Report Agisoft Intermediate1

General Report
04 November 2019
Survey Data
>9
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8
7
6
5
4
3
2
1

500 m

Fig. 1. Camera locations and image overlap.

Number of images: 1,485 Camera stations: 1,485

Flying altitude: 217 m Tie points: 675,019
Ground resolution: 3.87 cm/pix Projections: 5,445,307
Coverage area: 2.6 km² Reprojection error: 1.26 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

ILCE-5100 (20mm) 6000 x 4000 20 mm 4 x 4 μm No
ILCE-5100 (20mm) 6000 x 4000 20 mm 4 x 4 μm No
ILCE-5100 (20mm) 6000 x 4000 20 mm 4 x 4 μm No
ILCE-5100 (20mm) 6000 x 4000 20 mm 4 x 4 μm No
ILCE-5100 (20mm) 6000 x 4000 20 mm 4 x 4 μm No

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Table 1. Cameras.

Page 3
Camera Calibration

1 pix
Fig. 2. Image residuals for ILCE-5100 (20mm).

ILCE-5100 (20mm)
297 images

Type Resolution Focal Length Pixel Size

Frame 6000 x 4000 20 mm 4 x 4 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 K4 P1 P2 P3 P4

F 5208.07 0.8 1.00 -0.19 -0.20 -0.05 -0.06 -0.47 0.15 -0.02 0.00 -0.00 0.11 -0.04 0.05

Cx -38.2669 0.085 1.00 -0.07 0.13 0.04 0.07 -0.01 -0.02 0.02 -0.07 0.03 0.08 -0.16

Cy -16.7803 0.08 1.00 -0.06 0.15 0.07 -0.01 -0.02 0.02 0.18 -0.31 0.07 0.01

B1 0.512546 0.032 1.00 0.04 0.03 -0.03 0.02 -0.01 -0.05 0.05 -0.02 0.00

B2 1.61154 0.028 1.00 0.03 -0.01 -0.00 0.01 0.03 -0.08 0.04 -0.03

K1 -0.17064 0.00012 1.00 -0.92 0.83 -0.78 0.03 -0.08 0.06 -0.08

K2 0.164995 0.0008 1.00 -0.98 0.95 -0.04 0.05 -0.07 0.08

K3 -0.0143145 0.0023 1.00 -0.99 0.04 -0.04 0.07 -0.08

K4 -0.0167655 0.0023 1.00 -0.05 0.04 -0.08 0.09

P1 -0.000705435 4.7e-06 1.00 -0.83 0.80 -0.65

P2 0.000861635 5.4e-06 1.00 -0.87 0.73

P3 0.159676 0.03 1.00 -0.96

P4 0.413886 0.046 1.00

Table 2. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 3. Image residuals for ILCE-5100 (20mm).

ILCE-5100 (20mm)
295 images

Type Resolution Focal Length Pixel Size

Frame 6000 x 4000 20 mm 4 x 4 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 K4 P1 P2 P3 P4

F 5200.68 0.98 1.00 0.45 -0.36 -0.05 0.01 -0.52 0.18 -0.04 0.02 -0.36 0.36 -0.33 0.15

Cx -44.9884 0.17 1.00 -0.38 -0.11 0.08 -0.23 0.08 -0.01 0.01 -0.60 0.60 -0.56 0.21

Cy 17.2483 0.11 1.00 0.04 -0.10 0.18 -0.06 0.01 -0.00 0.37 -0.38 0.35 -0.20

B1 1.66901 0.042 1.00 0.00 0.04 -0.03 0.02 -0.02 0.08 -0.08 0.07 -0.02

B2 0.57873 0.037 1.00 -0.00 -0.00 0.00 -0.00 -0.07 0.07 -0.07 0.03

K1 -0.168245 0.00013 1.00 -0.91 0.81 -0.75 0.18 -0.18 0.16 -0.07

K2 0.177479 0.00082 1.00 -0.98 0.94 -0.09 0.08 -0.08 0.07

K3 -0.0483727 0.0024 1.00 -0.99 0.06 -0.06 0.06 -0.09

K4 0.0130218 0.0023 1.00 -0.07 0.07 -0.07 0.12

P1 -3.14173e-05 8.8e-06 1.00 -1.00 1.00 -0.82

P2 1.12305e-05 3.2e-06 1.00 -1.00 0.82

P3 24.3895 7.7 1.00 -0.86

P4 -2.58343 2.1 1.00

Table 3. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 4. Image residuals for ILCE-5100 (20mm).

