Quality Report

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Summary

Project ACHOMA FINAL

Processed 2019-05-08 15:11:30
Camera Model Name(s) FC6310R_8.8_5472x3648 (RGB)(1), FC6310R_8.8_5472x3648 (RGB)(2)
Average Ground Sampling Distance (GSD) 3.33 cm / 1.31 in
Area Covered 0.835 km2 / 83.5477 ha / 0.32 sq. mi. / 206.5578 acres

Quality Check

Images median of 63560 keypoints per image

Dataset 660 out of 660 images calibrated (100%), all images enabled, 2 blocks

Camera Optimization 0.38% relative difference between initial and optimized internal camera parameters

Matching median of 27238.5 matches per calibrated image

Georeferencing yes, no 3D GCP

Preview

Figure 1: Orthomosaic and the corresponding sparse Digital Surface Model (DSM) before densification.

Calibration Details
Number of Calibrated Images 660 out of 660
Number of Geolocated Images 660 out of 660
 Initial Image Positions

Figure 2: Top view of the initial image position. The green line follows the position of the images in time starting from the large blue dot.

Computed Image/GCPs/Manual Tie Points Positions

Uncertainty ellipses 1000x magnified

Figure 3: Offset between initial (blue dots) and computed (green dots) image positions as well as the offset between the GCPs initial positions (blue crosses) and
their computed positions (green crosses) in the top-view (XY plane), front-view (XZ plane), and side-view (YZ plane). Dark green ellipses indicate the absolute
position uncertainty of the bundle block adjustment result.

Absolute camera position and orientation uncertainties

X [m] Y [m] Z [m] Omega [degree] Phi [degree] Kappa [degree]

Mean 0.003 0.003 0.003 0.002 0.002 0.001
Sigma 0.000 0.000 0.000 0.000 0.000 0.000
 Overlap

Number of overlapping images: 1 2 3 4 5+

Figure 4: Number of overlapping images computed for each pixel of the orthomosaic.
Red and yellow areas indicate low overlap for which poor results may be generated. Green areas indicate an overlap of over 5 images for every pixel. Good
quality results will be generated as long as the number of keypoint matches is also sufficient for these areas (see Figure 5 for keypoint matches).

Bundle Block Adjustment Details

Number of 2D Keypoint Observations for Bundle Block Adjustment 19266851
Number of 3D Points for Bundle Block Adjustment 6168169
Mean Reprojection Error [pixels] 0.148

Internal Camera Parameters

FC6310R_8.8_5472x3648 (RGB)(1). Sensor Dimensions: 12.833 [mm] x 8.556 [mm]

EXIF ID: FC6310R_8.8_5472x3648

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 3658.300 [pixel] 2722.500 [pixel] 1835.100 [pixel] -0.269 0.112 -0.033 0.000 -0.001
8.580 [mm] 6.385 [mm] 4.304 [mm]
Optimized Values 3634.161 [pixel] 2717.693 [pixel] 1831.092 [pixel] -0.263 0.107 -0.031 0.000 0.000
8.523 [mm] 6.374 [mm] 4.294 [mm]
Uncertainties (Sigma) 2.314 [pixel] 0.074 [pixel] 0.046 [pixel] 0.000 0.000 0.000 0.000 0.000
0.005 [mm] 0.000 [mm] 0.000 [mm]
 Correlated
F
C0x

C0y
The correlation between camera internal parameters
R1 determined by the bundle adjustment. White indicates a full
correlation between the parameters, ie. any change in one can
be fully compensated by the other. Black indicates that the
R2 parameter is completely independent, and is not affected by
other parameters.

R3
Independent

T1

T2

The number of Automatic Tie Points (ATPs) per pixel, averaged over all images of the camera model,
is color coded between black and white. White indicates that, on average, more than 16 ATPs have
been extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted at
the pixel location. Click on the image to the see the average direction and magnitude of the re-
projection error for each pixel. Note that the vectors are scaled for better visualization. The scale bar
indicates the magnitude of 1 pixel error.

