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Summary
Project Bella Lago PID 014-724-642
Processed 2018-11-13 23:07:15
Camera Model Name(s) FC330_3.6mm_3.6_3992x2992 (RGB)
Average Ground Sampling Distance (GSD) 3.33 cm / 1.31 in
Area Covered 0.267 km2 / 26.6780 ha / 0.10 sq. mi. / 65.9568 acres
Quality Check
Images median of 59713 keypoints per image
Dataset 1059 out of 1059 images calibrated (100%), all images enabled
Camera Optimization 2.79% relative difference between initial and optimized internal camera parameters
Matching median of 22102.6 matches per calibrated image
Georeferencing yes, 12 GCPs (12 3D), mean RMS error = 0.036 m
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Preview
Figure 1: Orthomosaic and the corresponding sparse Digital Surface Model (DSM) before densification.
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Number of Calibrated Images 1059 out of 1059
Number of Geolocated Images 1059 out of 1059
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
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Uncertainty ellipses 500x 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 theircomputed 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]
Mean 0.007 0.007 0.009 0.004 0.005 0.002
Sigma 0.002 0.002 0.002 0.002 0.002 0.001
Overlap
Number of overlapping images: 1 2 3 4 5+
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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).
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Number of 2D Keypoint Observations for Bundle Block Adjustment 21610023
Number of 3D Points for Bundle Block Adjustment 6218875
Mean Reprojection Error [pixels] 0.130
Internal Camera Parameters
FC330_3.6mm_3.6_3992x2992 (RGB). Sensor Dimensions: 6.317 [mm] x 4.735 [mm]
EXIF ID: FC330_3.6mm_3.6_3992x2992
FocalLength
PrincipalPoint x
PrincipalPoint y R1 R2 R3 T1 T2
Initial Values 2281.143 [pixel]3.610 [mm]
1996.000 [pixel]3.159 [mm]
1496.000 [pixel]2.367 [mm] 0.000 0.000 0.000 0.000 0.000
Optimized Values 2344.792 [pixel]3.711 [mm]
1971.216 [pixel]3.120 [mm]
1530.771 [pixel]2.423 [mm] -0.011 0.019 -0.012 0.000 -0.001
Uncertainties (Sigma) 0.265 [pixel]0.000 [mm]
0.029 [pixel]0.000 [mm]
0.048 [pixel]0.000 [mm] 0.000 0.000 0.000 0.000 0.000
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Correlated
Independent
F
C0x
C0y
R1
R2
R3
T1
T2
The correlation between camera internal parameters determinedby the bundle adjustment. White indicates a full correlationbetween the parameters, ie. any change in one can be fullycompensated by the other. Black indicates that the parameter iscompletely independent, and is not affected by other 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 Image
Median 59713 22103
Min 51427 1043
Max 65469 32097
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Mean 59751 20406
3D Points from 2D Keypoint Matches
Number of 3D Points Observed
In 2 Images 3272672
In 3 Images 1223170
In 4 Images 607043
In 5 Images 346463
In 6 Images 216177
In 7 Images 142413
In 8 Images 98899
In 9 Images 70827
In 10 Images 52621
In 11 Images 38764
In 12 Images 29325
In 13 Images 22425
In 14 Images 17581
In 15 Images 13727
In 16 Images 11124
In 17 Images 8946
In 18 Images 7153
In 19 Images 5875
In 20 Images 4882
In 21 Images 4078
In 22 Images 3408
In 23 Images 2926
In 24 Images 2533
In 25 Images 2054
In 26 Images 1942
In 27 Images 1531
In 28 Images 1385
In 29 Images 1173
In 30 Images 1015
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In 31 Images 854
In 32 Images 750
In 33 Images 648
In 34 Images 522
In 35 Images 467
In 36 Images 377
In 37 Images 349
In 38 Images 289
In 39 Images 283
In 40 Images 268
In 41 Images 204
In 42 Images 212
In 43 Images 160
In 44 Images 136
In 45 Images 139
In 46 Images 121
In 47 Images 101
In 48 Images 87
In 49 Images 65
In 50 Images 67
In 51 Images 72
In 52 Images 71
In 53 Images 49
In 54 Images 42
In 55 Images 42
In 56 Images 34
In 57 Images 31
In 58 Images 26
In 59 Images 29
In 60 Images 33
In 61 Images 19
In 62 Images 23
In 63 Images 19
In 64 Images 18
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In 65 Images 10
In 66 Images 9
In 67 Images 17
In 68 Images 11
In 69 Images 13
In 70 Images 6
In 71 Images 9
In 72 Images 11
In 73 Images 11
In 74 Images 4
In 75 Images 4
In 77 Images 6
In 78 Images 2
In 79 Images 1
In 80 Images 2
In 81 Images 2
In 82 Images 3
In 84 Images 2
In 85 Images 3
In 86 Images 1
In 88 Images 2
In 89 Images 5
In 90 Images 1
In 109 Images 1
2D Keypoint Matches
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Number of matches
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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.
