KEL CIBODAS BARU

Processing Report
26 May 2021
Survey Data
>9
9
8
7
6
5
4
3
2
1

500 m

Fig. 1. Camera locations and image overlap.

Number of images: 1,765 Camera stations: 1,764

Flying altitude: 100 m Tie points: 1,808,105
Ground resolution: 2.48 cm/pix Projections: 6,517,647
Coverage area: 1.27 km² Reprojection error: 1.05 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No

Page 2
Camera Model Resolution Focal Length Pixel Size Precalibrated
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
FC6310 (8.8mm) 5472 x 3648 8.8 mm 2.41 x 2.41 μm No
Table 1. Cameras.

Page 3
Camera Calibration

1 pix
Fig. 2. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
62 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3653.61 7.7 1.00 -0.51 -0.78 0.23 -0.14 0.30 -0.47 -0.11

Cx -26.3276 0.19 1.00 0.43 -0.14 0.06 -0.15 0.57 0.06

Cy 14.2622 0.2 1.00 -0.19 0.11 -0.24 0.38 0.34

K1 0.00306256 0.00031 1.00 -0.29 0.33 -0.38 -0.46

K2 -0.00286147 0.0002 1.00 -0.97 0.08 0.04

K3 0.00399439 0.00018 1.00 -0.17 -0.07

P1 -0.00175563 9.5e-006 1.00 0.18

P2 7.60965e-005 7e-006 1.00

Table 2. Calibration coefficients and correlation matrix.

Page 4
Camera Calibration

1 pix
Fig. 3. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
135 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3676.14 1.5 1.00 -0.13 -0.35 0.23 -0.02 0.09 -0.25 -0.05

Cx -26.333 0.066 1.00 0.06 -0.06 0.01 -0.01 0.45 -0.01

Cy 12.8428 0.058 1.00 -0.09 0.01 -0.03 0.08 0.41

K1 0.000933567 0.0001 1.00 -0.44 0.43 -0.18 -0.22

K2 -0.00374218 0.00013 1.00 -0.98 0.03 0.00

K3 0.00520744 0.00012 1.00 -0.04 -0.01

P1 -0.00169666 3.4e-006 1.00 0.01

P2 9.20381e-005 2.9e-006 1.00

Table 3. Calibration coefficients and correlation matrix.

Page 5
Camera Calibration

1 pix
Fig. 4. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
125 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3667.59 1.1 1.00 -0.10 -0.39 0.43 -0.03 0.08 -0.20 -0.11

Cx -25.5391 0.063 1.00 0.06 -0.10 0.03 -0.03 0.49 0.01

Cy 12.4317 0.05 1.00 -0.17 0.02 -0.04 0.05 0.66

K1 0.000153335 0.00011 1.00 -0.43 0.43 -0.23 -0.19

K2 -0.00336842 0.00014 1.00 -0.98 0.04 0.02

K3 0.00473051 0.00012 1.00 -0.05 -0.03

P1 -0.0015628 4e-006 1.00 0.03

P2 4.28443e-005 4.3e-006 1.00

Table 4. Calibration coefficients and correlation matrix.

Page 6
Camera Calibration

1 pix
Fig. 5. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
57 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3677.73 1.8 1.00 -0.07 0.00 0.53 -0.03 0.08 -0.28 -0.04

Cx -26.8099 0.13 1.00 0.04 -0.08 0.00 -0.01 0.36 -0.02

Cy 13.2502 0.097 1.00 -0.04 0.01 -0.01 0.00 0.39

K1 0.00039358 0.00021 1.00 -0.36 0.37 -0.29 -0.05

K2 -0.00297671 0.0002 1.00 -0.98 0.04 0.00

K3 0.00436737 0.00017 1.00 -0.05 -0.01

P1 -0.00171597 5.5e-006 1.00 0.00

P2 0.00010244 4.6e-006 1.00

Table 5. Calibration coefficients and correlation matrix.