Internal Camera Parameters

FC6310R_8.8_5472x3648 (RGB)(2). Sensor Dimensions: 12.833 [mm] x 8.556 [mm]

EXIF ID: FC6310R_8.8_5472x3648

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 3658.300 [pixel] 2722.500 [pixel] 1835.100 [pixel] -0.269 0.112 -0.033 0.000 -0.001
8.580 [mm] 6.385 [mm] 4.304 [mm]
Optimized Values 3662.660 [pixel] 2717.813 [pixel] 1831.615 [pixel] -0.267 0.110 -0.032 0.000 0.000
8.590 [mm] 6.374 [mm] 4.296 [mm]
Uncertainties (Sigma) 2.613 [pixel] 0.070 [pixel] 0.048 [pixel] 0.000 0.000 0.000 0.000 0.000
0.006 [mm] 0.000 [mm] 0.000 [mm]
Correlated

F
C0x

C0y
The correlation between camera internal parameters
R1 determined by the bundle adjustment. White indicates a full
correlation between the parameters, ie. any change in one can
be fully compensated by the other. Black indicates that the
R2 parameter is completely independent, and is not affected by
other parameters.

R3
Independent

T1

T2
 The number of Automatic Tie Points (ATPs) per pixel, averaged over all images of the camera model,
is color coded between black and white. White indicates that, on average, more than 16 ATPs have
been extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted at
the pixel location. Click on the image to the see the average direction and magnitude of the re-
projection error for each pixel. Note that the vectors are scaled for better visualization. The scale bar
indicates the magnitude of 1 pixel error.

2D Keypoints Table

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 63560 27238
Min 41391 4512
Max 79425 51655
Mean 62533 29192

2D Keypoints Table for Camera FC6310R_8.8_5472x3648 (RGB)(1)

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 62728 30033
Min 45909 22012
Max 71471 49458
Mean 61837 31068

2D Keypoints Table for Camera FC6310R_8.8_5472x3648 (RGB)(2)

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 64644 25538
Min 41391 4512
Max 79425 51655
Mean 63106 27648

Median / 75% / Maximal Number of Matches Between Camera Models

FC6310R_8.8_...(RGB)(1) FC6310R_8.8_...(RGB)(2)
FC6310R_8.8_5472x3648 (RGB)(1) 426 / 1811 / 34323
FC6310R_8.8_5472x3648 (RGB)(2) 305 / 1330 / 32059

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 3834052
In 3 Images 1072711
In 4 Images 458996
In 5 Images 247679
In 6 Images 150193
In 7 Images 97832
In 8 Images 69082
In 9 Images 51428
In 10 Images 38845
In 11 Images 29317
In 12 Images 22811
In 13 Images 17573
In 14 Images 13975
In 15 Images 11226
In 16 Images 8998
In 17 Images 7267
In 18 Images 5969
In 19 Images 4785
In 20 Images 3955
In 21 Images 3357
In 22 Images 2733
In 23 Images 2225
In 24 Images 1853
In 25 Images 1611
In 26 Images 1348
In 27 Images 1100
In 28 Images 921
In 29 Images 824
In 30 Images 711
In 31 Images 609
In 32 Images 547
In 33 Images 420
In 34 Images 366
In 35 Images 347
In 36 Images 324
In 37 Images 272
In 38 Images 247
In 39 Images 226
In 40 Images 176
In 41 Images 157
In 42 Images 149
In 43 Images 118
In 44 Images 112
In 45 Images 99
In 46 Images 106
In 47 Images 81
In 48 Images 53
In 49 Images 64
In 50 Images 50
In 51 Images 53
In 52 Images 42
In 53 Images 32
In 54 Images 38
In 55 Images 31
In 56 Images 31
In 57 Images 17
In 58 Images 19
In 59 Images 6

2D Keypoint Matches
 Uncertainty ellipses 500x magnified
Number of matches
25 222 444 666 888 1111 1333 1555 1777 2000
Figure 5: Computed image positions with links between matched images. The darkness of the links indicates the number of matched 2D keypoints between the
images. Bright links indicate weak links and require manual tie points or more images. Dark green ellipses indicate the relative camera position uncertainty of the
bundle block adjustment result.

