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Quality Report

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Summary

Project 2018_08_21_johnsonquarry_aeriaxProcessed 2018-08-21 16:58:26Camera Model Name(s) senseFlyAeriaX_18.5_6000x4000 (RGB)Average Ground Sampling Distance (GSD) 3.59 cm / 1.41 in

Area Covered 0.156 km2 / 15.6037 ha / 0.06 sq. mi. / 38.5776 acresTime for Initial Processing (without report) 27m:15s

Quality Check

Images median of 85469 keypoints per image

Dataset 136 out of 140 images calibrated (97%), all images enabled

Camera Optimization 2.88% relative difference between initial and optimized internal camera parameters

Matching median of 15261.5 matches per calibrated image

Georeferencing yes, no 3D GCP

Preview

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

Calibration Details

Number of Calibrated Images 136 out of 140Number of Geolocated Images 140 out of 140

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 1000x 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) andtheir 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] Z [m] Omega [degree] Phi [degree] Kappa [degree]Mean 0.004 0.004 0.003 0.002 0.002 0.001Sigma 0.003 0.002 0.001 0.001 0.000 0.000

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 2047066Number of 3D Points for Bundle Block Adjustment 718662Mean Reprojection Error [pixels] 0.188

Internal Camera Parameters

senseFlyAeriaX_18.5_6000x4000 (RGB). Sensor Dimensions: 23.456 [mm] x 15.637 [mm]

EXIF ID: senseFlyAeriaX_18.5_6000x4000

FocalLength

PrincipalPoint x

PrincipalPoint y R1 R2 R3 T1 T2

Initial Values 4732.300 [pixel]18.500 [mm]

3000.000 [pixel]11.728 [mm]

2000.000 [pixel]7.819 [mm] 0.000 0.000 0.000 0.000 0.000

Optimized Values 4868.925 [pixel]19.034 [mm]

3014.967 [pixel]11.786 [mm]

2025.098 [pixel]7.917 [mm] -0.017 -0.034 0.137 0.000 0.001

Uncertainties (Sigma) 0.138 [pixel]0.001 [mm]

0.092 [pixel]0.000 [mm]

0.083 [pixel]0.000 [mm] 0.000 0.001 0.001 0.000 0.000

CorrelatedIndepend en t

F

C0x

C0y

R1

R2

R3

T1

T2

The correlation between camera internal parametersdetermined by the bundle adjustment. White indicates a fullcorrelation between the parameters, ie. any change in one canbe fully compensated by the other. Black indicates that theparameter is completely independent, and is not affected byother parameters.

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 havebeen extracted at the pixel location. Black indicates that, on average, 0 ATPs have been extracted atthe 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 barindicates the magnitude of 1 pixel error.

2D Keypoints Table

Number of 2D Keypoints per Image Number of Matched 2D Keypoints per ImageMedian 85469 15261Min 67713 871Max 91507 29937Mean 84510 15052

3D Points from 2D Keypoint Matches

Number of 3D Points ObservedIn 2 Images 522606In 3 Images 96457In 4 Images 36926In 5 Images 18801In 6 Images 11189In 7 Images 7239In 8 Images 5055In 9 Images 3516In 10 Images 2753In 11 Images 2123In 12 Images 1692In 13 Images 1383In 14 Images 1162In 15 Images 969In 16 Images 802In 17 Images 660In 18 Images 591In 19 Images 510In 20 Images 467In 21 Images 378In 22 Images 343In 23 Images 296

In 24 Images 294In 25 Images 279In 26 Images 236In 27 Images 205In 28 Images 214In 29 Images 181In 30 Images 171In 31 Images 174In 32 Images 125In 33 Images 107In 34 Images 85In 35 Images 96In 36 Images 76In 37 Images 76In 38 Images 67In 39 Images 49In 40 Images 43In 41 Images 50In 42 Images 31In 43 Images 33In 44 Images 29In 45 Images 26In 46 Images 25In 47 Images 18In 48 Images 19In 49 Images 7In 50 Images 6In 51 Images 9In 52 Images 3In 53 Images 2In 54 Images 2In 55 Images 4In 56 Images 2

2D Keypoint Matches

Uncertainty ellipses 1000x magnified

Number of matches25 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 theimages. Bright links indicate weak links and require manual tie points or more images. Dark green ellipses indicate the relative camera position uncertainty of the

bundle block adjustment result.

