praktikum modul 2

Processing Report
24 February 2020
Survey Data
>9
9
8
7
6
5
4
3
2
1

200 m

Fig. 1. Camera locations and image overlap.

Number of images: 434 Camera stations: 434

Flying altitude: 109 m Tie points: 324,534
Ground resolution: 3.21 cm/pix Projections: 1,148,801
Coverage area: 0.227 km² Reprojection error: 5.73 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

FC220 (4.73mm) 4000 x 3000 4.73 mm 1.57 x 1.57 μm No
Table 1. Cameras.

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Camera Calibration

2 pix
Fig. 2. Image residuals for FC220 (4.73mm).

FC220 (4.73mm)
434 images

Type Resolution Focal Length Pixel Size

Frame 4000 x 3000 4.73 mm 1.57 x 1.57 μm

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

F 3074.53 0.2 1.00 0.01 -0.03 -0.16 0.05 -0.68 0.61 -0.55 0.49 -0.01 0.00

Cx -44.7836 0.18 1.00 -0.04 0.08 0.04 0.02 -0.04 0.06 -0.07 0.89 -0.04

Cy 13.9587 0.21 1.00 -0.03 0.07 -0.01 0.01 -0.02 0.02 -0.03 0.94

B1 -19.0047 0.072 1.00 -0.01 0.04 -0.04 0.04 -0.04 0.10 -0.05

B2 -1.54061 0.074 1.00 0.01 -0.01 0.01 -0.01 0.04 0.08

K1 0.113931 0.00086 1.00 -0.98 0.93 -0.88 0.03 -0.01

K2 -0.559178 0.005 1.00 -0.99 0.96 -0.04 0.01

K3 1.19416 0.012 1.00 -0.99 0.06 -0.01

K4 -0.899897 0.0091 1.00 -0.08 0.01

P1 0.00134488 2.5e-05 1.00 -0.03

P2 -8.85602e-06 2.9e-05 1.00

Table 2. Calibration coefficients and correlation matrix.

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Camera Locations
7 cm
5.6 cm
4.2 cm
2.8 cm
1.4 cm
0 cm
-1.4 cm
-2.8 cm
-4.2 cm
-5.6 cm
-7 cm

x 8000

200 m

Fig. 3. 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 (mm) Y error (mm) Z error (mm) XY error (mm) Total error (mm)
1.89539 1.78625 6.92363 2.60445 7.39729
Table 3. Average camera location error.
X - Easting, Y - Northing, Z - Altitude.

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Ground Control Points
40 cm
32 cm
GCP3
24 cm
PostGCP 3 16 cm
8 cm
0 cm
-8 cm
-16 cm
-24 cm
GCP2 -32 cm
-40 cm

x 150

PostGCP 1

GCP1
PostGCP 2

Control points Check points

200 m

Fig. 4. 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)
6 8.08417 11.3633 25.7935 13.9456 29.3221
Table 4. 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)
GCP1 12.4426 -20.426 37.3093 44.3173 15.856 (7)
GCP2 -3.86114 -14.8793 16.9552 22.8862 3.933 (36)
GCP3 -0.409727 9.92885 -27.3336 29.0839 5.812 (9)
PostGCP 1 14.2464 -5.32491 -23.8935 28.3234 26.676 (7)
PostGCP 2 -4.13364 2.93715 -30.3283 30.7493 3.549 (12)
PostGCP 3 -1.4766 -0.757847 -8.63396 8.79204 2.920 (18)
Total 8.08417 11.3633 25.7935 29.3221 9.425
Table 5. Control points.
X - Easting, Y - Northing, Z - Altitude.

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Digital Elevation Model
80 m

-70 m

200 m

Fig. 5. Reconstructed digital elevation model.

Resolution: unknown
Point density: unknown

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Processing Parameters

General
Cameras 434
Aligned cameras 434
Markers 6
Coordinate system W GS 84 / UTM zone 48S (EPSG::32748)
Rotation angles Omega, Phi, Kappa
Point Cloud
Points 324,534 of 415,766
RMS reprojection error 1.64105 (5.72549 pix)
Max reprojection error 16.7313 (126.063 pix)
Mean key point size 4.49906 pix
Point colors 3 bands, uint8
Key points No
Average tie point multiplicity 4.18594
Alignment parameters
Accuracy High
Generic preselection No
Reference preselection Yes
Key point limit 40,000
Tie point limit 4,000
Adaptive camera model fitting Yes
Matching time 2 hours 48 minutes
Alignment time 10 minutes 52 seconds
Optimization parameters
Parameters f, cx, cy, k1, k2, p1, p2
Adaptive camera model fitting Yes
Optimization time 37 seconds
Dense Point Cloud
Points 1,592,866
Point colors 3 bands, uint8
Reconstruction parameters
Quality Lowest
Depth filtering Mild
Depth maps generation time 10 minutes 27 seconds
Dense cloud generation time 7 minutes 49 seconds
Software
Version 1.4.5 build 7354
Platform W indows 32

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