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Summary

Project Bella Lago PID 014-724-642

Processed 2018-11-13 23:07:15

Camera Model Name(s) FC330_3.6mm_3.6_3992x2992 (RGB)

Average Ground Sampling Distance (GSD) 3.33 cm / 1.31 in

Area Covered 0.267 km2 / 26.6780 ha / 0.10 sq. mi. / 65.9568 acres

Quality Check

Images median of 59713 keypoints per image

Dataset 1059 out of 1059 images calibrated (100%), all images enabled

Camera Optimization 2.79% relative difference between initial and optimized internal camera parameters

Matching median of 22102.6 matches per calibrated image

Georeferencing yes, 12 GCPs (12 3D), mean RMS error = 0.036 m

Quality Report file:///C:/Users/Owner/Dropbox/Bella Lago/Bella Lago PID 014-724-642_full/Bella Lago PID...

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Preview

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


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Number of Calibrated Images 1059 out of 1059

Number of Geolocated Images 1059 out of 1059

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


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Uncertainty ellipses 500x 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 theircomputed 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 0.007 0.007 0.009 0.004 0.005 0.002

Sigma 0.002 0.002 0.002 0.002 0.002 0.001

Overlap

Number of overlapping images: 1 2 3 4 5+


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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).


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Number of 2D Keypoint Observations for Bundle Block Adjustment 21610023

Number of 3D Points for Bundle Block Adjustment 6218875

Mean Reprojection Error [pixels] 0.130

Internal Camera Parameters

FC330_3.6mm_3.6_3992x2992 (RGB). Sensor Dimensions: 6.317 [mm] x 4.735 [mm]

EXIF ID: FC330_3.6mm_3.6_3992x2992

FocalLength

PrincipalPoint x

PrincipalPoint y R1 R2 R3 T1 T2

Initial Values 2281.143 [pixel]3.610 [mm]

1996.000 [pixel]3.159 [mm]

1496.000 [pixel]2.367 [mm] 0.000 0.000 0.000 0.000 0.000

Optimized Values 2344.792 [pixel]3.711 [mm]

1971.216 [pixel]3.120 [mm]

1530.771 [pixel]2.423 [mm] -0.011 0.019 -0.012 0.000 -0.001

Uncertainties (Sigma) 0.265 [pixel]0.000 [mm]

0.029 [pixel]0.000 [mm]

0.048 [pixel]0.000 [mm] 0.000 0.000 0.000 0.000 0.000


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Correlated

Independent

F

C0x

C0y

R1

R2

R3

T1

T2

The correlation between camera internal parameters determinedby the bundle adjustment. White indicates a full correlationbetween the parameters, ie. any change in one can be fullycompensated by the other. Black indicates that the parameter iscompletely independent, and is not affected by other parameters.

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 havebeen extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted atthe 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 barindicates the magnitude of 1 pixel error.

