Quality Report

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Summary

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Project colbosc 1
Processed 2018-07-29 09:46:00
Camera Model Name(s) FC6310_8.8_5472x3648 (RGB)
Average Ground Sampling Distance (GSD) 0.68 cm / 0.27 in
Area Covered 0.0327 km2 / 3.2725 ha / 0.0126 sq. mi. / 8.0908 acres
Time for Initial Processing (without report) 09h:03m:52s


Quality Check

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help Images median of 38459 keypoints per image green
help Dataset 361 out of 362 images calibrated (99%), all images enabled green
help Camera Optimization 0.86% relative difference between initial and optimized internal camera parameters red
help Matching median of 17221.9 matches per calibrated image green
help Georeferencing yes, no 3D GCP yellow


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Preview

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mosaic dsm

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


Calibration Details

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Number of Calibrated Images 361 out of 362
Number of Geolocated Images 362 out of 362


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Initial Image Positions

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geotag

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.


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Computed Image/GCPs/Manual Tie Points Positions

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XY YZ
XZ
Uncertainty ellipses 1x 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). Red dots indicate disabled or uncalibrated images. Dark green ellipses indicate the absolute position uncertainty of the bundle block adjustment result.


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Absolute camera position and orientation uncertainties

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X [m]Y [m]Z [m]Omega [degree]Phi [degree]Kappa [degree]
Mean0.7380.7381.7951.1981.4180.454
Sigma0.1200.1200.3910.0270.0220.001


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Overlap

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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

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Number of 2D Keypoint Observations for Bundle Block Adjustment 5760209
Number of 3D Points for Bundle Block Adjustment 1961065
Mean Reprojection Error [pixels] 0.146


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Internal Camera Parameters

interdb

FC6310_8.8_5472x3648 (RGB). Sensor Dimensions: 12.833 [mm] x 8.556 [mm]

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EXIF ID: FC6310_8.8_5472x3648

Focal
Length
Principal
Point x
Principal
Point y
R1 R2 R3 T1 T2
Initial Values 3668.759 [pixel]
8.604 [mm]
2736.001 [pixel]
6.417 [mm]
1823.999 [pixel]
4.278 [mm]
0.003 -0.008 0.008 -0.000 0.000
Optimized Values 3700.378 [pixel]
8.678 [mm]
2745.142 [pixel]
6.438 [mm]
1832.310 [pixel]
4.297 [mm]
0.000 -0.006 0.006 -0.000 0.001
Uncertainties (Sigma) 0.015 [pixel]
0.000 [mm]
0.465 [pixel]
0.001 [mm]
0.390 [pixel]
0.001 [mm]
0.001 0.001 0.001 0.000 0.000
pixel count 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, in average, more than 16 ATPs are extracted at this pixel location. Black indicates that, in average, 0 ATP has been extracted at this pixel location. Click on the image to the see the average direction and magnitude of the reprojection error for each pixel. Note that the vectors are scaled for better visualization.


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2D Keypoints Table

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Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image
Median 38459 17222
Min 20006 684
Max 86470 33982
Mean 43456 15956


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3D Points from 2D Keypoint Matches

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Number of 3D Points Observed
In 2 Images 1196721
In 3 Images 356217
In 4 Images 163533
In 5 Images 86553
In 6 Images 54454
In 7 Images 37398
In 8 Images 25311
In 9 Images 16175
In 10 Images 10286
In 11 Images 6715
In 12 Images 4275
In 13 Images 2168
In 14 Images 792
In 15 Images 250
In 16 Images 125
In 17 Images 63
In 18 Images 23
In 19 Images 6


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2D Keypoint Matches

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XY YZ
XZ
Uncertainty ellipses 100x 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.


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Relative camera position and orientation uncertainties

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X [m]Y [m]Z [m]Omega [degree]Phi [degree]Kappa [degree]
Mean0.0150.0180.0300.0700.0580.014
Sigma0.0040.0040.0170.0320.0270.006


Geolocation Details

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Absolute Geolocation Variance

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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 0.55 0.00
-3.00 0.00 42.94 47.37 49.31
0.00 3.00 57.06 50.69 50.69
3.00 6.00 0.00 1.39 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 0.000000
Sigma [m] 0.682303 1.651412 0.507761
RMS Error [m] 0.682303 1.651412 0.507761

Min Error and Max Error represent geolocation error intervalsbetween -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 intial and computed image positions. Note that the image geolocation errors do not correspond to the accuracy of the observed 3D points.


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Relative Geolocation Variance

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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 0.544
Phi 0.922
Kappa 8.045

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

Initial Processing Details

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System Information

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Hardware CPU: Intel(R) Xeon(R) CPU W3530 @ 2.80GHz
RAM: 32GB
GPU: no info (Driver: unknown)
Operating System Darwin 16.7.0 x86_64


Coordinate Systems

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Image Coordinate System WGS84 (egm96)
Output Coordinate System WGS84 / UTM zone 31N (egm96)


Processing Options

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Detected Template   Cartes 3D
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: Standard
Internal Parameters Optimization: All
External Parameters Optimization: All
Rematch: Auto, yes
Bundle Adjustment: Classic


Point Cloud Densification details

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Processing Options

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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
Advanced: 3D Textured Mesh Settings Sample Density Divider: 1
Advanced: Matching Window Size 7x7 pixels
Advanced: Image Groups group1
Advanced: Use Processing Area yes
Advanced: Use Annotations yes
Advanced: Limit Camera Depth Automatically no
Time for Point Cloud Densification 01h:24m:02s
Time for 3D Textured Mesh Generation 37m:26s


Results

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Number of Generated Tiles 3
Number of 3D Densified Points 47683033
Average Density (per m3) 6448.75


DSM, Orthomosaic and Index Details

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Processing Options

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DSM and Orthomosaic Resolution 1 x GSD (0.687 [cm/pixel])
DSM Filters Noise Filtering: yes
Surface Smoothing: yes, Type: Sharp
Raster DSM Generated: yes
Method: Inverse Distance Weighting
Merge Tiles: yes
Orthomosaic Generated: yes
Merge Tiles: yes
GeoTIFF Without Transparency: no
Google Maps Tiles and KML: no
Time for DSM Generation 52m:12s
Time for Orthomosaic Generation 01h:13m:14s