Relative camera position and orientation uncertainties

X [m] Y [m] Z [m] Omega [degree] Phi [degree] Kappa [degree]

Mean 0.008 0.010 0.013 0.008 0.006 0.002
Sigma 0.002 0.002 0.008 0.003 0.003 0.001

Geolocation Details

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]
- -0.05 0.00 0.00 0.00
-0.05 -0.04 0.00 0.00 0.00
-0.04 -0.03 0.00 0.00 0.00
-0.03 -0.02 0.00 0.00 0.61
-0.02 -0.01 0.00 0.00 9.39
-0.01 0.00 50.15 51.82 44.39
0.00 0.01 49.85 48.18 32.42
0.01 0.02 0.00 0.00 11.82
0.02 0.03 0.00 0.00 1.21
 0.03 0.04 0.00 0.00 0.15
0.04 0.05 0.00 0.00 0.00
0.05 - 0.00 0.00 0.00
Mean [m] -0.000015 0.000001 0.000002
Sigma [m] 0.001973 0.002038 0.007806
RMS Error [m] 0.001973 0.002038 0.007806

Min Error and Max Error represent geolocation error intervals between -1.5 and 1.5 times the maximum accuracy of all the images. Columns X, Y, Z show the
percentage of images with geolocation errors within the predefined error intervals. The geolocation error is the difference between the initial and computed image
positions. Note that the image geolocation errors do not correspond to the accuracy of the observed 3D points.

Relative Geolocation Variance

Relative Geolocation Error Images X [%] Images Y [%] Images Z [%]

[-1.00, 1.00] 100.00 100.00 99.09
[-2.00, 2.00] 100.00 100.00 100.00
[-3.00, 3.00] 100.00 100.00 100.00
Mean of Geolocation Accuracy [m] 0.010240 0.010240 0.020636
Sigma of Geolocation Accuracy [m] 0.000473 0.000473 0.000920

Images X, Y, Z represent the percentage of images with a relative geolocation error in X, Y, Z.

Geolocation Orientational Variance RMS [degree]

Omega 0.569
Phi 0.685
Kappa 3.470

Geolocation RMS error of the orientation angles given by the difference between the initial and computed image orientation angles.

Initial Processing Details

System Information

CPU: Intel(R) Core(TM) i7-8700 CPU @ 3.20GHz

Hardware RAM: 16GB
GPU: NVIDIA GeForce GTX 1050 (Driver: 25.21.14.1735)
Operating System Windows 10 Pro, 64-bit

Coordinate Systems

Image Coordinate System WGS 84 (EGM 96 Geoid)

Output Coordinate System WGS 84 / UTM zone 19S (EGM 96 Geoid)

Processing Options

Detected Template No Template Available

Keypoints Image Scale Full, Image Scale: 1
Advanced: Matching Image Pairs Aerial Grid or Corridor
Advanced: Matching Strategy Use Geometrically Verified Matching: no
Advanced: Keypoint Extraction Targeted Number of Keypoints: Automatic
Calibration Method: Standard
Advanced: Calibration Internal Parameters Optimization: All
External Parameters Optimization: All
Rematch: Auto, no
Point Cloud Densification details

Processing Options

Image Scale multiscale, 1/2 (Half image size, Default)

Point Density Optimal
Minimum Number of Matches 3
3D Textured Mesh Generation yes
3D Textured Mesh Settings: Resolution: Medium Resolution (default)
Color Balancing: no
LOD Generated: no
Advanced: 3D Textured Mesh Settings Sample Density Divider: 1
Advanced: Image Groups group1
Advanced: Use Processing Area yes
Advanced: Use Annotations yes
Time for Point Cloud Densification 01h:41m:17s
Time for Point Cloud Classification NA
Time for 3D Textured Mesh Generation 20m:18s

Results

Number of Processed Clusters 4

Number of Generated Tiles 4
Number of 3D Densified Points 81166931
Average Density (per m3) 84.44

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 2 x GSD (3.33 [cm/pixel])

DSM Filters Noise Filtering: yes
Surface Smoothing: yes, Type: Sharp
Generated: yes
Raster DSM Method: Inverse Distance Weighting
Merge Tiles: yes
Generated: yes
Orthomosaic Merge Tiles: yes
GeoTIFF Without Transparency: no
Google Maps Tiles and KML: no
Grid DSM Generated: yes, Spacing [cm]: 100
Raster DTM Generated: yes
Merge Tiles: yes
DTM Resolution 5 x GSD (3.33 [cm/pixel])
Generated: yes
Contour Base [m]: 0
Contour Lines Generation Elevation Interval [m]: 5
Resolution [cm]: 100
Minimum Line Size [vertices]: 20
Time for DSM Generation 11m:22s
Time for Orthomosaic Generation 49m:36s
Time for DTM Generation 46m:06s
Time for Contour Lines Generation 09s
Time for Reflectance Map Generation 00s
Time for Index Map Generation 00s