Quality Report EB REET PORTIS WATTS @ portant: cickon tre dierentcons or © bint snayn tre rests inte Cait Repo © secitont information about the sections Q chris aie pe arab Cty Summary e Project 3 Pressed 2022.05 24200758 Camera Node! Nara) 10-206 10354729548 RB) ‘nerage Goind Sampling stance (650) 227 em/089in roa Cowred 03701959845 /0.14 59. mi 914379 aes Quality Check oe O images mation o 35075 keypints perimage ° @ dataset 299 outo209 images carats (100%) alimages enabled ° @ camera Optimization 4.45% relative diference between initial and optimized intemal camera parameters ° @ matering median of11572:9 matches per caliratedimage ° © ceoreteroncing yes, 4GOPs (14.30), maan RMS oror= 0.011 m ° @Preview oe Figure 1: Ortronae ante cerrespnig spare Digi! Sutce Mode (05M) betes dasifcaton, Calibration Details o ‘Number of Calorated mages: 299 out 0209 [Number of Gslocated Images 299 out0f209initial mage Positions e @ computed image/GCPs/Manual Tie Points Positions o Unoertaintyelipses 100xmagniied Figure 3: Ofeet between in! lve dt) an compte iran oa) rage paltons ax well as he ost between th GCPs Ita eaters ue conse) and ‘i conmand room necro ntempvnw ft nee Ge a) ain 7 Heh Ok ren tees ene seta@ Absolute camera position and orientation uncertainties eo wml zm omega | P| Kappa) Camera Cara Canea Xin] Yinl Zim) oye) eye! eee] DepiscmentXin]Delacomen'n} Descent 2 oan 013 0044 0086 027 0008 oot 090s 003 020 Sarva 0904 0'4 0002 0008 oon 0001 odor 001 1008 @overiap ° Bundle Block Adjustment Details 0 O "Nomber 20 Koil Cbs onto fx Bullock Austere saeta56 "Nmber of 30 Points Bune lok sient sasi247 san Reprojecton Eos] asa @ internat camera Parameters © L10-20¢_10.3_5472x3648 (RGB). Sensor Dimensions: 12.825 [mm] x 8.550 [mm] o ian roe Poy m |e |e in |e vita Ves {rosso al ZTORTOpin— {SRTEOB —9a99 oo10 00% 0003 oma coimimavanes ——271SHE (>| 274700 nol N857HAGA—oon5 aan9 a0 0001-0000 Ucotantes Sona) 3586 ODE Ga B09] g opp 909 aon 0000 OmN0paweaueg Cox! “The corelaon batvaen camara inamal parameters determined by he bundle adjustment White indents full ‘orelaon between the paramere i. any change in one can be filly componsatod bythe other. Blackindicates that tho paramers competelyindependent, ands notafected by ‘ther paramotrs. “The number of Automatic Te Points (ATPs) per ps averaged ovr alimages ofthe camera model, Is olor coded betwoen blaccand while Wl incites thal on average, mare than 16 ATPs have been extracted atthe pol locaton, Black indeates hat on average, 0 ATPs have been exracted at the pel ocaion, lion the Image ate see the average drecton and magnitude ofthe re rojecion ero for each pel. Note nat he vectors are scaled for beter vsualzation. The scale bar Indicates the magnitide of pire ear. @ 20 keypoints Table oe [Number of 20 Keypoins per Image [Number of Msiched 20 Keypoins perlmage Median 35078 11573 Mn 2o7a 4185 Nex 47760 19129 Mean 34019 1282 @ 30 Points from 2D Keypoint Matches oe Number of30 Points Observed In2images, 40440 In3tmages 220855 Ina trages 82510 InStmages 2818 In6trages 26143 In7irages 15523 nsimages 9555 Insimages, 6809 In 10 Images 3788 In 1 Images 1676 In 12 mages ee In 13 Images 318 In 4 images 12 In 18 Images 35 @ 20 keypoint Matches oeISSN PAINIEIN IC Uncertaintyelipses 100xmagnied Number of matches eer rr c 25 222 444 666 888 1111 1333 1555 1777 2000 gure &: Computed image poor with inks between matched images. he darkness fh inks eas he nba of mated 20 keypans between he Image. Bight inks Incas woak inks andrequte manual eps ot more ages ark goa epee cash elabvecavata poston unearth oe ‘una ock aster rest @ Relative camera