Page 7
Camera Calibration

1 pix
Fig. 6. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
149 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3667.91 1.8 1.00 -0.15 -0.42 0.34 -0.07 0.14 -0.33 -0.14

Cx -27.4581 0.067 1.00 0.10 -0.07 0.01 -0.02 0.43 0.03

Cy 12.9726 0.063 1.00 -0.15 0.03 -0.06 0.13 0.37

K1 0.00128047 0.00015 1.00 -0.35 0.36 -0.29 -0.39

K2 -0.00344302 0.00013 1.00 -0.98 0.05 0.03

K3 0.00465663 0.00011 1.00 -0.08 -0.04

P1 -0.00168519 3.3e-006 1.00 0.12

P2 9.10919e-005 2.8e-006 1.00

Table 6. Calibration coefficients and correlation matrix.

Page 8
Camera Calibration

1 pix
Fig. 7. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
192 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3677.97 1.7 1.00 -0.22 -0.50 0.32 -0.06 0.15 -0.34 -0.13

Cx -26.2811 0.058 1.00 0.12 -0.10 0.01 -0.03 0.45 0.04

Cy 12.2016 0.054 1.00 -0.16 0.03 -0.07 0.17 0.37

K1 0.00155968 0.00012 1.00 -0.34 0.35 -0.36 -0.40

K2 -0.00390043 0.00011 1.00 -0.98 0.05 0.01

K3 0.00522673 0.0001 1.00 -0.08 -0.03

P1 -0.0016707 3.1e-006 1.00 0.16

P2 5.34266e-005 2.4e-006 1.00

Table 7. Calibration coefficients and correlation matrix.

Page 9
Camera Calibration

1 pix
Fig. 8. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
183 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3672.28 1.8 1.00 -0.03 -0.24 0.35 -0.06 0.15 -0.33 -0.06

Cx -26.3287 0.06 1.00 0.00 -0.02 0.01 -0.01 0.39 0.01

Cy 12.1768 0.05 1.00 -0.09 0.02 -0.04 0.07 0.40

K1 0.00147011 0.00013 1.00 -0.34 0.36 -0.24 -0.16

K2 -0.00339579 0.00011 1.00 -0.98 0.04 0.01

K3 0.00470787 9.7e-005 1.00 -0.07 -0.01

P1 -0.00169805 3e-006 1.00 0.06

P2 5.40783e-005 2.4e-006 1.00

Table 8. Calibration coefficients and correlation matrix.

Page 10
Camera Calibration

1 pix
Fig. 9. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
142 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3665.75 2.9 1.00 -0.40 -0.62 0.24 -0.08 0.19 -0.40 -0.09

Cx -26.4392 0.077 1.00 0.25 -0.15 0.03 -0.08 0.51 0.03

Cy 12.7709 0.07 1.00 -0.14 0.05 -0.12 0.24 0.37

K1 0.00122542 0.00015 1.00 -0.32 0.34 -0.37 -0.32

K2 -0.0035118 0.00013 1.00 -0.98 0.04 0.01

K3 0.00474389 0.00012 1.00 -0.10 -0.02

P1 -0.00167691 4e-006 1.00 0.12

P2 5.82686e-005 3.2e-006 1.00

Table 9. Calibration coefficients and correlation matrix.

Page 11
Camera Calibration

1 pix
Fig. 10. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
148 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3661.86 1.2 1.00 -0.20 -0.30 0.59 -0.03 0.07 -0.38 -0.24

Cx -25.5387 0.061 1.00 0.06 -0.15 0.01 -0.02 0.48 0.06

Cy 13.6392 0.051 1.00 -0.20 0.01 -0.02 0.12 0.43

K1 0.00174468 0.00014 1.00 -0.32 0.34 -0.45 -0.38

K2 -0.00310506 0.00013 1.00 -0.98 0.03 0.01

K3 0.00425821 0.00011 1.00 -0.06 -0.03

P1 -0.00160847 3.7e-006 1.00 0.19

P2 0.000130081 2.8e-006 1.00

Table 10. Calibration coefficients and correlation matrix.

Page 12
Camera Calibration

1 pix
Fig. 11. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
155 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3666.12 1.8 1.00 0.02 -0.25 0.37 -0.04 0.10 -0.25 -0.07

Cx -27.0096 0.062 1.00 0.00 0.03 -0.02 0.02 0.44 -0.00

Cy 12.4023 0.051 1.00 -0.10 -0.00 -0.02 0.04 0.49

K1 -0.000268134 0.00014 1.00 -0.33 0.33 -0.15 -0.17

K2 -0.00336745 0.00013 1.00 -0.98 0.02 -0.00

K3 0.00456564 0.00011 1.00 -0.05 -0.00

P1 -0.00171314 3.5e-006 1.00 0.01

P2 7.37766e-005 3e-006 1.00

Table 11. Calibration coefficients and correlation matrix.

