PIX4D - Computed Image/GCPs/Manual Tie Points Positionsi4dmapper.com/web/pix4d/img/202558129/mining_quarry... · 2015. 3. 5. · Initial Image Positions Figure 2: Top view of the

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Summary

Project mining_quarryProcessed 2015-Jan-28 16:45:59Camera Model Name CanonIXUS220HS_4.3_4000x3000 (RGB)Average Ground Sampling Distance (GSD) 8.67 cm / 3.41 in

Area Covered 0.5811 km2 / 58.1136 ha / 0.2245 sq. mi. / 143.676 acresImage Coordinate System WGS84Ground Control Point (GCP) Coordinate System WGS84Output Coordinate System WGS84 / UTM zone 32NProcessing Type full Aerial nadirFeature Extraction Image Scale 1Camera Model Parameter Optimization optimize externals and all internalsTime for Initial Processing (without report) 17m:49s

Quality Check

Images median of 33856 keypoints per image

Dataset 127 out of 127 images calibrated (100%), all images enabled

Camera Optimization 0.44% relative difference between initial and final focal length

Matching median of 12371.3 matches per calibrated image

Georeferencing 7 GCPs (7 3D), mean error = 0.018 m

Preview

Figure 1: Orthomosaic and the corresponding sparse Digital Surface Model (DSM) before densification.

Calibration Details

Number of Calibrated Images 127 out of 127Number of Geolocated Images 127 out of 127

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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

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) andtheir computed positions (green crosses) in the top-view (XY plane), front-view (XZ plane), and side-view (YZ plane).

Overlap

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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 1447457Number of 3D Points for Bundle Block Adjustment 472252Mean Reprojection Error [pixels] 0.168751

Internal Camera Parameters

CanonIXUS220HS_4.3_4000x3000 (RGB). Sensor Dimensions: 6.2 [mm] x 4.65 [mm]

EXIF ID: CanonIXUS220HS_4.3_4000x3000

FocalLength

PrincipalPoint x

PrincipalPoint y R1 R2 R3 T1 T2

InitialValues

2839.640 [pixel]4.400 [mm]

2019.760 [pixel]3.129 [mm]

1547.000 [pixel]2.397 [mm] -0.043 0.026 -0.006 0.001 0.002

OptimizedValues

2826.940 [pixel]4.380 [mm]

2001.628 [pixel]3.101 [mm]

1504.127 [pixel]2.330 [mm] -0.039 0.022 -0.007 0.000 0.000

2D Keypoints Table

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per ImageMedian 33856 12371Min 21225 1370Max 55130 18496Mean 35803 11397

3D Points from 2D Keypoint Matches

Number of 3D Points ObservedIn 2 Images 301383In 3 Images 79808In 4 Images 33691In 5 Images 17569In 6 Images 10683In 7 Images 7209In 8 Images 5076In 9 Images 3655In 10 Images 2610In 11 Images 2009In 12 Images 1566

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In 13 Images 1156In 14 Images 881In 15 Images 820In 16 Images 609In 17 Images 490In 18 Images 457In 19 Images 388In 20 Images 332In 21 Images 286In 22 Images 255In 23 Images 198In 24 Images 156In 25 Images 158In 26 Images 155In 27 Images 139In 28 Images 113In 29 Images 80In 30 Images 79In 31 Images 62In 32 Images 36In 33 Images 33In 34 Images 37In 35 Images 22In 36 Images 12In 37 Images 12In 38 Images 10In 39 Images 11In 40 Images 2In 41 Images 1In 42 Images 1In 43 Images 1In 46 Images 1

3D Points from 2D Keypoint Matches

Number of matches25 222 444 666 888 1111 1333 1555 1777 2000

Figure 5: Top view of the image computed positions with a link between matching images. The darkness of the links indicates the number of matched 2D keypointsbetween the images. Bright links indicate weak links and require manual tie points or more images.