position and orientation uncertainties, o Xim)Yimp Zim) M292: PN Kappa Camera camera Camera Im] Yim} Zim (aegres} _[degro6) [cegres] _DisplacementX(m] Displacement Ym} Displacement Zr Mean 0024 0045 0059 0040 0095 0006 0005 0.005 02 ‘Sigma 0.008 0014 0037 0015 0.020 0002 oot 0.001 0.005 Geolocation Details o @ Ground contro! Points oe oPName | Acaraqyx¥Zim) | EiorXim] | ErorYin] | EnorZin} | Projecon rorpbel) | VeriiedNtxked 1(80) ‘0020r0.020 0003 anon =8 sia 20) 002010.020, 0005 003k 38 0/0 3,0) 0201 0.020 0009 ooo 0080s 10/0 4 (80) 0.020'0.020 0007 9.01 0.007 0269 13/13580) 0.020/0.020 0.003 680) 0.020/0.020 0.008 780) 0.020/0.020 2.002 (30) 0.02010.020 0.002 9(80) 0.020'0.020 07a 10(80) .0z0/0.020 ‘0002 +10) .0z0/0.020 oto +2(90) 0.020/0.020 0043 1300) 0.020/0.020 0.001 +4 (90) 0.020/0.020 4.009 Mean {i 0.000167 ‘Signa fm] oor4108 RMS Esror [rm oor4108 Lecllsation accuracy pr GOP andimean err inthe he cordate rections. The @ Absolute Geolocation Var 0.002 0.000 0.002 0.005 ora 2.008 0.006 0.028 0.007 0,008 0.000088, 0.009646, 0.009647 Mn orm] MaxEmorfn}__|_Goalocaton Error XI : 15.00 000 1500 1200 000 “1200 900 000 3.00 6.00 000 600 “3.00 000 “300 0.00 4950 0.00 300 50.50 3.00 600 000 6.00 9.00 000 9.00 1200 000 1200 1500 000 1500 : 000 Mean {m] 0224381 ‘Sigma [m] ost0310 RMS Error osso23 Gealocation Bias ‘Translation fm) mn Eo and tax Ero roprarertgnoloston ror irae bt x Polen, Nos althelmage gelocon ears oat corespoh oe acurey othe cbnehved 30 pl, 0224331 @ Relative Geolocation Variance Relative Geolocaion Error £1.00, 1.00) 200,200) £300,300) Mean of Geolcation Accuracy [m] ‘Sigma of Geclocation Accuracy im] oon 0276 s0/10 0.002 0450 318 0.001 0216 10/10 0.009 0368 6/6 002 0228 66 002 o131 616 0.004 0588 919 0.004 0407 919 0.001 0438 818 0.008 0237 919 0.000018 oott102 ortiz oe Goolocaion Emor YI) Geolocaion Etor Z6) 0.00 0.00 000 0.00 0.00 0.00 0.00 0.00 1605 0.00 sat 060 4950 1638 236 268 0.00 201 000 033 0.00 0.00 0.00 0.00 2oreria 18.600345 2570490 ssa7112 a3ee164 10:761906 y Zz 2orers4 8.890345 conde glacton sven net eoonala opm. Images x 00.00 100.00 00.00 5.000000 0.000000 o Pal Images YP Images 2104) 400.00 e267 100.00 400.00 100.00 100.00 5.000000, 10:000000 1.900000, 0.900000, Images XY, Zeeresert he percentage image with a relative geeecaon eer inX Y,Z.Goolocation Oentatonal Varianco RMS [dogro0] Omega 0888 Phi 1010 Kappa 4514 [eolecaton RS are hw eiaralon anges ven Be erence between the ial and corp innge evirtaton ares. @ Rolling Shutter Statistics oe LLL Figur 6: Camara movemant estate byt rolling har camara mode. Tha green ne flows he computed image postions Te Mis dots represen eanerpntn tvs ett apn su en oer cana a an sh nto reseed eet cosa eg Median Camera Speed 11.906 ris] edian Camera Displacement During Sensor Readout) 0.5082 Nedian Roling Shutter Reedout Time 54.7844 ms} ‘System Information oe (CPU: nel) XeonfR) CPU ES-1650 8 @3.50GHz Hardware Rant occ (GPU: NDIA Guar M4000 (Orver 2721.14.5177) Operating Sytem Windows 10 Pro, 64-bit Coordinate Systoms oeImage Coordinat Syston ‘Goound Contol Poin (GCP) Coordinato Systm Ouiput Coordinate System Processing Options Detected Template ‘eypoints inage Seale ‘Advanced: Matching mage Pairs ‘Abvancod: Matching Svatogy ‘Abvanced: Keypoint Exracion ‘bvanood: Calibration WS 84 (EGMBE Gooid) .WGS 84 / UTManne 18S (EGM2008 Gooid) .WGS 84 / UTMaone 188 (EGM2008 Geoid) & s0Neps Ful Image Scale: atial id ot Corridor Use Goomoticaly Varied Maiching:no Targeted Number of Keypoints: Automatic Calibration Maho: Sanaré Ihlmal Parameters Optimization: Al ‘Beemal Parameters Optimization: Al Rematch: Ao, yes