Quality Report

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Summary

Project Huanuco_123
Processed 2019-01-30 15:09:16
Camera Model Name(s) FC330_3.6_4000x3000 (RGB)(1), FC330_3.6_4000x3000 (RGB)(2), FC330_3.6_4000x3000 (RGB)
(3)
Average Ground Sampling Distance 4.64 cm / 1.83 in
(GSD)
Area Covered 9.307 km2 / 930.6809 ha / 3.60 sq. mi. / 2300.9529 acres

Quality Check

Images median of 10008 keypoints per image

Dataset 3283 out of 3329 images calibrated (98%), 530 images disabled, 5 blocks

Camera Optimization 20.81% relative difference between initial and optimized internal camera parameters

Matching median of 3329.1 matches per calibrated image

Georeferencing yes, 23 GCPs (23 3D), mean RMS error = 0.369 m

Preview

Figure 1: Orthomosaic and the corresponding sparse Digital Surface Model (DSM) before densification.
Calibration Details
Number of Calibrated Images 3283 out of 3859
Number of Geolocated Images 3859 out of 3859

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 50x 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] Omega

Z [m] Phi Kappa Camera Camera Camera
[degree] [degree] [degree] Displacement X [m] Displacement Y [m] Displacement Z [m]
Mean 0.351 0.337 0.288 0.156 0.194 0.040 0.055 0.051 0.260
Sigma 0.306 0.383 0.218 0.210 0.917 0.102 0.054 0.044 0.213

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 10576012
Number of 3D Points for Bundle Block Adjustment 3105740
Mean Reprojection Error [pixels] 0.131

Internal Camera Parameters

FC330_3.6_4000x3000 (RGB)(1). Sensor Dimensions: 6.317 [mm] x 4.738 [mm]

EXIF ID: FC330_3.6_4000x3000

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 2285.720 [pixel] 2000.010 [pixel] 1500.000 [pixel] -0.001 -0.002 0.000 -0.001 -0.001
3.610 [mm] 3.159 [mm] 2.369 [mm]
Optimized Values 2395.667 [pixel] 1996.835 [pixel] 1492.879 [pixel] -0.008 0.005 0.009 0.000 0.000
3.784 [mm] 3.154 [mm] 2.358 [mm]
Uncertainties (Sigma) 1.173 [pixel] 0.082 [pixel] 0.157 [pixel] 0.000 0.000 0.000 0.000 0.000
0.002 [mm] 0.000 [mm] 0.000 [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.

Internal Camera Parameters

FC330_3.6_4000x3000 (RGB)(2). Sensor Dimensions: 6.317 [mm] x 4.738 [mm]

EXIF ID: FC330_3.6_4000x3000

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 2285.720 [pixel] 2000.010 [pixel] 1500.000 [pixel] -0.001 -0.002 0.000 -0.001 -0.001
3.610 [mm] 3.159 [mm] 2.369 [mm]
Optimized Values 2096.133 [pixel] 1988.258 [pixel] 1503.858 [pixel] -0.006 0.004 0.003 0.000 0.000
3.311 [mm] 3.140 [mm] 2.375 [mm]
Uncertainties (Sigma) 2.981 [pixel] 0.221 [pixel] 0.371 [pixel] 0.000 0.000 0.000 0.000 0.000
0.005 [mm] 0.000 [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.

Internal Camera Parameters

FC330_3.6_4000x3000 (RGB)(3). Sensor Dimensions: 6.317 [mm] x 4.738 [mm]

EXIF ID: FC330_3.6_4000x3000

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 2285.720 [pixel] 2000.010 [pixel] 1500.000 [pixel] -0.001 -0.002 0.000 -0.001 -0.001
3.610 [mm] 3.159 [mm] 2.369 [mm]
Optimized Values 3413.599 [pixel] 2008.896 [pixel] 1484.560 [pixel] -0.018 0.024 0.072 -0.000 -0.000
5.391 [mm] 3.173 [mm] 2.345 [mm]
Uncertainties (Sigma) 12.388 [pixel] 1.811 [pixel] 2.973 [pixel] 0.001 0.005 0.007 0.000 0.000
0.020 [mm] 0.003 [mm] 0.005 [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 10008 3329
Min 2015 113
Max 16066 8664
Mean 8983 3221

2D Keypoints Table for Camera FC330_3.6_4000x3000 (RGB)(1)

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

 Median 11047 3784
Min 9209 285
Max 15830 8664
Mean 11165 3807

2D Keypoints Table for Camera FC330_3.6_4000x3000 (RGB)(2)

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 9684 3587
Min 5958 113
Max 16066 7366
Mean 9622 3683

2D Keypoints Table for Camera FC330_3.6_4000x3000 (RGB)(3)