2D Keypoints Table

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

Median 59713 22103

Min 51427 1043

Max 65469 32097


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Mean 59751 20406

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 3272672

In 3 Images 1223170

In 4 Images 607043

In 5 Images 346463

In 6 Images 216177

In 7 Images 142413

In 8 Images 98899

In 9 Images 70827

In 10 Images 52621

In 11 Images 38764

In 12 Images 29325

In 13 Images 22425

In 14 Images 17581

In 15 Images 13727

In 16 Images 11124

In 17 Images 8946

In 18 Images 7153

In 19 Images 5875

In 20 Images 4882

In 21 Images 4078

In 22 Images 3408

In 23 Images 2926

In 24 Images 2533

In 25 Images 2054

In 26 Images 1942

In 27 Images 1531

In 28 Images 1385

In 29 Images 1173

In 30 Images 1015


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In 31 Images 854

In 32 Images 750

In 33 Images 648

In 34 Images 522

In 35 Images 467

In 36 Images 377

In 37 Images 349

In 38 Images 289

In 39 Images 283

In 40 Images 268

In 41 Images 204

In 42 Images 212

In 43 Images 160

In 44 Images 136

In 45 Images 139

In 46 Images 121

In 47 Images 101

In 48 Images 87

In 49 Images 65

In 50 Images 67

In 51 Images 72

In 52 Images 71

In 53 Images 49

In 54 Images 42

In 55 Images 42

In 56 Images 34

In 57 Images 31

In 58 Images 26

In 59 Images 29

In 60 Images 33

In 61 Images 19

In 62 Images 23

In 63 Images 19

In 64 Images 18


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In 65 Images 10

In 66 Images 9

In 67 Images 17

In 68 Images 11

In 69 Images 13

In 70 Images 6

In 71 Images 9

In 72 Images 11

In 73 Images 11

In 74 Images 4

In 75 Images 4

In 77 Images 6

In 78 Images 2

In 79 Images 1

In 80 Images 2

In 81 Images 2

In 82 Images 3

In 84 Images 2

In 85 Images 3

In 86 Images 1

In 88 Images 2

In 89 Images 5

In 90 Images 1

In 109 Images 1

2D Keypoint Matches


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Number of matches


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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.


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Ground Control Points

GCP Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked

0 (3D) 0.020/ 0.020 -0.057 0.012 0.034 0.599 79 / 79

1 (3D) 0.020/ 0.020 -0.004 0.059 -0.063 0.577 61 / 61

2 (3D) 0.020/ 0.020 -0.048 0.023 0.064 0.735 98 / 98

3 (3D) 0.020/ 0.020 0.011 0.017 0.002 0.654 87 / 87

4 (3D) 0.020/ 0.020 0.014 -0.045 -0.070 0.898 30 / 30

5 (3D) 0.020/ 0.020 -0.049 -0.069 0.024 0.495 33 / 33

6 (3D) 0.020/ 0.020 0.052 -0.050 -0.007 0.429 65 / 65

7 (3D) 0.020/ 0.020 0.021 0.019 0.023 0.549 16 / 16

8 (3D) 0.020/ 0.020 0.021 0.020 -0.023 0.831 64 / 64

9 (3D) 0.020/ 0.020 0.017 -0.026 -0.011 0.677 51 / 51

10 (3D) 0.020/ 0.020 0.021 0.020 -0.066 1.813 34 / 34

11 (3D) 0.020/ 0.020 -0.020 -0.010 0.005 2.140 24 / 24

Mean [m] -0.001751 -0.002605 -0.007272

Sigma [m] 0.032840 0.036046 0.040363

RMS Error [m] 0.032886 0.036140 0.041013

0 out of 41 check points have been labeled as inaccurate.

Check Point Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked

12 0.1869 2.1806 33.8423 0.1449 4 / 4

13 0.1478 2.1510 34.1554 0.0066 3 / 3

14 0.1469 2.2154 34.5052 0.0186 2 / 2

15 0.1518 2.2793 34.7700 0.0390 4 / 4

16 0.1860 2.4220 35.1423 0.0423 3 / 3

17 0.2084 2.5074 35.3489 0.0226 3 / 3

18 0.2358 2.6008 35.5601 0.0176 2 / 2

19 0.5691 2.6969 35.2271 0.0199 2 / 2

20 0.5562 2.6422 35.0316 0.0572 3 / 3


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21 0.5338 2.5530 34.8148 0.0024 2 / 2

