Quality Report

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Summary

Project tarea
Processed 2021-12-08 [Link]
Camera Model Name(s) L1D-20c_10.3_5472x3648 (RGB)
Average Ground Sampling Distance (GSD) 1.20 cm / 0.47 in
Area Covered 0.020 km2 / 1.9726 ha / 0.01 sq. mi. / 4.8769 acres
Time for Initial Processing (without report) 13m:09s

Quality Check

Images median of 71168 keypoints per image

Dataset 84 out of 84 images calibrated (100%), all images enabled

Camera
7.66% relative difference between initial and optimized internal camera parameters
Optimization

Matching median of 23991.6 matches per calibrated image

Georeferencing yes, no 3D GCP

Preview

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

Number of Calibrated Images out of 84

Number of Geolocated Images out of 84
Calibration Details

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 10x 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

Omega Phi Kappa Camera Camera Camera

X [m] Y [m] Z [m] [degree] [degree] [degree] Displacement X Displacement Y Displacement Z
[m] [m] [m]
Mean 0.089 0.093 0.146 0.045 0.046 0.055 0.003 0.002 0.003
Sigma 0.011 0.015 0.002 0.000 0.001 0.000 0.000 0.000 0.001
 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 1955039

Number of 3D Points for Bundle Block Adjustment 642508
Mean Reprojection Error [pixels] 0.177
Internal Camera Parameters L1D-20c_10.3_5472x3648 (RGB). Sensor Dimensions: 12.825 [mm] x 8.550
[mm]
EXIF ID: L1D-20c_10.3_5472x3648

Focal Principal Principal

R1 R2 R3 T1 T2
Length Point x Point y
4470.830 2736.000 1824.000
- -
Initial Values [pixel] [pixel] [pixel] 0.009 0.040 0.002
0.050 0.003
10.479 [mm] 6.412 [mm] 4.275 [mm]
4128.236 2728.963 1878.576
- - -
Optimized Values [pixel] [pixel] [pixel] 0.014 0.003
0.006 0.011 0.001
9.676 [mm] 6.396 [mm] 4.403 [mm]
Uncertainties 7.753 [pixel] 0.308 [pixel] 0.262 [pixel]
0.000 0.000 0.000 0.000 0.000
(Sigma) 0.018 [mm] 0.001 [mm] 0.001 [mm]
 F
C0x

C0y
The correlation between camera internal
parameters determined by the bundle adjustment.
R1
White indicates a full correlation between the
parameters, ie. any change in one can be fully
R2 compensated by the other. Black indicates that the
parameter is completely independent, and is not
R3 affected by other parameters.

T1

T2

The number of Automatic Tie Points (ATPs) per pixel, averaged over all images of the camera mo
is color coded between black and white. White indicates that, on average, more than 16 ATPs hav
been extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted
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 b
indicates the magnitude of 1 pixel error.

2D Keypoints Table

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

Median 71168 23992

Min 48274 3054
Max 77875 45444
Mean 68091 23274

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 405065
In 3 Images 108556
In 4 Images 47171
In 5 Images 26002
In 6 Images 15440
In 7 Images 10313
In 8 Images 7356
In 9 Images 5273
In 10 Images 3917
In 11 Images 3152
In 12 Images 2350
In 13 Images 1784
In 14 Images 1426
In 15 Images 1062
In 16 Images 797
In 17 Images 640
In 18 Images 510
In 19 Images 413
In 20 Images 335
In 21 Images 341
In 22 Images 299
In 23 Images 188
In 24 Images 90
In 25 Images 27
In 26 Images 1
 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

Omega Phi Kappa Camera Camera Camera

X [m] Y [m] Z [m] [degree] [degree] [degree] Displacement X Displacement Y Displacement Z
[m] [m] [m]
Mean 0.005 0.004 0.002 0.008 0.010 0.003 0.003 0.002 0.003
Sigma 0.001 0.002 0.001 0.002 0.002 0.001 0.000 0.000 0.001
Geolocation Details

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 0.00 0.00 0.00
-3.00 0.00 41.67 53.57 51.19
0.00 3.00 58.33 46.43 48.81
3.00 6.00 0.00 0.00 0.00
6.00 9.00 0.00 0.00 0.00
9.00 12.00 0.00 0.00 0.00
12.00 15.00 0.00 0.00 0.00
15.00 - 0.00 0.00 0.00
Mean [m] 0.000000 -0.000000 0.000009

Sigma [m] 0.614590 0.350939 0.305551

RMS Error 0.614590 0.350939 0.305551

[m]
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] 100.00 100.00 100.00
[-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 1.093
Phi 0.652
Kappa 6.486
Geolocation RMS error of the orientation angles given by the difference between the initial and computed image orientation angles.
 Rolling Shutter Statistics

Figure 6: Camera movement estimated by the rolling shutter camera model. The green line follows the computed image positions. The blue dots
represent the camera position at the start of the exposure. The blue lines represent the camera motion during the rolling shutter readout, re-
scaled by a project dependant scaling factor for better visibility.

Median Camera Speed 3.2636 [m/s]

Median Camera Displacement During Sensor Readout) 0.3357 [m]
Median Rolling Shutter Readout Time 99.8639 [ms]

Initial Processing Details

System Information
 CPU: Intel(R) Core(TM) i5-10300H CPU @ 2.50GHz
RAM: 8GB
Hardware
GPU: Intel(R) UHD Graphics (Driver: 27.20.100.8280), NVIDIA GeForce GTX 1650 (Driver:
27.21.14.5671)
Operating Windows 10 Home, 64-bit
System
Coordinate Systems

Image Coordinate System WGS 84 (EGM 2008 Geoid)

Output Coordinate System WGS 84 / UTM zone 20S (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
Calibration Method: Standard
Internal Parameters Optimization: All
Advanced: Calibration
External Parameters Optimization: All
Rematch: Auto, yes

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
Resolution: Medium Resolution
3D Textured Mesh Settings:
(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 33m:27s
Time for Point Cloud Classification NA
Time for 3D Textured Mesh Generation 05m:30s

Results

Number of Processed Clusters 2

Number of Generated Tiles 1
Number of 3D Densified Points 11205378

Average Density (per m3) 1804.51