K factor for standard deviation in cartesian and polar subframes, ver…

…tical -1=N=n or 1=V=v and nothing else

changelog.txt

@@ -3,5 +3,6 @@ Comp V5.23 (next version):
  - new rot export xyz
  - faster solver solver
  - change sigma_total
+ - sigma factor applicable to cartesian and polar subframes
 
 

doc_uni/obs.rst

@@ -146,13 +146,16 @@ Cartesian Subframes
 
 The protocol of a cartesian subframe (code ``11``) in *.obs* file is:
 
-    +----------------------------------------------+
-    |:math:`11\ origin\ @file.xyz\ [1]\ [*comment]`|
-    +----------------------------------------------+
+    +-----------------------------------------------------------+
+    | :math:`11\ origin\ @file.xyz\ [vertical\ [K]]\ [*comment]`|
+    +-----------------------------------------------------------+
 
 Code ``11`` is used in case of frame change computation or terrestrial lidar measurements adjustment.
 
-It is possible to add a ``1`` in the 4\ :sup:`th` column to indicate that the station is verticalized, i.e. the subframe's Z axis is vertical.
+- Optional parameters:
+
+  - *vertical*: ``V`` (or ``1``) indicates that the station is verticalized, i.e. the subframe's Z axis is vertical. ``N`` (or ``-1``) means that the station isn't verticalized (default: not verticalized)
+  - *K*: factor to be applied to the standard deviations in the cartesian subframe file (default: 1)
 
 The observations file *.xyz* contains the cartesian coordinates of points in a subframe centered on *origin*. Each line in the *.xyz* file contains the point name, its coordinates in the subframe and its precision(s).
 Therefore, the possible protocols in *.xyz* file are:
@@ -204,13 +207,17 @@ Polar Subframes
 
 The protocol of a polar subframe (code ``12``) is:
 
-    +----------------------------------------------+
-    |:math:`12\ origin\ @file.xyz\ [1]\ [*comment]`|
-    +----------------------------------------------+
+    +-----------------------------------------------------------+
+    | :math:`12\ origin\ @file.xyz\ [vertical\ [K]]\ [*comment]`|
+    +-----------------------------------------------------------+
 
 Code ``12`` is used in case of non-verticalized total station, laser tracker or photogrammetric measurements.
 
-It is possible to add a ``1`` in the 4\ :sup:`th` column to indicate that the station is verticalized, i.e. the subframe's Z axis is vertical.
+- Optional parameters:
+
+  - *vertical*: ``V`` (or ``1``) indicates that the station is verticalized, i.e. the subframe's Z axis is vertical. ``N`` (or ``-1``) means that the station isn't verticalized (default: not verticalized)
+  - *K*: factor to be applied to the standard deviations in the polar subframe file (default: 1)
+
 
 The observations file *.xyz* contains the polar coordinates of points in a subframe centered on *origin*. Each line in the *.xyz* file contains the point name, its polar coordinates (pseudo-horizontal angle :math:`\alpha`, pseudo-vertical angle :math:`\beta`, distance) and their precisions.
 
@@ -333,8 +340,8 @@ The protocol of GNSS baselines *.obs* file is:
 - *pt*: starting point of all baselines described in *.bas* file
 - optional parameters:
 
-  - *K*: factor to be applied squarred to the baselines' variance-covariance matrix; this amends for potential overestimation of the output precision given by the GNSS software
-  - :math:`h_{station}`: station height
+  - *K*: factor to be applied squarred to the baselines' variance-covariance matrix; this amends for potential overestimation of the output precision given by the GNSS software (default: 1)
+  - :math:`h_{station}`: station height (default: 0)
 