Relative camera position and orientation uncertainties

X [m] Y [m] Z [m] Omega [degree] Phi [degree] Kappa [degree]Mean 0.009 0.009 0.005 0.004 0.004 0.002Sigma 0.003 0.003 0.002 0.002 0.001 0.001

Geolocation Details

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]- -0.05 0.00 0.75 0.75-0.05 -0.04 0.00 0.00 0.00-0.04 -0.03 2.26 1.50 0.00-0.03 -0.02 2.26 0.00 5.26-0.02 -0.01 17.29 18.05 13.53-0.01 0.00 30.83 26.32 30.830.00 0.01 33.83 33.83 30.830.01 0.02 6.02 15.79 15.040.02 0.03 3.76 3.01 3.760.03 0.04 2.26 0.75 0.000.04 0.05 0.75 0.00 0.000.05 - 0.75 0.00 0.00Mean [m] 0.000035 -0.000009 -0.000106Sigma [m] 0.013019 0.011915 0.011398RMS Error [m] 0.013019 0.011915 0.011399

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 initial and computed image

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

Relative Geolocation Variance

Relative Geolocation Error Images X [%] Images Y [%] Images Z [%][-1.00, 1.00] 93.23 96.99 99.25[-2.00, 2.00] 99.25 99.25 100.00[-3.00, 3.00] 100.00 100.00 100.00Mean of Geolocation Accuracy [m] 0.024939 0.024939 0.028238Sigma of Geolocation Accuracy [m] 0.000457 0.000457 0.000720

Images X, Y, Z represent the percentage of images with a relative geolocation error in X, Y, Z.

Geolocation Orientational Variance RMS [degree]Omega 4.553Phi 5.201Kappa 17.439

Geolocation RMS error of the orientation angles given by the difference between the initial and computed image orientation angles.

Initial Processing Details

System Information

HardwareCPU: Intel(R) Xeon(R) CPU E3-1505M v6 @ 3.00GHzRAM: 32GBGPU: NVIDIA Quadro M2200 (Driver: 23.21.13.9158)

Operating System Windows 10 Pro for Workstations, 64-bit

Coordinate Systems

Image Coordinate System WGS84Output Coordinate System WGS 84 / UTM zone 18N

Processing Options

Detected Template Mappingdefault*Keypoints Image Scale Full, Image Scale: 1Advanced: Matching Image Pairs Aerial Grid or CorridorAdvanced: Matching Strategy Use Geometrically Verified Matching: noAdvanced: Keypoint Extraction Targeted Number of Keypoints: Automatic

Advanced: CalibrationCalibration Method: StandardInternal Parameters Optimization: AllExternal Parameters Optimization: AllRematch: Auto, yes

Point Cloud Densification details

Processing Options

Image Scale multiscale, 1/2 (Half image size, Default)Point Density OptimalMinimum Number of Matches 33D Textured Mesh Generation noLOD Generated: noAdvanced: Image Groups group1Advanced: Use Processing Area yesAdvanced: Use Annotations yesTime for Point Cloud Densification 28m:17sTime for Point Cloud Classification NATime for 3D Textured Mesh Generation NA

Results

Number of Generated Tiles 1Number of 3D Densified Points 7738761

Average Density (per m3) 83.27

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 1 x GSD (3.59 [cm/pixel])

DSM Filters Noise Filtering: yesSurface Smoothing: yes, Type: Sharp

Raster DSMGenerated: yesMethod: Inverse Distance WeightingMerge Tiles: yes

OrthomosaicGenerated: yes Merge Tiles: yesGeoTIFF Without Transparency: noGoogle Maps Tiles and KML: yes

Time for DSM Generation 05m:23sTime for Orthomosaic Generation 18m:22sTime for DTM Generation 00sTime for Contour Lines Generation 00sTime for Reflectance Map Generation 00sTime for Index Map Generation 00s