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Ground Control Points
GCP Name Accuracy XY/Z [m] Error X [m] Error Y [m] Error Z [m] Projection Error [pixel] Verified/Marked
0 (3D) 0.020/ 0.020 -0.057 0.012 0.034 0.599 79 / 79
1 (3D) 0.020/ 0.020 -0.004 0.059 -0.063 0.577 61 / 61
2 (3D) 0.020/ 0.020 -0.048 0.023 0.064 0.735 98 / 98
3 (3D) 0.020/ 0.020 0.011 0.017 0.002 0.654 87 / 87
4 (3D) 0.020/ 0.020 0.014 -0.045 -0.070 0.898 30 / 30
5 (3D) 0.020/ 0.020 -0.049 -0.069 0.024 0.495 33 / 33
6 (3D) 0.020/ 0.020 0.052 -0.050 -0.007 0.429 65 / 65
7 (3D) 0.020/ 0.020 0.021 0.019 0.023 0.549 16 / 16
8 (3D) 0.020/ 0.020 0.021 0.020 -0.023 0.831 64 / 64
9 (3D) 0.020/ 0.020 0.017 -0.026 -0.011 0.677 51 / 51
10 (3D) 0.020/ 0.020 0.021 0.020 -0.066 1.813 34 / 34
11 (3D) 0.020/ 0.020 -0.020 -0.010 0.005 2.140 24 / 24
Mean [m] -0.001751 -0.002605 -0.007272
Sigma [m] 0.032840 0.036046 0.040363
RMS Error [m] 0.032886 0.036140 0.041013
0 out of 41 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/Marked
12 0.1869 2.1806 33.8423 0.1449 4 / 4
13 0.1478 2.1510 34.1554 0.0066 3 / 3
14 0.1469 2.2154 34.5052 0.0186 2 / 2
15 0.1518 2.2793 34.7700 0.0390 4 / 4
16 0.1860 2.4220 35.1423 0.0423 3 / 3
17 0.2084 2.5074 35.3489 0.0226 3 / 3
18 0.2358 2.6008 35.5601 0.0176 2 / 2
19 0.5691 2.6969 35.2271 0.0199 2 / 2
20 0.5562 2.6422 35.0316 0.0572 3 / 3
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21 0.5338 2.5530 34.8148 0.0024 2 / 2
22 0.5248 2.4799 34.5038 0.0413 4 / 4
23 0.5191 2.4363 34.3638 0.0207 2 / 2
24 0.4904 2.3631 34.1465 0.0119 2 / 2
25 0.4987 2.3117 33.7548 0.0681 2 / 2
26 0.4842 2.2674 33.5667 0.0008 2 / 2
27 0.4980 2.2482 33.3708 0.1135 2 / 2
28 0.4771 2.1442 33.0790 0.0455 2 / 2
29 0.7705 2.4747 33.9661 0.1091 3 / 3
30 0.7227 2.4710 34.0347 0.0228 2 / 2
31 0.6871 2.4757 34.0840 0.0095 2 / 2
32 0.6081 2.4102 34.0979 1.7173 2 / 2
33 0.5745 2.4205 34.2331 0.0115 2 / 2
34 0.5384 2.4045 34.2561 0.0367 2 / 2
35 0.4799 2.3973 34.2105 0.0234 3 / 3
36 0.4073 2.3478 34.2656 0.0082 2 / 2
37 0.3333 2.2949 34.3850 0.0108 2 / 2
38 0.3012 2.2899 34.4015 0.0278 2 / 2
39 0.2354 2.2519 34.4128 0.0453 2 / 2
40 0.1661 2.2152 34.4522 0.1122 2 / 2
41 0.1103 2.1962 34.4478 0.0223 2 / 2
42 0.0538 2.1945 34.5049 0.0356 2 / 2
43 0.0234 2.1850 34.5009 0.0017 2 / 2
44 0.0076 2.2489 34.5278 0.0386 2 / 2
45 -0.0369 2.2064 34.6457 0.0102 2 / 2
46 -0.0849 2.1942 34.5554 0.0015 2 / 2
47 -0.1129 2.1972 34.5985 0.0196 2 / 2
48 -0.1597 2.1988 34.5660 0.0083 2 / 2
49 -0.2206 2.1853 34.4812 0.1120 5 / 5
