Multispectral Project

Processing Report
29 April 2022
Survey Data
>9
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1

100 m

Fig. 1. Camera locations and image overlap.

Number of images: 9,756 Camera stations: 8,442

Flying altitude: 54.2 m Tie points: 720,491
Ground resolution: 2.33 cm/pix Projections: 20,348,734
Coverage area: 0.114 km² Reprojection error: 0.551 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

Altum, Blue (8mm) 2064 x 1544 8 mm 3.45 x 3.45 μm Yes
Altum, Green (8mm) 2064 x 1544 8 mm 3.45 x 3.45 μm Yes
Altum, Red (8mm) 2064 x 1544 8 mm 3.45 x 3.45 μm Yes
Altum, Red edge (8mm) 2064 x 1544 8 mm 3.45 x 3.45 μm Yes
Altum, NIR (8mm) 2064 x 1544 8 mm 3.45 x 3.45 μm Yes

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Camera Model Resolution Focal Length Pixel Size Precalibrated
Altum, LWIR (1.77mm) 160 x 120 1.77 mm 12 x 12 μm Yes
Table 1. Cameras.

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Camera Calibration

1 pix
Fig. 2. Image residuals for Altum, Blue (8mm).

Altum, Blue (8mm)

1626 images, precalibrated

Type Resolution Focal Length Pixel Size

Frame 2064 x 1544 8 mm 3.45 x 3.45 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2

F 2235.14 0.024 1.00 -0.01 -0.23 -0.09 0.02 -0.15 0.16 -0.12 -0.01 -0.05

Cx 15.2509 0.0099 1.00 0.02 -0.01 0.04 -0.02 0.01 -0.02 0.79 0.02

Cy -22.4733 0.0082 1.00 -0.04 -0.02 0.01 -0.02 0.02 0.02 0.59

B1 0.818583 0.002 1.00 0.00 0.01 -0.04 0.05 0.02 0.06

B2 0.0605518 0.002 1.00 -0.00 -0.00 0.00 -0.04 0.02

K1 -0.120345 3.8e-05 1.00 -0.97 0.92 -0.00 -0.03

K2 0.172273 0.00026 1.00 -0.99 0.00 0.00

K3 -0.0214894 0.00052 1.00 -0.00 -0.01

P1 0.000163766 1.2e-06 1.00 0.01

P2 -0.000443069 9.7e-07 1.00

Table 2. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 3. Image residuals for Altum, Green (8mm).

Altum, Green (8mm)

1626 images, precalibrated

Type Resolution Focal Length Pixel Size

Frame 2064 x 1544 8 mm 3.45 x 3.45 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2

F 2235.57 0.024 1.00 -0.02 -0.21 -0.09 0.02 -0.16 0.16 -0.12 -0.02 -0.03

Cx 21.8951 0.01 1.00 0.03 -0.02 0.07 -0.02 0.02 -0.02 0.79 0.02

Cy 0.539137 0.0083 1.00 -0.06 -0.01 -0.01 -0.00 -0.00 0.02 0.58

B1 -0.542813 0.002 1.00 0.00 0.01 -0.04 0.05 0.02 0.02

B2 0.11202 0.002 1.00 -0.01 0.00 -0.00 -0.00 0.02

K1 -0.124216 3.9e-05 1.00 -0.97 0.92 -0.00 -0.02

K2 0.172479 0.00026 1.00 -0.99 0.00 0.00

K3 -0.0288331 0.00052 1.00 -0.00 -0.00

P1 1.85018e-06 1.2e-06 1.00 0.02

P2 0.000531049 9.7e-07 1.00

Table 3. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 4. Image residuals for Altum, Red (8mm).