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per Image

Median 2669 541
Min 2015 148
Max 3920 1489
Mean 2695 590

Median / 75% / Maximal Number of Matches Between Camera Models

FC330_3.6_40...(RGB)(1) FC330_3.6_40...(RGB)(2) FC330_3.6_40...(RGB)(3)

FC330_3.6_4000x3000 (RGB)(1) 41 / 198 / 5995
FC330_3.6_4000x3000 (RGB)(2) 94 / 365 / 5332
FC330_3.6_4000x3000 (RGB)(3) 29 / 93 / 733

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 1694119
In 3 Images 623710
In 4 Images 295841
In 5 Images 160960
In 6 Images 98358
In 7 Images 59925
In 8 Images 40362
In 9 Images 29493
In 10 Images 20985
In 11 Images 15614
In 12 Images 12012
In 13 Images 9183
In 14 Images 7081
In 15 Images 5119
In 16 Images 4073
In 17 Images 3458
In 18 Images 3107
In 19 Images 2536
In 20 Images 1975
In 21 Images 1643
In 22 Images 1373
In 23 Images 1192
In 24 Images 1067
In 25 Images 974
In 26 Images 850
In 27 Images 769
In 28 Images 678
In 29 Images 588
In 30 Images 493
In 31 Images 458
In 32 Images 454
In 33 Images 429
In 34 Images 368
In 35 Images 389
In 36 Images 334
In 37 Images 302
In 38 Images 301
In 39 Images 264
In 40 Images 256
In 41 Images 262
In 42 Images 234
In 43 Images 212
In 44 Images 178
In 45 Images 175
In 46 Images 168
In 47 Images 177
In 48 Images 142
In 49 Images 158
In 50 Images 134
In 51 Images 144
In 52 Images 124
In 53 Images 120
In 54 Images 97
In 55 Images 105
In 56 Images 98
In 57 Images 102
In 58 Images 89
In 59 Images 96
In 60 Images 85
In 61 Images 79
In 62 Images 78
In 63 Images 89
In 64 Images 70
In 65 Images 76
In 66 Images 66
In 67 Images 45
In 68 Images 61
In 69 Images 65
In 70 Images 54
In 71 Images 48
In 72 Images 39
In 73 Images 48
In 74 Images 44
In 75 Images 51
In 76 Images 43
In 77 Images 44
In 78 Images 38
In 79 Images 43
In 80 Images 35
In 81 Images 24
In 82 Images 24
In 83 Images 35
In 84 Images 25
In 85 Images 25
In 86 Images 18
In 87 Images 20
In 88 Images 22
In 89 Images 20
In 90 Images 15
In 91 Images 20
In 92 Images 12
In 93 Images 15
In 94 Images 18
In 95 Images 14
In 96 Images 17
In 97 Images 13
In 98 Images 12
In 99 Images 7
In 100 Images 10
In 101 Images 12
In 102 Images 9
In 103 Images 11
In 104 Images 12
In 105 Images 9
In 106 Images 6
In 107 Images 8
In 108 Images 6
In 109 Images 14
In 110 Images 12
In 111 Images 9
In 112 Images 8
In 113 Images 10
In 114 Images 8
In 115 Images 10
In 116 Images 4
In 117 Images 9
In 118 Images 8
In 119 Images 5
In 120 Images 3
In 121 Images 2
In 122 Images 10
In 123 Images 3
In 124 Images 3
In 125 Images 9
In 126 Images 4
In 127 Images 1
In 128 Images 4
In 129 Images 3
In 130 Images 3
In 131 Images 3
In 132 Images 3
In 133 Images 2
In 134 Images 3
In 135 Images 2
In 136 Images 4
In 137 Images 7
In 138 Images 2
In 139 Images 3
In 141 Images 1
In 142 Images 2
In 143 Images 1
In 144 Images 3
In 145 Images 1
In 146 Images 1
In 148 Images 2
In 150 Images 1
In 151 Images 2
In 152 Images 1
In 154 Images 1
In 155 Images 1
In 156 Images 1
In 165 Images 1
In 167 Images 1
In 182 Images 1

2D Keypoint Matches
 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.

Manual Tie Points

MTP Name Projection Error [pixel] Verified/Marked

Llanta 0.290 10 / 10
alcantarilla 0.788 15 / 15
Llanta2 0.452 18 / 18
piedra 0.262 19 / 19
buzon 0.511 19 / 19
piedra2 0.565 15 / 15
ppuente 0.926 19 / 25
pllanta 0.085 12 / 12
psolitaria 0.195 21 / 21
pcarretera 0.233 15 / 15

Projection errors for manual tie points.The last column counts the number of images where the manual tie point has been automatically verified vs. manually
marked.

