Quality Report

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Summary

Project Prueba
Processed 2018-11-02 14:53:33
Camera Model Name(s) FC6310_8.8_4864x3648 (5a59812c97d4683b62f9b40cfd38fe5f) (RGB), FC6310_8.8_4864x3648
(e1a22db669091ffc172744de8d7db88e) (RGB)
Average Ground Sampling 5.43 cm / 2.14 in
Distance (GSD)
Time for Initial Processing 04h:28m:13s
(without report)

Quality Check

Images median of 78601 keypoints per image

Dataset 4697 out of 4698 images calibrated (99%), 157 images disabled, 94 blocks

Camera Optimization 0.03% relative difference between initial and optimized internal camera parameters

Matching median of 5692.2 matches per calibrated image

Georeferencing yes, no 3D GCP

Calibration Details
Number of Calibrated Images 4697 out of 4855
Number of Geolocated Images 4855 out of 4855

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 100x 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] Z [m] Omega [degree] Phi [degree] Kappa [degree]

Mean 0.167 0.166 0.285 0.022 0.022 0.011
Sigma 0.070 0.076 0.078 0.006 0.008 0.005

Bundle Block Adjustment Details

Number of 2D Keypoint Observations for Bundle Block Adjustment 38241045
Number of 3D Points for Bundle Block Adjustment 17207033
Mean Reprojection Error [pixels] 0.159

Internal Camera Parameters

FC6310_8.8_4864x3648 (5a59812c97d4683b62f9b40cfd38fe5f) (RGB). Sensor Dimensions: 12.833 [mm] x

9.625 [mm]
EXIF ID: FC6310_8.8_4864x3648

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 3609.530 [pixel] 2423.680 [pixel] 1829.610 [pixel] 0.004 -0.022 0.023 0.001 -0.000
9.523 [mm] 6.395 [mm] 4.827 [mm]
Optimized Values 3611.540 [pixel] 2417.943 [pixel] 1858.494 [pixel] 0.002 -0.017 0.016 0.001 -0.000
9.529 [mm] 6.380 [mm] 4.904 [mm]
Uncertainties (Sigma) 0.193 [pixel] 0.083 [pixel] 0.060 [pixel] 0.000 0.000 0.000 0.000 0.000
0.001 [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

FC6310_8.8_4864x3648 (e1a22db669091ffc172744de8d7db88e) (RGB). Sensor Dimensions: 12.833 [mm] x

9.625 [mm]
EXIF ID: FC6310_8.8_4864x3648

Focal Principal Principal R1 R2 R3 T1 T2

Length Point x Point y
Initial Values 3612.120 [pixel] 2440.010 [pixel] 1824.010 [pixel] 0.006 -0.018 0.017 -0.001 0.001
9.530 [mm] 6.438 [mm] 4.813 [mm]
Optimized Values 3612.609 [pixel] 2438.680 [pixel] 1834.278 [pixel] 0.005 -0.019 0.018 -0.001 0.001
9.532 [mm] 6.434 [mm] 4.840 [mm]
Uncertainties (Sigma) 0.194 [pixel] 0.138 [pixel] 0.114 [pixel] 0.000 0.000 0.000 0.000 0.000
0.001 [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.

2D Keypoints Table

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

Median 78601 5692
Min 22805 24
Max 96551 42941
Mean 74920 8142

2D Keypoints Table for Camera FC6310_8.8_4864x3648 (5a59812c97d4683b62f9b40cfd38fe5f) (RGB)

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

Median 77344 4922
Min 23864 24
Max 96551 42941
Mean 74464 7784

2D Keypoints Table for Camera FC6310_8.8_4864x3648 (e1a22db669091ffc172744de8d7db88e) (RGB)

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

Median 80092 7586
Min 22805 28
Max 92190 42676
Mean 75999 8989

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

FC6310_8.8_4864x3648 FC6310_8.8_4864x3648
(5a59812c97d4683b62f9b40cfd38fe5f) (RGB)... (e1a22db669091ffc172744de8d7db88e) (RGB)...
(5a59812c97d4683b62f9b40cfd38fe5f) (RGB) (e1a22db669091ffc172744de8d7db88e) (RGB)
FC6310_8.8_4864x3648
(5a59812c97d4683b62f9b40cfd38fe5f) 59 / 410 / 40460 9 / 62 / 15614
(RGB)
FC6310_8.8_4864x3648
(e1a22db669091ffc172744de8d7db88e) 47 / 269 / 40676
(RGB)

3D Points from 2D Keypoint Matches

Number of 3D Points Observed

In 2 Images 15127475
In 3 Images 1323535
In 4 Images 371018
In 5 Images 147430
In 6 Images 90226
In 7 Images 55369
In 8 Images 35461
In 9 Images 22675
In 10 Images 14706
In 11 Images 8733
In 12 Images 5244
In 13 Images 2615
In 14 Images 1306
 In 15 Images 785
In 16 Images 316
In 17 Images 106
In 18 Images 25
In 19 Images 7
In 20 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.

Geolocation Details

Absolute Geolocation Variance

Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]
- -15.00 1.04 1.49 4.43
-15.00 -12.00 1.34 2.96 3.70
-12.00 -9.00 2.30 5.64 6.81
-9.00 -6.00 5.75 8.28 8.30
-6.00 -3.00 12.07 12.26 10.58
-3.00 0.00 26.08 18.59 13.58
0.00 3.00 29.61 16.84 14.65
3.00 6.00 11.73 16.59 14.20
6.00 9.00 5.02 9.30 12.43
9.00 12.00 2.60 4.26 5.92
12.00 15.00 1.49 2.45 2.92
15.00 - 0.96 1.34 2.47
Mean [m] 0.000739 -0.000668 -0.002516
Sigma [m] 5.351208 6.716434 8.866585
RMS Error [m] 5.351208 6.716434 8.866585

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.
 Relative Geolocation Variance

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

[-1.00, 1.00] 74.07 55.29 78.58
[-2.00, 2.00] 92.59 85.84 97.15
[-3.00, 3.00] 98.00 97.17 99.06
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 1.461
Phi 0.958
Kappa 5.554

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

Initial Processing Details

System Information

CPU: Intel(R) Core(TM) i7-5960X CPU @ 3.00GHz

Hardware RAM: 64GB
GPU: NVIDIA GeForce GTX 980 (Driver: 24.21.13.9924)
Operating System Windows 10 Pro, 64-bit

Coordinate Systems

Image Coordinate System WGS 84 (EGM 96 Geoid)

Output Coordinate System MAGNA-SIRGAS / Colombia West zone (EGM 96 Geoid)

Processing Options

Detected Template No Template Available

Keypoints Image Scale Full, Image Scale: 1
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: Geolocation Based
Advanced: Calibration Internal Parameters Optimization: All prior
External Parameters Optimization: All
Rematch: Custom, yes