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Quality Report

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Summary

Project SV20190715Processed 2019-07-18 07:58:17Camera Model Name(s) Anafi_4.0_5344x4016 (RGB)Average Ground Sampling Distance (GSD) 1.70 cm / 0.67 in

Area Covered 0.268 km2 / 26.7678 ha / 0.10 sq. mi. / 66.1788 acres

Quality Check

Images median of 40192 keypoints per image

Dataset 1755 out of 1755 images calibrated (100%), all images enabled

Camera Optimization 1.2% relative difference between initial and optimized internal camera parameters

Matching median of 10364.3 matches per calibrated image

Georeferencing yes, 11 GCPs (11 3D), mean RMS error = 0.025 m

Preview

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

Calibration Details

Number of Calibrated Images 1755 out of 1755Number of Geolocated Images 1755 out of 1755

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

CameraDisplacement X [m]

CameraDisplacement Y [m]

CameraDisplacement Z [m]

Mean 0.028 0.031 0.021 0.038 0.031 0.013 0.004 0.004 0.032Sigma 0.011 0.012 0.003 0.015 0.013 0.005 0.001 0.001 0.006

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 18278625Number of 3D Points for Bundle Block Adjustment 6192970Mean Reprojection Error [pixels] 0.177

Internal Camera Parameters

Anafi_4.0_5344x4016 (RGB). Sensor Dimensions: 5.985 [mm] x 4.498 [mm]

EXIF ID: Anafi_4.0_5344x4016

FocalLength

PrincipalPoint x

PrincipalPoint y R1 R2 R3 T1 T2

Initial Values 3539.000 [pixel]3.964 [mm]

2653.000 [pixel]2.971 [mm]

2043.000 [pixel]2.288 [mm] -0.234 0.009 0.017 -0.001 0.000

Optimized Values 3581.687 [pixel]4.011 [mm]

2683.429 [pixel]3.005 [mm]

2007.425 [pixel]2.248 [mm] -0.239 0.010 0.018 -0.000 -0.000

Uncertainties (Sigma) 0.671 [pixel]0.001 [mm]

0.090 [pixel]0.000 [mm]

0.173 [pixel]0.000 [mm] 0.000 0.000 0.000 0.000 0.000

CorrelatedIndependent

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 40192 10364Min 27016 1224Max 79447 28214Mean 39441 10415

3D Points from 2D Keypoint Matches

Number of 3D Points ObservedIn 2 Images 3756722In 3 Images 1164598In 4 Images 535528In 5 Images 278358In 6 Images 162788In 7 Images 97612In 8 Images 62115In 9 Images 40195In 10 Images 26886In 11 Images 18443In 12 Images 12913In 13 Images 9417In 14 Images 6714In 15 Images 5056In 16 Images 3781In 17 Images 2807In 18 Images 2166In 19 Images 1646In 20 Images 1272In 21 Images 965In 22 Images 715

In 23 Images 560In 24 Images 412In 25 Images 310In 26 Images 238In 27 Images 173In 28 Images 123In 29 Images 96In 30 Images 71In 31 Images 66In 32 Images 44In 33 Images 28In 34 Images 34In 35 Images 24In 36 Images 15In 37 Images 11In 38 Images 12In 39 Images 12In 40 Images 8In 41 Images 5In 42 Images 6In 43 Images 7In 44 Images 5In 45 Images 3In 46 Images 1In 49 Images 1In 50 Images 1In 51 Images 1In 52 Images 1In 54 Images 2In 55 Images 1In 56 Images 1In 60 Images 1

2D Keypoint Matches

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.