50 -0.2465 2.1950 34.4423 0.0472 3 / 3
51 -0.2807 2.1892 34.3575 0.0672 2 / 2
52 -0.3688 2.1550 34.2126 0.1274 5 / 5
Mean [m] 0.266425 2.324352 34.385928
Sigma [m] 0.297658 0.146111 0.479060
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RMS Error [m] 0.399478 2.328940 34.389265
Localisation accuracy per GCP and mean errors in the three coordinate directions. The last column counts the number of calibrated images where the GCP has beenautomatically verified vs. manually marked.
Absolute Geolocation Variance
Min Error [m] Max Error [m] Geolocation Error X [%] Geolocation Error Y [%] Geolocation Error Z [%]
- -15.00 0.00 0.00 0.00
-15.00 -12.00 0.00 0.00 0.00
-12.00 -9.00 0.00 0.00 0.00
-9.00 -6.00 0.00 0.00 0.00
-6.00 -3.00 0.19 0.09 0.00
-3.00 0.00 50.71 55.62 49.01
0.00 3.00 48.35 41.45 50.80
3.00 6.00 0.66 2.83 0.19
6.00 9.00 0.00 0.00 0.00
9.00 12.00 0.09 0.00 0.00
12.00 15.00 0.00 0.00 0.00
15.00 - 0.00 0.00 0.00
Mean [m] -0.293489 1.211249 35.058354
Sigma [m] 1.408285 1.311224 1.337725
RMS Error [m] 1.438542 1.785058 35.083867
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 ofimages 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 Z
Translation [m] -0.293488 1.211247 35.058353
Bias between image initial and computed geolocation given in output coordinate system.
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Relative Geolocation Variance
Relative Geolocation Error Images X [%] Images Y [%] Images Z [%]
[-1.00, 1.00] 99.91 100.00 100.00
[-2.00, 2.00] 100.00 100.00 100.00
[-3.00, 3.00] 100.00 100.00 100.00
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 0.674
Phi 0.268
Kappa 3.421
Geolocation RMS error of the orientation angles given by the difference between the initial and computed image orientation angles.
System Information
HardwareCPU: AMD A10-7800 Radeon R7, 12 Compute Cores 4C+8GRAM: 12GBGPU: NVIDIA GeForce GTX 660 (Driver: 24.21.13.9811)
Operating System Windows 10 Home, 64-bit
Coordinate Systems
Image Coordinate System WGS 84 (EGM 96 Geoid)
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Ground Control Point (GCP) Coordinate System WGS 84 / UTM zone 11N (EGM 96 Geoid)
Output Coordinate System WGS 84 / UTM zone 11N (EGM 96 Geoid)
Processing Options
Detected Template 3D Maps
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
Advanced: Calibration
Calibration Method: StandardInternal Parameters Optimization: AllExternal Parameters Optimization: AllRematch: Auto, no
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