY" />
<obs from=3D"2">
<direction to=3D"1a" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"5" val=3D"54.733840" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"4" val=3D"61.767101" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"3" val=3D"97.954902" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<distance from=3D"2" to=3D"5" val=3D"36.83000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"2" to=3D"4" val=3D"68.04000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"2" to=3D"3" val=3D"48.75000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"2" to=3D"1a" val=3D"41.50000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
</obs>
<obs from=3D"3">
<direction to=3D"2" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"1a" val=3D"45.707822" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"5" val=3D"54.407296" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"4" val=3D"114.859847" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<distance from=3D"3" to=3D"2" val=3D"48.75000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"3" to=3D"5" val=3D"30.62000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"3" to=3D"4" val=3D"37.57000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
</obs>
<obs from=3D"4">
<direction to=3D"3" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"2" val=3D"49.190961" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"5" val=3D"57.354567" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"1a" val=3D"90.703945" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<distance from=3D"4" to=3D"3" val=3D"37.57000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"4" to=3D"2" val=3D"68.04000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"4" to=3D"5" val=3D"31.70000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
</obs>
<obs from=3D"5">
<direction to=3D"1a" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"4" val=3D"134.550237" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"3" val=3D"216.775847" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<direction to=3D"2" val=3D"319.231301" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"300.00" />
<distance from=3D"5" to=3D"4" val=3D"31.70000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"5" to=3D"3" val=3D"30.62000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"5" to=3D"2" val=3D"36.83000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
<distance from=3D"5" to=3D"1a" val=3D"32.95000" from_dh=3D"0.00000" =
to_dh=3D"0.00000" stdev=3D"50.00" />
</obs>
</points-observations>
</network>
</gama-xml>
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<HTML><HEAD>
<META http-equiv=3DContent-Type content=3D"text/html; =
charset=3Diso-8859-1">
<META content=3D"MSHTML 6.00.2800.1400" name=3DGENERATOR>
<STYLE></STYLE>
</HEAD>
<BODY bgColor=3D#ffffff>
<DIV>
<TABLE cellSpacing=3D0 cellPadding=3D3 width=3D597 border=3D0>
<TBODY>
<TR>
<TD vAlign=3Dtop width=3D"67%" colSpan=3D4><FONT face=3DArial =
size=3D2>
<P align=3Dleft><FONT face=3D"Times New Roman" size=3D3>Thanks =
Ales for your=20
processing suggestion. </FONT>
<P align=3Dleft>>to solve your problem I would probably use the =
classical=20
'free >network<BR>>adjustment' where all points are defined =
as=20
'constrained' (no fixed<BR>>points are=20
=
needed)<BR> &n=
bsp; =20
<point .... adj=3D"XY" /><BR><FONT face=3D"Times =
New Roman"=20
size=3D3></FONT></P>
<P align=3Dleft><FONT face=3D"Times New Roman" size=3D3>I created =
the input file=20
and used Rocinante to edit and run the adjustment. =
I checked=20
off "active xy" in the point edit box and selected constrained for =
each=20
point. I looked at the saved file and it looks like it saved =
the=20
file in the format that you suggest <FONT face=3DArial=20
size=3D2><point .... adj=3D"XY" />. I must =
admit I was=20
getting a little confused in using the Rocinante edit GUI. =
But, I=20
must say it is excellent and robust - I am just a new =
user. You=20
mention that it should probably be run as a =
classical 'free=20
adjustment' Rocinante seems to select the same format labeled =
as=20
'constrained'.</FONT></FONT></P>
<DIV><FONT face=3D"Times New Roman" size=3D3><FONT face=3DArial=20
size=3D2></FONT></FONT> </DIV>
<DIV><FONT face=3D"Times New Roman" size=3D3><FONT face=3DArial =
size=3D2>Please=20
see the input file below which has the seeded autonomous=20
coordinates. Also see a list of the true coordinates =
preceeding the=20
input. Thank you again for your =
comments.</FONT></FONT></DIV>
<P align=3Dcenter><STRONG>True coordinates derived by GPS RTK=20
Observations</STRONG></FONT></P></TD>
<TD vAlign=3Dtop width=3D"15%"> </TD>
<TD vAlign=3Dtop width=3D"17%"> </TD></TR>
<TR>
<TD vAlign=3Dtop width=3D"12%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>1</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>5368175.111</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>476682.276</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>4</FONT></P></TD>
<TD vAlign=3Dtop width=3D"15%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>5368128.815</FONT></P></TD>
<TD vAlign=3Dtop width=3D"17%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>476713.854</FONT></P></TD></TR>
<TR>