Altum, Red (8mm)

1626 images, precalibrated

Type Resolution Focal Length Pixel Size

Frame 2064 x 1544 8 mm 3.45 x 3.45 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2

F 2269.29 0.024 1.00 -0.00 -0.26 -0.09 0.02 -0.15 0.16 -0.12 -0.01 -0.05

Cx 62.8924 0.011 1.00 0.03 0.03 0.05 -0.03 0.02 -0.04 0.80 0.04

Cy -4.27103 0.0087 1.00 -0.04 -0.00 0.00 -0.01 0.01 0.03 0.60

B1 -0.512762 0.0021 1.00 0.00 0.00 -0.03 0.04 0.07 0.06

B2 0.21162 0.0021 1.00 -0.00 -0.00 0.00 -0.03 0.07

K1 -0.117251 3.8e-05 1.00 -0.97 0.92 -0.02 -0.02

K2 0.166757 0.00025 1.00 -0.98 0.02 -0.01

K3 -0.0217273 0.00051 1.00 -0.02 0.00

P1 0.000369352 1.3e-06 1.00 0.03

P2 -0.000359341 1e-06 1.00

Table 4. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 5. Image residuals for Altum, Red edge (8mm).

Altum, Red edge (8mm)

1626 images, precalibrated

Type Resolution Focal Length Pixel Size

Frame 2064 x 1544 8 mm 3.45 x 3.45 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2

F 2262.08 0.024 1.00 -0.01 -0.27 -0.09 0.02 -0.15 0.16 -0.12 -0.02 -0.05

Cx 58.6706 0.011 1.00 0.01 -0.01 0.05 -0.03 0.03 -0.04 0.80 0.01

Cy -15.523 0.0088 1.00 -0.04 -0.02 0.01 -0.02 0.02 0.00 0.60

B1 -0.487029 0.0021 1.00 0.00 0.00 -0.04 0.04 0.03 0.07

B2 0.0944349 0.0021 1.00 0.00 -0.00 0.01 -0.04 0.05

K1 -0.118761 3.9e-05 1.00 -0.97 0.92 -0.02 -0.02

K2 0.16506 0.00026 1.00 -0.98 0.01 -0.00

K3 -0.0192458 0.00052 1.00 -0.01 0.00

P1 -0.000440127 1.3e-06 1.00 -0.01

P2 -0.000221796 1e-06 1.00

Table 5. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 6. Image residuals for Altum, NIR (8mm).

Altum, NIR (8mm)

1626 images, precalibrated

Type Resolution Focal Length Pixel Size

Frame 2064 x 1544 8 mm 3.45 x 3.45 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2

F 2276.03 0.024 1.00 0.00 -0.25 -0.09 0.02 -0.14 0.15 -0.11 -0.02 -0.05

Cx 46.1038 0.01 1.00 0.01 -0.02 0.05 -0.03 0.03 -0.04 0.77 0.02

Cy -29.6116 0.0084 1.00 -0.04 -0.03 0.01 -0.02 0.02 0.02 0.57

B1 -0.201291 0.0021 1.00 0.00 0.00 -0.03 0.04 0.03 0.07

B2 0.187797 0.002 1.00 0.00 -0.01 0.01 -0.05 0.04

K1 -0.119397 3.6e-05 1.00 -0.97 0.92 -0.01 -0.03

K2 0.15828 0.00025 1.00 -0.98 0.01 0.00

K3 -0.00424958 0.0005 1.00 -0.01 -0.00

P1 -0.000309974 1.2e-06 1.00 0.01

P2 -0.000223315 9.5e-07 1.00

Table 6. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 7. Image residuals for Altum, LWIR (1.77mm).

Altum, LWIR (1.77mm)

1626 images, precalibrated

Type Resolution Focal Length Pixel Size

Frame 160 x 120 1.77 mm 12 x 12 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2

F 156.376 0.0089 1.00 0.00 0.01 -0.15 -0.00 -0.79 0.71 -0.64 0.02 0.03

Cx -0.267942 0.018 1.00 0.02 -0.12 0.05 -0.01 0.02 -0.02 0.41 0.01

Cy -0.40985 0.014 1.00 -0.05 -0.08 0.00 -0.00 0.00 0.02 0.13

B1 0.472349 0.003 1.00 -0.00 -0.00 -0.04 0.06 -0.06 -0.00

B2 -0.131701 0.0029 1.00 0.00 -0.00 0.00 0.03 -0.06

K1 -0.365602 0.00095 1.00 -0.97 0.92 -0.01 -0.01

K2 0.460909 0.0058 1.00 -0.98 0.01 0.00

K3 -0.518529 0.01 1.00 -0.01 -0.01

P1 -0.00230419 1.2e-05 1.00 -0.02

P2 0.00178008 1.5e-05 1.00

Table 7. Calibration coefficients and correlation matrix.