ILCE-5100 (20mm)
298 images

Type Resolution Focal Length Pixel Size

Frame 6000 x 4000 20 mm 4 x 4 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 K4 P1 P2 P3 P4

F 5272.82 0.86 1.00 0.41 -0.21 -0.14 -0.01 -0.46 0.14 -0.01 -0.00 -0.24 0.18 -0.10 0.02

Cx -27.4664 0.11 1.00 -0.07 -0.07 0.09 -0.18 0.05 0.01 -0.01 -0.33 0.05 -0.10 -0.06

Cy 19.1164 0.086 1.00 -0.06 -0.05 0.09 -0.02 -0.00 0.01 0.01 -0.49 -0.01 0.00

B1 0.142954 0.027 1.00 -0.10 0.07 -0.04 0.02 -0.01 0.05 0.04 0.01 0.01

B2 -0.650777 0.025 1.00 0.01 -0.00 -0.00 0.00 -0.05 0.05 -0.02 0.00

K1 -0.166544 0.00012 1.00 -0.92 0.83 -0.78 0.11 -0.08 0.05 -0.02

K2 0.155232 0.00086 1.00 -0.98 0.95 -0.06 0.02 -0.06 0.05

K3 0.0164887 0.0026 1.00 -0.99 0.05 0.00 0.07 -0.08

K4 -0.0383579 0.0027 1.00 -0.06 0.00 -0.09 0.10

P1 -0.000566894 7.1e-06 1.00 -0.06 0.88 -0.75

P2 1.01152e-05 1.8e-06 1.00 -0.05 0.04

P3 0.472689 0.06 1.00 -0.96

P4 -0.16748 0.089 1.00

Table 4. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 5. Image residuals for ILCE-5100 (20mm).

ILCE-5100 (20mm)
298 images

Type Resolution Focal Length Pixel Size

Frame 6000 x 4000 20 mm 4 x 4 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 K4 P1 P2 P3 P4

F 5237.76 0.64 1.00 -0.01 0.10 -0.06 -0.04 -0.43 0.14 -0.03 0.01 0.03 -0.05 0.04 -0.03

Cx -35.5933 0.085 1.00 -0.20 0.07 -0.06 0.01 -0.01 0.00 -0.00 -0.22 0.19 -0.03 -0.11

Cy -9.83655 0.084 1.00 0.04 0.10 -0.04 0.01 -0.01 0.01 0.27 -0.38 0.15 -0.03

B1 0.684685 0.027 1.00 0.01 0.03 -0.03 0.02 -0.01 -0.00 0.00 0.00 -0.00

B2 1.12123 0.026 1.00 0.02 -0.01 0.01 -0.00 0.04 -0.06 0.03 -0.01

K1 -0.171133 0.0001 1.00 -0.93 0.85 -0.80 0.01 0.00 0.00 -0.01

K2 0.163637 0.00071 1.00 -0.98 0.95 -0.04 0.02 -0.04 0.04

K3 -0.00829384 0.0021 1.00 -0.99 0.05 -0.04 0.06 -0.07

K4 -0.018242 0.0021 1.00 -0.06 0.05 -0.08 0.09

P1 -0.000597521 4.5e-06 1.00 -0.89 0.85 -0.70

P2 0.0006496 4.8e-06 1.00 -0.88 0.74

P3 0.865608 0.039 1.00 -0.95

P4 -0.286268 0.055 1.00

Table 5. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 6. Image residuals for ILCE-5100 (20mm).

ILCE-5100 (20mm)
297 images

Type Resolution Focal Length Pixel Size

Frame 6000 x 4000 20 mm 4 x 4 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 K4 P1 P2 P3 P4

F 5283.84 0.59 1.00 -0.05 -0.11 -0.12 -0.06 -0.38 0.12 -0.03 0.01 -0.02 0.08 -0.03 0.03

Cx -39.9927 0.082 1.00 -0.15 0.11 0.10 0.01 0.00 -0.01 0.02 -0.12 0.09 0.05 -0.15

Cy -10.7138 0.081 1.00 -0.10 0.07 0.03 -0.00 -0.01 0.02 0.22 -0.34 0.09 0.03

B1 0.76542 0.026 1.00 -0.03 0.05 -0.03 0.02 -0.01 -0.06 0.08 -0.04 0.02

B2 0.180644 0.024 1.00 0.02 -0.00 -0.00 0.00 -0.00 -0.03 0.03 -0.03

K1 -0.173951 0.00011 1.00 -0.94 0.87 -0.82 0.03 -0.05 0.05 -0.05

K2 0.168426 0.0008 1.00 -0.98 0.95 -0.04 0.04 -0.05 0.06

K3 -0.00407268 0.0024 1.00 -0.99 0.04 -0.03 0.06 -0.07

K4 -0.0261457 0.0025 1.00 -0.05 0.04 -0.07 0.08

P1 -0.000592891 4.3e-06 1.00 -0.85 0.80 -0.63

P2 0.00076155 5.3e-06 1.00 -0.86 0.70

P3 0.155774 0.034 1.00 -0.95

P4 0.731464 0.053 1.00

Table 6. Calibration coefficients and correlation matrix.