Geolocation Details

Ground Control Points

GCP Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked1 (3D) 0.020/ 0.020 -0.032 -0.011 -0.026 1.106 6 / 62 (3D) 0.020/ 0.020 -0.013 0.007 0.081 0.872 6 / 63 (3D) 0.020/ 0.020 -0.031 -0.003 0.008 0.821 6 / 64 (3D) 0.020/ 0.020 -0.006 0.010 -0.100 1.100 6 / 65 (3D) 0.020/ 0.020 -0.007 0.004 -0.003 0.874 6 / 66 (3D) 0.020/ 0.020 0.018 0.002 -0.072 0.819 6 / 67 (3D) 0.020/ 0.020 0.051 0.008 0.024 1.185 6 / 6

8 (3D) 0.020/ 0.020 -0.001 0.002 0.008 0.801 6 / 69 (3D) 0.020/ 0.020 -0.010 -0.011 0.031 0.620 6 / 610 (3D) 0.020/ 0.020 0.025 -0.006 0.011 0.987 6 / 611 (3D) 0.020/ 0.020 0.006 -0.004 0.020 0.633 6 / 6Mean [m] -0.000052 -0.000208 -0.001723Sigma [m] 0.023269 0.006942 0.047335RMS Error [m] 0.023269 0.006945 0.047367

0 out of 1 check points have been labeled as inaccurate.

Check Point Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked12 -0.0394 0.0096 -0.0174 0.9263 6 / 6

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

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]- -2.70 0.00 0.17 0.40-2.70 -2.16 3.48 4.22 4.90-2.16 -1.62 10.54 7.01 10.26-1.62 -1.08 8.55 5.53 11.45-1.08 -0.54 12.42 11.74 12.88-0.54 0.00 14.76 21.88 12.590.00 0.54 10.37 22.62 12.710.54 1.08 12.25 14.47 11.051.08 1.62 10.60 9.12 8.261.62 2.16 13.28 3.19 6.042.16 2.70 3.65 0.06 4.392.70 - 0.11 0.00 5.07Mean [m] 0.393639 -0.119336 -0.080989Sigma [m] 1.341475 1.039129 1.541244RMS Error [m] 1.398036 1.045959 1.543370

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.

Geolocation Bias X Y ZTranslation [m] 0.315879 -0.014704 -0.104928

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] 35.84 55.38 51.05[-2.00, 2.00] 63.99 82.56 87.46[-3.00, 3.00] 90.77 97.83 97.04Mean of Geolocation Accuracy [m] 0.748405 0.748405 1.126416Sigma of Geolocation Accuracy [m] 0.123448 0.123448 0.190178

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

Geolocation Orientational Variance RMS [degree]Omega 0.833Phi 0.758

Kappa 2.707

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 thecamera 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 3.9274 [m/s]Median Camera Displacement During Sensor Readout) 0.182 [m]Median Rolling Shutter Readout Time 47.5788 [ms]

Initial Processing Details

System Information

HardwareCPU: Intel(R) Xeon(R) E-2186M CPU @ 2.90GHzRAM: 64GBGPU: Intel(R) UHD Graphics P630 (Driver: 25.20.100.6519), NVIDIA Quadro P5200 (Driver: 26.21.14.3064)

Operating System Windows 10 Enterprise, 64-bit

Coordinate Systems

Image Coordinate System WGS 84 (EGM 96 Geoid)Ground Control Point (GCP) Coordinate System WGS 84 / UTM zone 11NOutput Coordinate System WGS 84 / UTM zone 11N

Processing Options

Detected Template TopoFree*Keypoints Image Scale Full, Image Scale: 1Advanced: Matching Image Pairs Free Flight or TerrestrialAdvanced: 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, no

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 yes

3D Textured Mesh Settings: Resolution: Medium Resolution (default)Color Balancing: no

LOD Generated: noAdvanced: 3D Textured Mesh Settings Sample Density Divider: 1Advanced: Image Groups group1Advanced: Use Processing Area yesAdvanced: Use Annotations yesTime for Point Cloud Densification 1d:06h:31m:06sTime for Point Cloud Classification NATime for 3D Textured Mesh Generation 33m:01s

Results

Number of Processed Clusters 2Number of Generated Tiles 8Number of 3D Densified Points 185704971

Average Density (per m3) 1192.25

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 1 x GSD (1.7 [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

Grid DSM Generated: yes, Spacing [cm]: 2

Raster DTM Generated: yesMerge Tiles: yes

DTM Resolution 5 x GSD (1.7 [cm/pixel])Time for DSM Generation 02h:04m:08sTime for Orthomosaic Generation 04h:59m:59sTime for DTM Generation 25m:11sTime for Contour Lines Generation 00sTime for Reflectance Map Generation 00sTime for Index Map Generation 00s