22 0.5248 2.4799 34.5038 0.0413 4 / 4

23 0.5191 2.4363 34.3638 0.0207 2 / 2

24 0.4904 2.3631 34.1465 0.0119 2 / 2

25 0.4987 2.3117 33.7548 0.0681 2 / 2

26 0.4842 2.2674 33.5667 0.0008 2 / 2

27 0.4980 2.2482 33.3708 0.1135 2 / 2

28 0.4771 2.1442 33.0790 0.0455 2 / 2

29 0.7705 2.4747 33.9661 0.1091 3 / 3

30 0.7227 2.4710 34.0347 0.0228 2 / 2

31 0.6871 2.4757 34.0840 0.0095 2 / 2

32 0.6081 2.4102 34.0979 1.7173 2 / 2

33 0.5745 2.4205 34.2331 0.0115 2 / 2

34 0.5384 2.4045 34.2561 0.0367 2 / 2

35 0.4799 2.3973 34.2105 0.0234 3 / 3

36 0.4073 2.3478 34.2656 0.0082 2 / 2

37 0.3333 2.2949 34.3850 0.0108 2 / 2

38 0.3012 2.2899 34.4015 0.0278 2 / 2

39 0.2354 2.2519 34.4128 0.0453 2 / 2

40 0.1661 2.2152 34.4522 0.1122 2 / 2

41 0.1103 2.1962 34.4478 0.0223 2 / 2

42 0.0538 2.1945 34.5049 0.0356 2 / 2

43 0.0234 2.1850 34.5009 0.0017 2 / 2

44 0.0076 2.2489 34.5278 0.0386 2 / 2

45 -0.0369 2.2064 34.6457 0.0102 2 / 2

46 -0.0849 2.1942 34.5554 0.0015 2 / 2

47 -0.1129 2.1972 34.5985 0.0196 2 / 2

48 -0.1597 2.1988 34.5660 0.0083 2 / 2

49 -0.2206 2.1853 34.4812 0.1120 5 / 5

50 -0.2465 2.1950 34.4423 0.0472 3 / 3

51 -0.2807 2.1892 34.3575 0.0672 2 / 2

52 -0.3688 2.1550 34.2126 0.1274 5 / 5

Mean [m] 0.266425 2.324352 34.385928

Sigma [m] 0.297658 0.146111 0.479060


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RMS Error [m] 0.399478 2.328940 34.389265

Localisation accuracy per GCP and mean errors in the three coordinate directions. The last column counts the number of calibrated images where the GCP has beenautomatically verified vs. manually marked.

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]

- -15.00 0.00 0.00 0.00

-15.00 -12.00 0.00 0.00 0.00

-12.00 -9.00 0.00 0.00 0.00

-9.00 -6.00 0.00 0.00 0.00

-6.00 -3.00 0.19 0.09 0.00

-3.00 0.00 50.71 55.62 49.01

0.00 3.00 48.35 41.45 50.80

3.00 6.00 0.66 2.83 0.19

6.00 9.00 0.00 0.00 0.00

9.00 12.00 0.09 0.00 0.00

12.00 15.00 0.00 0.00 0.00

15.00 - 0.00 0.00 0.00

Mean [m] -0.293489 1.211249 35.058354

Sigma [m] 1.408285 1.311224 1.337725

RMS Error [m] 1.438542 1.785058 35.083867

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 ofimages 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.

Geolocation Bias X Y Z

Translation [m] -0.293488 1.211247 35.058353

Bias between image initial and computed geolocation given in output coordinate system.


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Relative Geolocation Variance

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

[-1.00, 1.00] 99.91 100.00 100.00

[-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] 5.000000 5.000000 10.000000

Sigma of Geolocation Accuracy [m] 0.000000 0.000000 0.000000

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

Geolocation Orientational Variance RMS [degree]

Omega 0.674

Phi 0.268

Kappa 3.421

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

System Information

HardwareCPU: AMD A10-7800 Radeon R7, 12 Compute Cores 4C+8GRAM: 12GBGPU: NVIDIA GeForce GTX 660 (Driver: 24.21.13.9811)

Operating System Windows 10 Home, 64-bit

Coordinate Systems

Image Coordinate System WGS 84 (EGM 96 Geoid)


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Ground Control Point (GCP) Coordinate System WGS 84 / UTM zone 11N (EGM 96 Geoid)

Output Coordinate System WGS 84 / UTM zone 11N (EGM 96 Geoid)

Processing Options

Detected Template 3D Maps

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

Advanced: Calibration

Calibration Method: StandardInternal Parameters Optimization: AllExternal Parameters Optimization: AllRematch: Auto, no


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