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Camera Locations
50 m
40 m
30 m
20 m
10 m
0m
-10 m
-20 m
-30 m
-40 m
-50 m

x 40

500 m

Fig. 7. Camera locations and error estimates.

Z error is represented by ellipse color. X,Y errors are represented by ellipse shape.
Estimated camera locations are marked with a black dot.

X error (m) Y error (m) Z error (m) XY error (m) Total error (m)
0.603482 0.839463 33.5414 1.03387 33.5573
Table 7. Average camera location error.
X - Easting, Y - Northing, Z - Altitude.

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Ground Control Points
8 mm
6.4 mm
4.8 mm
3.2 mm
1.6 mm
2 10
0 mm
-1.6 mm
-3.2 mm
-4.8 mm
-6.4 mm
-8 mm

3
x 400

Control points Check points

500 m

Fig. 8. GCP locations and error estimates.

Z error is represented by ellipse color. X,Y errors are represented by ellipse shape.
Estimated GCP locations are marked with a dot or crossing.

Count X error (cm) Y error (cm) Z error (cm) XY error (cm) Total (cm)
4 7.47318 7.29109 0.515179 10.4407 10.4534
Table 8. Control points RMSE.
X - Easting, Y - Northing, Z - Altitude.

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Label X error (cm) Y error (cm) Z error (cm) Total (cm) Image (pix)
2 7.73459 8.69594 -0.78209 11.6643 0.944 (23)
3 6.66099 -5.89279 0.546024 8.91021 1.069 (22)
4 -9.96773 -8.41272 -0.376526 13.0488 0.957 (25)
10 -4.45481 5.61442 0.100304 7.16779 1.190 (23)
Total 7.47318 7.29109 0.515179 10.4534 1.043
Table 9. Control points.
X - Easting, Y - Northing, Z - Altitude.

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Digital Elevation Model
79 m

43 m

500 m

Fig. 9. Reconstructed digital elevation model.

Resolution: 15.5 cm/pix

Point density: 41.7 points/m²

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Processing Parameters

General
Cameras 1485
Aligned cameras 1485
Markers 4
Coordinate system W GS 84 / UTM zone 50S (EPSG::32750)
Rotation angles Yaw, Pitch, Roll
Point Cloud
Points 675,019 of 738,209
RMS reprojection error 0.221832 (1.26219 pix)
Max reprojection error 0.809185 (33.5017 pix)
Mean key point size 5.92018 pix
Point colors 3 bands, uint8
Key points 4.59 GB
Average tie point multiplicity 8.8763
Alignment parameters
Accuracy Medium
Generic preselection Yes
Reference preselection Yes
Key point limit 40,000
Tie point limit 4,000
Guided image matching No
Adaptive camera model fitting Yes
Matching time 20 minutes 9 seconds
Alignment time 19 minutes 5 seconds
Optimization parameters
Parameters f, b1, b2, cx, cy, k1-k4, p1-p4
Adaptive camera model fitting No
Optimization time 3 minutes 53 seconds
Software version 1.6.0.9128
Depth Maps
Count 1485
Depth maps generation parameters
Quality Medium
Filtering mode Aggressive
Processing time 3 hours 53 minutes
Software version 1.6.0.9128
Dense Point Cloud
Points 150,594,014
Point colors 3 bands, uint8
Depth maps generation parameters
Quality Medium
Filtering mode Aggressive
Processing time 3 hours 53 minutes
Dense cloud generation parameters
Processing time 1 hours 58 minutes
Software version 1.6.0.9128
Model
Faces 2,098,162
Vertices 1,050,931
Vertex colors 3 bands, uint8

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General
Texture 4,096 x 4,096, 4 bands, uint8
Reconstruction parameters
Surface type Height field
Source data Sparse cloud
Interpolation Enabled
Strict volumetric masks No
Processing time 27 seconds
Texturing parameters
Mapping mode Generic
Blending mode Max intensity
Texture size 4,096
Enable hole filling Yes
Enable ghosting filter Yes
UV mapping time 1 minutes 36 seconds
Blending time 2 minutes 0 seconds
Software version 1.6.0.9128
DEM
Size 19,345 x 14,052
Coordinate system W GS 84 / UTM zone 50S (EPSG::32750)
Reconstruction parameters
Source data Dense cloud
Interpolation Enabled
Processing time 4 minutes 24 seconds
Software version 1.6.0.9128
Orthomosaic
Size 50,883 x 36,171
Coordinate system W GS 84 / UTM zone 50S (EPSG::32750)
Colors 3 bands, uint8
Reconstruction parameters
Blending mode Mosaic
Enable hole filling Yes
Processing time 1 hours 22 minutes
Software version 1.6.0.9128
Software
Version 1.6.0 build 9128
Platform W indows 64

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