Page 13
Camera Calibration

1 pix
Fig. 12. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
39 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3671.83 6.4 1.00 -0.05 -0.73 0.28 -0.07 0.17 -0.41 -0.14

Cx -27.073 0.15 1.00 0.02 0.03 0.03 -0.03 0.38 -0.05

Cy 11.805 0.16 1.00 -0.18 0.05 -0.12 0.27 0.37

K1 0.00121995 0.00036 1.00 -0.25 0.27 -0.18 -0.43

K2 -0.00232675 0.00025 1.00 -0.98 0.04 0.02

K3 0.00343014 0.00022 1.00 -0.09 -0.04

P1 -0.00175504 7.4e-006 1.00 0.04

P2 1.91794e-005 6.8e-006 1.00

Table 12. Calibration coefficients and correlation matrix.

Page 14
Camera Calibration

1 pix
Fig. 13. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
66 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3689.38 3.2 1.00 -0.18 -0.63 0.44 -0.08 0.17 -0.40 -0.29

Cx -26.8674 0.12 1.00 0.10 -0.18 0.03 -0.04 0.46 0.09

Cy 11.8705 0.12 1.00 -0.29 0.05 -0.11 0.26 0.47

K1 0.00166306 0.00023 1.00 -0.32 0.35 -0.37 -0.53

K2 -0.00365711 0.00019 1.00 -0.98 0.08 0.04

K3 0.0048907 0.00017 1.00 -0.12 -0.07

P1 -0.00175687 5.6e-006 1.00 0.21

P2 3.81441e-005 5.3e-006 1.00

Table 13. Calibration coefficients and correlation matrix.

Page 15
Camera Calibration

1 pix
Fig. 14. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
53 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3672.59 2.2 1.00 -0.06 -0.09 0.55 -0.04 0.09 -0.31 -0.09

Cx -27.6526 0.12 1.00 0.08 -0.01 0.03 -0.04 0.41 -0.01

Cy 12.8804 0.089 1.00 -0.09 0.02 -0.02 0.05 0.47

K1 0.00100781 0.00025 1.00 -0.33 0.34 -0.29 -0.14

K2 -0.00268586 0.00021 1.00 -0.98 0.03 0.01

K3 0.00390606 0.00018 1.00 -0.05 -0.01

P1 -0.00187712 5.9e-006 1.00 0.03

P2 7.20073e-005 4.9e-006 1.00

Table 14. Calibration coefficients and correlation matrix.

Page 16
Camera Calibration

1 pix
Fig. 15. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
71 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3675.75 1.3 1.00 -0.17 -0.26 0.32 -0.04 0.09 -0.15 -0.07

Cx -25.3375 0.1 1.00 -0.06 0.03 0.01 -0.02 0.38 0.08

Cy 14.1275 0.098 1.00 -0.08 0.00 -0.02 0.11 0.25

K1 0.00147401 0.00013 1.00 -0.46 0.46 -0.11 -0.28

K2 -0.00559159 0.00018 1.00 -0.98 0.01 0.01

K3 0.00692658 0.00016 1.00 -0.02 -0.01

P1 -0.00166546 4.4e-006 1.00 0.24

P2 0.000155921 3.7e-006 1.00

Table 15. Calibration coefficients and correlation matrix.

Page 17
Camera Calibration

1 pix
Fig. 16. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
83 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3660.27 3 1.00 -0.42 -0.38 0.29 -0.04 0.12 -0.40 -0.07

Cx -27.3645 0.12 1.00 0.15 -0.14 -0.02 -0.02 0.42 0.02

Cy 12.2368 0.082 1.00 -0.10 0.00 -0.03 0.13 0.37

K1 -0.000676776 0.00019 1.00 -0.28 0.29 -0.51 -0.18

K2 -0.00230291 0.00016 1.00 -0.98 0.03 -0.00

K3 0.00349088 0.00014 1.00 -0.07 -0.00

P1 -0.00178112 5.4e-006 1.00 0.09

P2 7.44499e-005 4.1e-006 1.00

Table 16. Calibration coefficients and correlation matrix.