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
AE1 (3D) 0.020/ 0.020 -0.000 -0.002 -0.002 0.531 19 / 19
AE2 (3D) 0.020/ 0.020 0.003 -0.000 0.004 0.282 16 / 16
AE4 (3D) 0.020/ 0.020 0.702 0.685 -1.687 0.284 24 / 24
AE7 (3D) 0.020/ 0.020 0.015 -0.004 0.026 0.810 8/8
AE3 (3D) 0.020/ 0.020 -0.071 0.005 0.007 2.823 15 / 15
AE6 (3D) 0.020/ 0.020 -0.006 -0.007 -0.026 0.354 9/9
AE11 (3D) 0.020/ 0.020 0.001 -0.002 -0.001 0.170 6/6
AE9 (3D) 0.020/ 0.020 0.001 0.003 -0.004 0.223 17 / 17
AE16' (3D) 0.020/ 0.020 -0.144 0.027 0.106 6.714 8/8
AE16 (3D) 0.020/ 0.020 -0.004 0.003 -0.024 0.340 15 / 15
AE13 (3D) 0.020/ 0.020 0.005 0.003 0.025 0.271 6/6
AE15 (3D) 0.020/ 0.020 -0.004 -0.005 -0.003 0.174 6/6
AE12 (3D) 0.020/ 0.020 0.002 0.001 0.001 0.218 8/8
AE20 (3D) 0.020/ 0.020 0.001 0.001 0.000 0.354 6/6
AE19 (3D) 0.020/ 0.020 -0.004 0.000 -0.006 0.498 10 / 10
AE22 (3D) 0.020/ 0.020 0.005 0.000 -0.002 0.103 7/7
AE17 (3D) 0.020/ 0.020 0.000 -0.001 0.004 0.285 13 / 13
AE24 (3D) 0.020/ 0.020 -0.002 -0.000 -0.008 0.213 7/7
AE27 (3D) 0.020/ 0.020 -0.002 0.004 0.017 0.587 11 / 11
AE18 (3D) 0.020/ 0.020 0.000 0.002 -0.002 0.246 6/6
AE23 (3D) 0.020/ 0.020 -1.031 0.340 2.877 0.189 11 / 11
AE21 (3D) 0.020/ 0.020 -0.000 -0.002 0.006 0.457 5/5
AE25 (3D) 0.020/ 0.020 -0.003 -0.002 0.010 0.240 6/6
Mean [m] -0.023373 0.045522 0.057315
Sigma [m] 0.261215 0.152832 0.693535
RMS Error [m] 0.262258 0.159467 0.695899
 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 0.00 30.28
-15.00 -12.00 0.06 0.00 1.34
-12.00 -9.00 0.00 0.55 1.22
-9.00 -6.00 4.45 2.99 1.16
-6.00 -3.00 14.19 12.37 1.22
-3.00 0.00 28.27 36.13 4.72
0.00 3.00 35.52 28.27 3.41
3.00 6.00 15.29 16.57 3.20
6.00 9.00 2.13 3.05 5.39
9.00 12.00 0.03 0.06 12.12
12.00 15.00 0.06 0.03 19.04
15.00 - 0.00 0.00 16.91
Mean [m] -0.218810 -1.178052 84.485142
Sigma [m] 3.235969 3.281458 17.175479
RMS Error [m] 3.243358 3.486513 86.213318

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.

Geolocation Bias X Y Z
Translation [m] -0.218811 -1.178053 84.485231

Bias between image initial and computed geolocation given in output coordinate system.

Relative Geolocation Variance

Relative Geolocation Error Images X [%] Images Y [%] Images Z [%]

[-1.00, 1.00] 86.78 87.42 22.42
[-2.00, 2.00] 99.88 99.82 74.96
[-3.00, 3.00] 100.00 100.00 98.26
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 8.130
Phi 2.755
Kappa 4.830

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 9.7822 [m/s]

Median Camera Displacement During Sensor Readout) 0.9271 [m]
Median Rolling Shutter Readout Time 135.9456 [ms]

Initial Processing Details

System Information

CPU: Intel(R) Core(TM) i7-4710HQ CPU @ 2.50GHz

Hardware RAM: 12GB
GPU: Intel(R) HD Graphics 4600 (Driver: 20.19.15.4624)
Operating System Windows 10 Home Single Language, 64-bit

Coordinate Systems

Image Coordinate System WGS 84 (EGM 96 Geoid)

Ground Control Point (GCP) Coordinate System WGS 84 / UTM zone 18S (EGM 96 Geoid)
Output Coordinate System WGS 84 / UTM zone 18S (EGM 96 Geoid)

Processing Options

Detected Template No Template Available

Keypoints Image Scale Custom, Image Scale: 0.5
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
External Parameters Optimization: All
Rematch: Auto, no

Point Cloud Densification details

Processing Options

Image Scale multiscale, 1/4 (Quarter image size, Fast)

Point Density Low (Fast)
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

Results

Number of Generated Tiles 1

Number of 3D Densified Points 10840575
Average Density (per m3) 3.51

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 4 x GSD (4.64 [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: no