 The *.bas* file contains, for each point, its name, vector from the station, variance-covariance upper-half matrix, and, eventually, target height. Therefore, the protocol in *.bas* file is:
 

src/station_bascule.cpp

@@ -181,6 +181,10 @@ bool Obs3D::read_obs(const std::string& line, int line_number, DataFile *_file,
 
     if ((station->triplet_type==STATION_CODE::BASC_XYZ_CART)||(station->triplet_type==STATION_CODE::BASC_ANG_CART))
     {
+        sigma_abs1_original*=station->sigmaFactor; //apply standard deviation factor
+        sigma_abs2_original*=station->sigmaFactor;
+        sigma_abs3_original*=station->sigmaFactor;
+
         if ((fabs(sigma_abs1_original)<MINIMAL_SIGMA)||(fabs(sigma_abs2_original)<MINIMAL_SIGMA)||(fabs(sigma_abs3_original)<MINIMAL_SIGMA))
         {
             Project::theInfo()->warning(INFO_OBS,_file->get_fileDepth()+1,QT_TRANSLATE_NOOP("QObject","At line %d: %s => Observation sigma_abs is too small."),line_number,line.c_str());
@@ -233,13 +237,14 @@ bool Obs3D::read_obs(const std::string& line, int line_number, DataFile *_file,
         else if (station->triplet_type==STATION_CODE::BASELINE_GEO_XYZ)
         {
             active1 = active2 = active3 = active1 && active2 && active3; //semi-active baselines not allowed
-
-            sigma_abs1_original*=station->varianceFactor; //apply variance factor
-            sigma_abs2_original*=station->varianceFactor;
-            sigma_abs3_original*=station->varianceFactor;
-            sigma_xy*=station->varianceFactor;
-            sigma_xz*=station->varianceFactor;
-            sigma_yz*=station->varianceFactor;
+            //sigma_abs 1,2,3 are variances and not standard deviations
+            double varianceFactor = station->sigmaFactor*station->sigmaFactor;
+            sigma_abs1_original*=varianceFactor; //apply variance factor
+            sigma_abs2_original*=varianceFactor;
+            sigma_abs3_original*=varianceFactor;
+            sigma_xy*=varianceFactor;
+            sigma_xz*=varianceFactor;
+            sigma_yz*=varianceFactor;
 
             station->observations.emplace_back(station->origin(),to,station,OBS_CODE::BASELINE_X,active1,value1_original,sqrt(sigma_abs1_original),
                                                0,station->stationHeight,target_height,
@@ -854,7 +859,7 @@ Coord Obs3D::obsToInstrumentFrameCoords(bool simul)
 
 Station_Bascule::Station_Bascule(Point *origin):Station(origin, STATION_TYPE::ST_BASCULE),isVertical(false),isGeocentric(false),
     da(0.0),db(0.0),dc(0.0),a(0.0),b(0.0),c(0.0),R_vert2instr(Mat3::Zero()),
-    stationHeight(0.0),varianceFactor(1.0),triplet_type(STATION_CODE::BASC_XYZ_CART),file(nullptr)
+    stationHeight(0.0),sigmaFactor(1.0),triplet_type(STATION_CODE::BASC_XYZ_CART),file(nullptr)
 {
 }
 
@@ -1075,8 +1080,8 @@ Json::Value Station_Bascule::toJson(FileRefJson &fileRef) const
     if (isGeocentric)
     {
         val["station_height"]=static_cast<double>(stationHeight);
-        val["variance_factor"]=static_cast<double>(varianceFactor);
     }
+    val["sigma_factor"]=static_cast<double>(sigmaFactor);
 
     val["ang_to_vert"]=angleInstr2Vert()/toRad(1.0,Project::theone()->config.filesUnit);
     return val;
@@ -1234,13 +1239,28 @@ bool Station_Bascule::read_obs(std::string line,
 
