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Quality Report

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Summary

Project pix4dProcessed 2018-04-25 10:59:14Camera Model Name(s) NEX-5T_19.0_4912x3264 (RGB)Average Ground Sampling Distance (GSD) 2.89 cm / 1.14 in

Area Covered 0.112 km2 / 11.1935 ha / 0.04 sq. mi. / 27.6740 acresTime for Initial Processing (without report) 01h:03m:05s

Quality Check

Images median of 67808 keypoints per image

Dataset 191 out of 194 images calibrated (98%), all images enabled

Camera Optimization 0.27% relative difference between initial and optimized internal camera parameters

Matching median of 5618.28 matches per calibrated image

Georeferencing yes, 5 GCPs (5 3D), mean RMS error = 0.066 US survey foot

Preview

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

Calibration Details

Number of Calibrated Images 191 out of 194Number of Geolocated Images 194 out of 194

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) 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 [US survey foot] Y [US survey foot] Z [US survey foot] Omega [degree] Phi [degree] Kappa [degree]Mean 0.041 0.041 0.038 0.007 0.007 0.004Sigma 0.009 0.012 0.008 0.002 0.002 0.001

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 1084682Number of 3D Points for Bundle Block Adjustment 402786Mean Reprojection Error [pixels] 0.203

Internal Camera Parameters

NEX-5T_19.0_4912x3264 (RGB). Sensor Dimensions: 23.750 [mm] x 15.782 [mm]

EXIF ID: NEX-5T_19.0_4912x3264

FocalLength

PrincipalPoint x

PrincipalPoint y R1 R2 R3 T1 T2

Initial Values 3929.600 [pixel]19.000 [mm]

2456.000 [pixel]11.875 [mm]

1632.000 [pixel]7.891 [mm] 0.000 0.000 0.000 0.000 0.000

Optimized Values 3940.259 [pixel]19.052 [mm]

2443.703 [pixel]11.816 [mm]

1629.047 [pixel]7.877 [mm] -0.014 0.041 -0.039 -0.000 -0.000

Uncertainties (Sigma) 0.326 [pixel]0.002 [mm]

0.173 [pixel]0.001 [mm]

0.163 [pixel]0.001 [mm] 0.000 0.001 0.001 0.000 0.000

Cor rel ated

Independent

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 67808 5618Min 53208 468Max 79983 17879Mean 68225 5679

3D Points from 2D Keypoint Matches

Number of 3D Points ObservedIn 2 Images 284772In 3 Images 61170In 4 Images 23874In 5 Images 11915In 6 Images 6870In 7 Images 4346In 8 Images 2920In 9 Images 2098In 10 Images 1405In 11 Images 966In 12 Images 607In 13 Images 420In 14 Images 310In 15 Images 261In 16 Images 152In 17 Images 144In 18 Images 116In 19 Images 87In 20 Images 78In 21 Images 53In 22 Images 37In 23 Images 36

In 24 Images 28In 25 Images 23In 26 Images 20In 27 Images 25In 28 Images 13In 29 Images 8In 30 Images 7In 31 Images 8In 32 Images 7In 33 Images 3In 34 Images 3In 35 Images 3In 36 Images 1

2D Keypoint Matches

Uncertainty ellipses 100x 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 [US survey foot] Y [US survey foot] Z [US survey foot] Omega [degree] Phi [degree] Kappa [degree]Mean 0.037 0.040 0.030 0.009 0.008 0.005Sigma 0.007 0.011 0.009 0.003 0.002 0.001

Geolocation Details

Ground Control Points

GCP Name Accuracy XY/Z [USsurvey foot]

Error X [USsurvey foot]

Error Y [USsurvey foot]

Error Z [USsurvey foot]

Projection Error[pixel] Verified/Marked

1 (3D) 0.020/ 0.020 0.060 0.024 0.336 0.642 6 / 62 (3D) 0.020/ 0.020 0.014 0.036 0.046 0.631 7 / 77 (3D) 0.020/ 0.020 -0.046 -0.006 0.036 0.536 5 / 512 (3D) 0.020/ 0.020 0.046 -0.023 -0.067 0.415 6 / 615 (3D) 0.020/ 0.020 0.013 -0.012 -0.027 0.565 5 / 5Mean [US surveyfoot] 0.017498 0.003623 0.064858

Sigma [US surveyfoot] 0.036428 0.022337 0.141636

RMS Error [USsurvey foot] 0.040413 0.022629 0.155779

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 [US survey foot] Max Error [US survey foot] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]- -49.21 0.00 0.00 0.00-49.21 -39.37 0.00 0.00 0.00-39.37 -29.53 0.00 0.00 0.00-29.53 -19.69 0.00 0.00 0.00-19.69 -9.84 0.00 0.00 0.00-9.84 0.00 56.54 43.98 51.310.00 9.84 43.46 56.02 48.699.84 19.69 0.00 0.00 0.0019.69 29.53 0.00 0.00 0.0029.53 39.37 0.00 0.00 0.0039.37 49.21 0.00 0.00 0.0049.21 - 0.00 0.00 0.00Mean [US survey foot] 0.290323 6.410577 -5.169171Sigma [US survey foot] 2.897626 2.072663 4.555314RMS Error [US survey foot] 2.912134 6.737316 6.889936

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 [US survey foot] 0.290323 6.410577 -5.169171

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] 100.00 100.00 100.00[-2.00, 2.00] 100.00 100.00 100.00[-3.00, 3.00] 100.00 100.00 100.00Mean of Geolocation Accuracy [US survey foot] 16.404167 16.404167 32.808333Sigma of Geolocation Accuracy [US survey foot] 0.000001 0.000001 0.000003

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

Initial Processing Details

System Information

HardwareCPU: Intel(R) Xeon(R) CPU X5675 @ 3.07GHzRAM: 24GBGPU: NVIDIA Quadro NVS 295 (Driver: 8.17.12.9573), RDPDD Chained DD (Driver: unknown), RDP Encoder Mirror Driver (Driver:unknown), RDP Reflector Display Driver (Driver: unknown)

OperatingSystem Windows 7 Enterprise, 64-bit

Coordinate Systems

Image Coordinate System WGS84 (egm96)Ground Control Point (GCP) Coordinate System NAD83(2011) / West Virginia South (ftUS) (-32.073US survey foot)Output Coordinate System NAD83(2011) / West Virginia South (ftUS) (-32.073US survey foot)

Processing Options

Detected Template No Template AvailableKeypoints 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 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 36m:40sTime for Point Cloud Classification 05m:41sTime for 3D Textured Mesh Generation 10m:00s

Results

Number of Generated Tiles 1Number of 3D Densified Points 12424540

Average Density (per US survey foot3) 3.17

DSM, Orthomosaic and Index Details

Processing Options

DSM and Orthomosaic Resolution 1 x GSD (2.89 [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: no

Time for DSM Generation 17m:08sTime for Orthomosaic Generation 35m:08sTime for DTM Generation 00sTime for Contour Lines Generation 00sTime for Reflectance Map Generation 00sTime for Index Map Generation 00s