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Camera Locations
11 m
8.8 m
6.6 m
4.4 m
2.2 m
0m
-2.2 m
-4.4 m
-6.6 m
-8.8 m
-11 m

x 20

100 m

Fig. 8. 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)
0.387923 0.645043 1.81627 0.752705 1.96606
Table 8. Average camera location error.
X - Longitude, Y - Latitude, Z - Altitude.

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Digital Elevation Model
504 m

450 m

100 m

Fig. 9. Reconstructed digital elevation model.

Resolution: 2.33 cm/pix

Point density: 0.184 points/cm²

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 Processing Parameters

General
Cameras 9756
Aligned cameras 8442
Coordinate system WGS 84 (EPSG::4326)
Rotation angles Yaw, Pitch, Roll
Point Cloud
Points 720,491 of 1,299,438
RMS reprojection error 0.195827 (0.550669 pix)
Max reprojection error 0.770778 (20.2019 pix)
Mean key point size 2.68593 pix
Point colors 1 bands, uint16
Key points 18.11 GB
Average tie point multiplicity 40.8496
Alignment parameters
Accuracy High
Generic preselection Yes
Reference preselection Source
Key point limit 40,000
Key point limit per Mpx 1,000
Tie point limit 4,000
Filter points by mask No
Mask tie points No
Exclude stationary tie points Yes
Guided image matching No
Adaptive camera model fitting Yes
Matching time 37 minutes 31 seconds
Matching memory usage 11.99 GB
Alignment time 1 hours 17 minutes
Alignment memory usage 6.05 GB
Optimization parameters
Parameters f, b1, b2, cx, cy, k1-k3, p1, p2
Adaptive camera model fitting No
Optimization time 1 minutes 21 seconds
Date created 2022:04:15 21:05:29
Software version 1.7.4.12950
File size 1.01 GB
Depth Maps
Count 1407
Depth maps generation parameters
Quality Ultra High
Filtering mode Mild
Max neighbors 40
Processing time 2 hours 33 minutes
Memory usage 3.11 GB
Date created 2022:04:19 23:29:50
Software version 1.7.4.12950
File size 6.75 GB
Dense Point Cloud
Points 233,849,458
Point colors 6 bands, uint16
Depth maps generation parameters

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 Quality Ultra High
Filtering mode Mild
Max neighbors 40
Processing time 2 hours 33 minutes
Memory usage 3.11 GB
Dense cloud generation parameters
Processing time 2 hours 42 minutes
Memory usage 18.90 GB
Date created 2022:04:20 02:12:24
Software version 1.7.4.12950
File size 5.69 GB
DEM
Size 30,414 x 18,710
Coordinate system WGS 84 (EPSG::4326)
Reconstruction parameters
Source data Dense cloud
Interpolation Enabled
Processing time 5 minutes 31 seconds
Memory usage 399.67 MB
Date created 2022:04:22 17:57:06
Software version 1.7.4.12950
File size 726.16 MB
Orthomosaic
Size 30,064 x 18,063
Coordinate system WGS 84 (EPSG::4326)
Colors 6 bands, uint16
Reconstruction parameters
Blending mode Mosaic
Surface DEM
Enable hole filling Yes
Enable ghosting filter No
Processing time 31 minutes 5 seconds
Memory usage 4.62 GB
Date created 2022:04:20 02:43:19
Software version 1.7.4.12950
File size 92.32 GB
Raster Transform
Expression B3 / 32768; B2 / 32768; B1 / 32768; B4 / 32768; B5 / 32768; (B6 / 100) - 273.15; …
System
Software name Agisoft Metashape Professional
Software version 1.7.4 build 12950
OS Mac OS 64 bit
RAM 64.00 GB
CPU Intel(R) Xeon(R) W-2140B CPU @ 3.20GHz
GPU(s) AMD Radeon Pro Vega 56 Compute Engine

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