     if (!isGeocentric) //test if bascule is verticalized
     {
-        int vertical_int=-1;
-        if (iss >> vertical_int)
-            isVertical=(vertical_int>=0);
-    }else{ //test if variance factor and station height
-        if ((iss >> varianceFactor))
+        std::string vertical_str;
+        if (iss >> vertical_str){
+            if(vertical_str == "1" || vertical_str == "V" || vertical_str == "v")
+                isVertical=true;
+            else if (vertical_str == "-1" || vertical_str == "N" || vertical_str == "n")
+                isVertical=false;
+            else{
+                Project::theInfo()->warning(INFO_OBS,_file->get_fileDepth(),QT_TRANSLATE_NOOP("QObject","At line %d: %s => %s is not a valid value for Vertical."),line_number,line.c_str(),vertical_str.c_str());
+                ok=false;
+            }
+            if (!(iss >> sigmaFactor))
+                sigmaFactor=1.0;
+        }
+        else
+            isVertical=false;
+    }
+    else{ //test if variance factor and station height
+        if (iss >> sigmaFactor)
             iss >> stationHeight;
-        varianceFactor*=varianceFactor;//varianceFactor=K**2
+        else
+            sigmaFactor=1.0;
+
         isVertical=false;
     }
 

src/station_bascule.h

@@ -89,7 +89,8 @@ class Station_Bascule : public Station
     tdouble a,b,c;//value of orientations unknowns
     Mat3 R_vert2instr;//Matrix between vertical on station point and instrument z (should be I if bubbuled)
 
-    tdouble stationHeight, varianceFactor; //only for GNSS baselines
+    tdouble stationHeight; //Only for GNSS baselines
+    tdouble sigmaFactor; //for GNSS baselines (19) and cartesian subframes (11) and polar subframes (12)
 
     //only when reading transfo
     std::string readStationName;

tests/data/baselines/ex_ref.comp

@@ -1,9 +1,10 @@
 data=
 {
-	"COMP3D_COMMIT" : "v5.22-21-ge6096736-dirty",
-	"COMP3D_COPYRIGHT" : "Copyright 1992-2024 IGN France",
-	"COMP3D_LICENSE" : "Licensed for tests only",
+	"COMP3D_COMMIT" : "InitPublic-12-g17577e34-dirty",
+	"COMP3D_COPYRIGHT" : "Copyright 1992-2024 IGN France www.ign.fr",
+	"COMP3D_LICENSE" : "Provided with absolutely no warranty, under GPLv3 license",
 	"COMP3D_OPTIONS" : "QT SIM ",
+	"COMP3D_REPO" : "https://github.com/IGNF/Comp3D",
 	"COMP3D_VERSION" : "COMP3D v5.23dev-linux",
 	"all_data_files" : 
 	{
@@ -50,8 +51,8 @@ data=
 			"min" : 0.48340294863001054
 		},
 		"compensation_done" : true,
-		"computation_duration" : "00:00:00.002352",
-		"computation_start" : "2024-May-14 11:35:09.882589",
+		"computation_duration" : "00:00:00.000216",
+		"computation_start" : "2024-Jul-04 16:37:51.524487",
 		"internal_constraints" : false,
 		"internal_constraints_obs" : [],
 		"interrupted" : false,
@@ -152,7 +153,7 @@ data=
 		"use_ellips_height" : true,
 		"use_proj" : true
 	},
-	"config_file" : "/home/JMMuller/prog/comp3d_cpp/tests/data/baselines/ex_ref.comp_test.comp",
+	"config_file" : "/home/CBellon/Documents/Developpement/Comp3D/Comp3D/comp3d_cpp/tests/data/baselines/ex_ref.comp_test.comp",
 	"other_stations" : null,
 	"points" : 
 	{
@@ -555,10 +556,10 @@ data=
 						}
 					],
 					"params" : null,
+					"sigma_factor" : 1.0,
 					"station_height" : 0.0,
 					"triplet_type" : 19,
 					"type" : "bascule",
-					"variance_factor" : 1.0,
 					"vertical" : false
 				},
 				{

tests/tests_nonreg.cpp

@@ -85,7 +85,7 @@ void Tests_NonReg::test_baselines()
 {
     std::cout<<"\nPrepare test_baselines"<<std::endl;
     std::string refFile="./data/baselines/ex_ref.comp";
-    std::string refMD5="c771484db5f9691401925f5820bdbbac";
+    std::string refMD5="399a84b6b3722a45c4fa74004c380046";
 
     test_template(refFile, refMD5,false);
 }