Geolocation Details

Ground Control Points

GCP Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked9011 (3D) 0.020/ 0.020 0.022 -0.005 -0.057 0.894 9 / 9

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9001 (3D) 0.020/ 0.020 0.001 -0.014 0.014 0.644 7 / 79002 (3D) 0.020/ 0.020 0.010 0.001 -0.012 0.455 4 / 49004 (3D) 0.020/ 0.020 -0.008 0.001 0.005 1.064 9 / 99017 (3D) 0.020/ 0.020 0.004 0.005 0.014 0.885 10 / 109012 (3D) 0.020/ 0.020 0.002 0.007 0.004 1.013 14 / 149016 (3D) 0.020/ 0.020 -0.018 0.018 0.068 0.912 10 / 10Mean 0.001829 0.001607 0.005146Sigma 0.011769 0.009310 0.034216RMS Error 0.011910 0.009448 0.034601

Localisation accuracy per GCP and mean errors in the three coordinate directions. The last column counts the number of images where the GCP has beenautomatically verified vs. manually marked.

Absolute Geolocation Variance

0 out of 127 geolocated and calibrated images have been labeled as inaccurate.

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]- -15.00 0.00 0.00 0.00-15.00 -12.00 0.00 0.00 0.00-12.00 -9.00 0.00 0.00 0.00-9.00 -6.00 0.00 0.00 0.00-6.00 -3.00 11.02 0.00 0.00-3.00 0.00 37.80 46.46 44.880.00 3.00 41.73 53.54 55.123.00 6.00 9.45 0.00 0.006.00 9.00 0.00 0.00 0.009.00 12.00 0.00 0.00 0.0012.00 15.00 0.00 0.00 0.0015.00 - 0.00 0.00 0.00Mean 0.049777 0.021364 0.029198Sigma 2.423162 0.923880 1.115087RMS Error 2.423674 0.924127 1.115469

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 thepercentage of images with geolocation errors within the predefined error intervals. The geolocation error is the difference between the intial and computed image

positions. Note that the image geolocation errors do not correspond to the accuracy of the observed 3D points.

Relative Geolocation Variance

Accuracy [%] Images X [%] Images Y [%] Images Z [%]10.00 0.00 31.50 56.6920.00 5.51 66.93 93.7030.00 25.20 92.91 100.0040.00 45.67 100.00 100.0050.00 66.93 100.00 100.0060.00 79.53 100.00 100.0070.00 88.98 100.00 100.0080.00 94.49 100.00 100.0090.00 97.64 100.00 100.00100.00 99.21 100.00 100.00110.00 99.21 100.00 100.00120.00 100.00 100.00 100.00130.00 100.00 100.00 100.00140.00 100.00 100.00 100.00150.00 100.00 100.00 100.00Mean Accuracy 5.000000 5.000000 10.000000Sigma Accuracy 0.000000 0.000000 0.000000

Images X, Y, Z represent the percentage of images with a geolocation error in X, Y, Z smaller than the given percentage of their corresponding accuracy.

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Georeference Verification

GCP Name: 9011 (312064.658,5169801.279,521.478)

IMG_1146.JPGIMG_1167.JPGIMG_1168.JPGIMG_1169.JPGIMG_1170.JPGIMG_1194.JPGIMG_1195.JPGIMG_1196.JPGIMG_1197.JPG

GCP 9011 was not marked in the following images(only up to 6 images shown). If the circle is too far awayfrom the initial GCP position, also measure the GCP in

these images to improve the accuracy.

IMG_1147.JPGIMG_1166.JPGIMG_1192.JPGIMG_1193.JPGIMG_1198.JPGIMG_1221.JPG

GCP Name: 9001 (311470.913,5169938.146,622.155)

IMG_1154.JPGIMG_1155.JPGIMG_1158.JPGIMG_1159.JPGIMG_1160.JPGIMG_1178.JPGIMG_1179.JPG


these images to improve the accuracy.IMG_1177.JPGIMG_1183.JPGIMG_1184.JPG

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GCP Name: 9002 (311413.045,5170000.951,617.611)

IMG_1154.JPGIMG_1155.JPGIMG_1156.JPGIMG_1157.JPG



IMG_1183.JPG

GCP Name: 9004 (311254.831,5169766.273,614.059)