<TD vAlign=3Dtop width=3D"12%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>2</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>5368155.686</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>476651.344</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>5</FONT></P></TD>
<TD vAlign=3Dtop width=3D"15%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>5368144.984</FONT></P></TD>
<TD vAlign=3Dtop width=3D"17%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>476686.583</FONT></P></TD></TR>
<TR>
<TD vAlign=3Dtop width=3D"12%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>3</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>5368115.384</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"><FONT face=3DArial size=3D2>
<P align=3Dcenter>476678.766</FONT></P></TD>
<TD vAlign=3Dtop width=3D"18%"> </TD>
<TD vAlign=3Dtop width=3D"15%"> </TD>
<TD vAlign=3Dtop =
width=3D"17%"> </TD></TR></TBODY></TABLE></DIV>
<DIV><FONT face=3D"Courier New" size=3D2>
<P><FONT face=3D"Times New Roman" size=3D3>The Gama input file =
follows:</FONT></P>
<P><?xml version=3D"1.0" ?></P>
<P><!DOCTYPE gama-xml SYSTEM "gama-xml.dtd"></P>
<P><!-- this file was created by Rocinante 1.0.0 --></P>
<P><gama-xml version=3D"2.0"></P>
<P><network axes-xy =3D "en" angles=3D"right-handed"></P>
<P><description></P>
<P>=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D</P>
<P>XML input stream of points and observation data for program GaMa</P>
<P>* Five point survey network (Point 2, 3, 4, 5 directions only to =
1a)</P>
<P>* Images captured via elevated monopod 5.6 meters above ground =
level</P>
<P>* Equirectangular panorama images created for each node using PTGui =
stitching=20
software</P>
<P>* PTGui corrected for FOV, a, b and c lens parameters for each =
node</P>
<P>* Distances measured with cloth tape</P>
<P>* Uni4 Data</P>
<P>=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D</P>
<P> </P>
<P></description></P>
<P> </P>
<P><parameters</P>
<P>sigma-apr =3D "10.000"</P>
<P>conf-pr =3D "0.950"</P>
<P>tol-abs =3D "1200.000"</P>
<P>sigma-act =3D "aposteriori"</P>
<P>/></P>
<P><points-observations distance-stdev=3D"0.00 0.00 1.00"></P>
<P><point id=3D"2" x=3D"476648.60000" y=3D"5368157.00000" adj=3D"XY" =
/></P>
<P><point id=3D"3" x=3D"476674.80000" y=3D"5368116.70000" adj=3D"XY" =
/></P>
<P><point id=3D"4" x=3D"476715.30000" y=3D"5368129.80000" adj=3D"XY" =
/></P>
<P><point id=3D"5" x=3D"476685.00000" y=3D"5368148.50000" adj=3D"XY" =
/></P>
<P><point id=3D"1a" adj=3D"XY" /></P>
<P><obs from=3D"2"></P>
<P><direction to=3D"1a" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"5" val=3D"54.733840" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"4" val=3D"61.767101" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"3" val=3D"97.954902" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><distance from=3D"2" to=3D"5" val=3D"36.83000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"2" to=3D"4" val=3D"68.04000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"2" to=3D"3" val=3D"48.75000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"2" to=3D"1a" val=3D"41.50000" =
from_dh=3D"0.00000"=20
to_dh=3D"0.00000" stdev=3D"50.00" /></P>
<P></obs></P>
<P><obs from=3D"3"></P>
<P><direction to=3D"2" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"1a" val=3D"45.707822" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"5" val=3D"54.407296" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"4" val=3D"114.859847" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><distance from=3D"3" to=3D"2" val=3D"48.75000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"3" to=3D"5" val=3D"30.62000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"3" to=3D"4" val=3D"37.57000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P></obs></P>
<P><obs from=3D"4"></P>
<P><direction to=3D"3" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"2" val=3D"49.190961" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"5" val=3D"57.354567" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"1a" val=3D"90.703945" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><distance from=3D"4" to=3D"3" val=3D"37.57000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"4" to=3D"2" val=3D"68.04000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"4" to=3D"5" val=3D"31.70000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P></obs></P>
<P><obs from=3D"5"></P>
<P><direction to=3D"1a" val=3D"0.000000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"4" val=3D"134.550237" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"3" val=3D"216.775847" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><direction to=3D"2" val=3D"319.231301" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"300.00" /></P>
<P><distance from=3D"5" to=3D"4" val=3D"31.70000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"5" to=3D"3" val=3D"30.62000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"5" to=3D"2" val=3D"36.83000" from_dh=3D"0.00000" =
to_dh=3D"0.00000"=20
stdev=3D"50.00" /></P>
<P><distance from=3D"5" to=3D"1a" val=3D"32.95000" =
from_dh=3D"0.00000"=20
to_dh=3D"0.00000" stdev=3D"50.00" /></P>
<P></obs></P>
<P> </P>
<P></points-observations></P>
<P></network></P>
<P></gama-xml></P></FONT></DIV></BODY></HTML>
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