Quality Report

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Summary

Project PORRO NORTE V1

Processed 2019-01-24 12:03:34
Camera Model Name(s) FC6520_DJIMFT15mmF1.7ASPH_15.0_5280x3956 (RGB)
Average Ground Sampling Distance (GSD) 6.78 cm / 2.67 in
Area Covered 3.695 km2 / 369.4684 ha / 1.43 sq. mi. / 913.4489 acres

Quality Check

Images median of 62379 keypoints per image

Dataset 462 out of 462 images calibrated (100%), 28 images disabled

Camera Optimization 0.04% relative difference between initial and optimized internal camera parameters

Matching median of 20591.4 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 462 out of 490
Number of Geolocated Images 490 out of 490

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). Red dots indicate disabled or uncalibrated
images. Dark green ellipses indicate the absolute position uncertainty of the bundle block adjustment result.

Absolute camera position and orientation uncertainties

X [m] Y [m]OmegaZ [m] Phi Kappa Camera Camera Camera

[degree] [degree] [degree] Displacement X [m] Displacement Y [m] Displacement Z [m]
Mean 0.665 0.455 0.221 0.083 0.123 0.014 0.039 0.038 0.346
Sigma 0.167 0.117 0.068 0.022 0.032 0.002 0.005 0.005 0.077

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 10300920
Number of 3D Points for Bundle Block Adjustment 2832881
Mean Reprojection Error [pixels] 0.180

Internal Camera Parameters

FC6520_DJIMFT15mmF1.7ASPH_15.0_5280x3956 (RGB). Sensor Dimensions: 17.500 [mm] x 13.112 [mm]

EXIF ID: FC6520_DJIMFT15mmF1.7ASPH_15.0_5280x3956

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 4564.399 [pixel] 2698.159 [pixel] 1910.765 [pixel] -0.004 -0.043 0.087 -0.003 0.004
15.128 [mm] 8.943 [mm] 6.333 [mm]
Optimized Values 4566.585 [pixel] 2686.144 [pixel] 1911.984 [pixel] -0.003 -0.007 0.009 0.002 0.001
15.135 [mm] 8.903 [mm] 6.337 [mm]
Uncertainties (Sigma) 0.368 [pixel] 0.324 [pixel] 0.363 [pixel] 0.000 0.001 0.001 0.000 0.000
0.001 [mm] 0.001 [mm] 0.001 [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 62379 20591
Min 20622 5718
Max 92395 42853
Mean 63190 22296

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 1349161
In 3 Images 572208
In 4 Images 300064
In 5 Images 187738
In 6 Images 106168
In 7 Images 70687
In 8 Images 57967
In 9 Images 49705
In 10 Images 40772
In 11 Images 25414
In 12 Images 18983
In 13 Images 15825
In 14 Images 14083
In 15 Images 11583
In 16 Images 6125
In 17 Images 3214
In 18 Images 1683
In 19 Images 840
In 20 Images 449
In 21 Images 148
In 22 Images 39
 In 23 Images 12
In 24 Images 12
In 26 Images 1

2D Keypoint Matches

Uncertainty ellipses 10x 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]Omega
Z [m] Phi Kappa Camera Camera Camera
[degree] [degree] [degree] Displacement X [m] Displacement Y [m] Displacement Z [m]
Mean 0.536 0.364 0.058 0.069 0.102 0.012 0.032 0.032 0.291
Sigma 0.198 0.134 0.017 0.025 0.036 0.002 0.004 0.004 0.093
Geolocation Details

Ground Control Points

GCP Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked
GPS001 (3D) 0.015/ 0.030 0.001 -0.001 -0.014 0.687 13 / 13

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
been automatically 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 0.22 2.83
-15.00 -12.00 0.00 0.00 2.83
-12.00 -9.00 0.43 0.00 3.70
-9.00 -6.00 3.48 1.96 5.22
-6.00 -3.00 12.61 27.61 6.30
-3.00 0.00 32.39 13.26 8.48
0.00 3.00 37.83 18.70 9.78
3.00 6.00 8.91 28.48 8.48
6.00 9.00 3.48 8.26 6.74
9.00 12.00 0.87 1.09 7.83
12.00 15.00 0.00 0.43 8.04
15.00 - 0.00 0.00 29.78
Mean [m] -0.072811 0.758387 7.974898
Sigma [m] 3.277321 4.581636 12.987058
RMS Error [m] 3.278130 4.643979 15.240166

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] 85.43 72.61 48.04
[-2.00, 2.00] 99.13 98.91 80.43
[-3.00, 3.00] 100.00 99.78 94.13
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 1.430
Phi 3.217
Kappa 4.340

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 9.9571 [m/s]

Median Camera Displacement During Sensor Readout) 6.1779 [m]
Median Rolling Shutter Readout Time 678.7979 [ms]

Initial Processing Details

System Information

CPU: Intel(R) Core(TM) i7-5820K CPU @ 3.30GHz

Hardware RAM: 128GB
GPU: NVIDIA TITAN X (Pascal) (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 MAGNA-SIRGAS / Colombia Bogota zone (EGM 2008 Geoid)

Processing Options

Detected Template ELKIN_FULL_C1METRO*

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 prior
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
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 04h:03m:59s
Time for Point Cloud Classification 11m:57s
Time for 3D Textured Mesh Generation 27m:42s

Results

Number of Generated Tiles 4

Number of 3D Densified Points 59823026
Average Density (per m3) 8.89

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 1 x GSD (6.78 [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: yes
Grid DSM Generated: yes, Spacing [cm]: 100
Raster DTM Generated: yes
Merge Tiles: yes
DTM Resolution 5 x GSD (6.78 [cm/pixel])
Generated: yes
Contour Base [m]: 0
Contour Lines Generation Elevation Interval [m]: 1
Resolution [cm]: 100
Minimum Line Size [vertices]: 20
Time for DSM Generation 26m:05s
Time for Orthomosaic Generation 01h:34m:01s
Time for DTM Generation 18m:00s
Time for Contour Lines Generation 15s
Time for Reflectance Map Generation 00s
Time for Index Map Generation 00s