IMG_1182.JPGIMG_1208.JPGIMG_1209.JPGIMG_1210.JPGIMG_1211.JPGIMG_1235.JPGIMG_1236.JPGIMG_1237.JPGIMG_1238.JPG


these images to improve the accuracy.IMG_1180.JPGIMG_1181.JPG

GCP Name: 9017 (311974.143,5169611.017,512.771)

IMG_1221.JPGIMG_1222.JPGIMG_1223.JPGIMG_1224.JPGIMG_1225.JPGIMG_1226.JPGIMG_1248.JPGIMG_1249.JPGIMG_1250.JPGIMG_1251.JPG

control_patches_ground_2.pngcontrol_patches_ground_not_measured_2.pngcontrol_patches_ground_3.pngcontrol_patches_ground_not_measured_3.pngcontrol_patches_ground_4.png




GCP Name: 9012 (311914.629,5169569.452,508.260)

IMG_1221.JPGIMG_1222.JPGIMG_1225.JPGIMG_1226.JPGIMG_1227.JPGIMG_1247.JPGIMG_1248.JPGIMG_1249.JPGIMG_1250.JPGIMG_1251.JPGIMG_1252.JPGIMG_1267.JPGIMG_1268.JPGIMG_1269.JPG




control_patches_ground_not_measured_4.pngcontrol_patches_ground_5.pngcontrol_patches_ground_not_measured_5.png

GCP Name: 9016 (311749.959,5169552.368,503.028)

IMG_1228.JPGIMG_1245.JPGIMG_1246.JPGIMG_1253.JPGIMG_1254.JPGIMG_1265.JPGIMG_1266.JPGIMG_1267.JPGIMG_1271.JPGIMG_1272.JPG




Figure 7: Images in which GCPs have been marked (yellow circle) and in which their computed 3D points have been projected (green circle). A green circleoutside of the yellow circle indicates either an accuracy issue or a GCP issue.

Point Cloud Densification details

Summary

Processing Type aerial nadirImage Scale 1/2 (half image size, default)Point Density optimalMinimum Number of Matches 2Use Densification Area yesUse Annotations yesTime for Densification (without report and 3D textured mesh) 18m:51s

Results

Number of 3D Densified Points 10054867

Average Density (per m3) 6.12

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Quality ReportSummaryQuality CheckPreviewFigure 1: Orthomosaic and the corresponding sparse Digital Surface Model (DSM) before densification.

Calibration DetailsInitial Image PositionsFigure 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 PositionsFigure 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).

OverlapFigure 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 DetailsInternal Camera ParametersCanonIXUS220HS_4.3_4000x3000 (RGB). Sensor Dimensions: 6.2 [mm] x 4.65 [mm]EXIF ID: CanonIXUS220HS_4.3_4000x3000

2D Keypoints Table3D Points from 2D Keypoint Matches3D Points from 2D Keypoint MatchesFigure 5: Top view of the image computed positions with a link between matching 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.

Geolocation DetailsGround Control PointsLocalisation accuracy per GCP and mean errors in the three coordinate directions. The last column counts the number of images where the GCP has been automatically verified vs. manually marked.

Absolute Geolocation VarianceMin 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 intial and computed image positions. Note that the image geolocation errors do not correspond to the accuracy of the observed 3D points.

Relative Geolocation VarianceImages X, Y, Z represent the percentage of images with a geolocation error in X, Y, Z smaller than the given percentage of their corresponding accuracy.

Georeference VerificationFigure 7: Images in which GCPs have been marked (yellow circle) and in which their computed 3D points have been projected (green circle). A green circle outside of the yellow circle indicates either an accuracy issue or a GCP issue.

Point Cloud Densification detailsSummaryResults

Documents

PIX4D - Computed Image/GCPs/Manual Tie Points Positionsi4dmapper.com/web/pix4d/img/202558129/mining_quarry... · 2015. 3. 5. · Initial Image Positions Figure 2: Top view of the