Page 18
Camera Calibration

1 pix
Fig. 17. Image residuals for FC6310 (8.8mm).

FC6310 (8.8mm)
105 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.8 mm 2.41 x 2.41 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3685.34 3.8 1.00 -0.39 -0.75 0.20 -0.08 0.21 -0.48 -0.09

Cx -25.6317 0.094 1.00 0.29 -0.12 0.03 -0.08 0.49 0.05

Cy 12.2796 0.11 1.00 -0.13 0.06 -0.16 0.35 0.27

K1 0.00283961 0.00018 1.00 -0.30 0.33 -0.43 -0.50

K2 -0.00323869 0.00015 1.00 -0.98 0.07 0.02

K3 0.0047065 0.00014 1.00 -0.14 -0.04

P1 -0.00183809 4.8e-006 1.00 0.22

P2 5.64724e-005 3.8e-006 1.00

Table 17. Calibration coefficients and correlation matrix.

Page 19
Camera Locations
6m
4.8 m
3.6 m
2.4 m
1.2 m
0m
-1.2 m
-2.4 m
-3.6 m
-4.8 m
-6 m

x 15

500 m

Fig. 18. Camera locations and error estimates.

Z error is represented by ellipse color. X,Y errors are represented by ellipse shape.
Estimated camera locations are marked with a black dot.

X error (m) Y error (m) Z error (m) XY error (m) Total error (m)
1.63477 1.98729 1.07553 2.57328 2.789
Table 18. Average camera location error.
X - Easting, Y - Northing, Z - Altitude.

Page 20
Digital Elevation Model
90 m

19 m

500 m

Fig. 19. Reconstructed digital elevation model.

Resolution: 39.7 cm/pix

Point density: 6.33 points/m²

Page 21
Processing Parameters

General
Cameras 1765
Aligned cameras 1764
Shapes
Polygons 1
Coordinate system W GS 84 + EGM96 height
Coordinate system W GS 84 / UTM zone 48S (EPSG::32748)
Rotation angles Yaw, Pitch, Roll
Point Cloud
Points 1,808,105 of 1,938,010
RMS reprojection error 0.113617 (1.04948 pix)
Max reprojection error 0.425572 (45.2344 pix)
Mean key point size 7.7191 pix
Point colors 3 bands, uint8
Key points No
Average tie point multiplicity 3.77922
Depth Maps
Count 1763
Depth maps generation parameters
Quality Lowest
Filtering mode Mild
Processing time 25 minutes 54 seconds
Software version 1.5.5.9097
Dense Point Cloud
Points 12,745,265
Point colors 3 bands, uint8
Depth maps generation parameters
Quality Lowest
Filtering mode Mild
Processing time 25 minutes 54 seconds
Dense cloud generation parameters
Processing time 16 minutes 6 seconds
Software version 1.5.5.9097
Model
Faces 849,683
Vertices 427,570
Vertex colors 3 bands, uint8
Texture 4,096 x 4,096, 4 bands, uint8
Depth maps generation parameters
Quality Lowest
Filtering mode Mild
Processing time 25 minutes 54 seconds
Reconstruction parameters
Surface type Arbitrary
Source data Dense cloud
Interpolation Enabled
Strict volumetric masks No
Processing time 10 minutes 16 seconds
Texturing parameters
Mapping mode Orthophoto

Page 22
General
Blending mode Mosaic
Texture size 4,096
Enable hole filling Yes
Enable ghosting filter Yes
UV mapping time 7 seconds
Blending time 2 hours 6 minutes
Software version 1.5.5.9097
Orthomosaic
Size 41,370 x 45,292
Coordinate system W GS 84 / UTM zone 48S (EPSG::32748)
Colors 3 bands, uint8
Reconstruction parameters
Blending mode Mosaic
Surface Mesh
Enable hole filling Yes
Processing time 33 minutes 9 seconds
Software version 1.5.5.9097
Software
Version 1.5.5 build 9097
Platform W indows 64

Page 23