Kolosseum
Processing Report
28 January 2022
Survey Data
Fig. 1. Camera locations and image overlap.
| Camera Model | Resolution | Focal Length | Pixel Size | Precalibrated |
| FC2103 (4.5mm) | 4056 x 3040 | 4.5 mm | 1.6 x 1.6 μm | No |
Table 1. Cameras.
Camera Calibration
Fig. 2. Image residuals for FC2103 (4.5mm).
FC2103 (4.5mm)
171 images
| Value | Error | F | Cx | Cy | K1 | K2 | K3 | P1 | P2 | |
| F | 2953.5 | 0.047 | 1.00 | -0.04 | -0.23 | -0.02 | -0.01 | 0.03 | -0.04 | 0.11 |
| Cx | -24.778 | 0.04 | 1.00 | -0.01 | 0.02 | -0.01 | 0.01 | 0.72 | 0.01 | |
| Cy | 3.90707 | 0.05 | 1.00 | -0.05 | 0.02 | -0.02 | 0.02 | 0.32 | ||
| K1 | 0.160684 | 5e-05 | 1.00 | -0.97 | 0.92 | 0.01 | -0.04 | |||
| K2 | -0.519333 | 0.00015 | 1.00 | -0.98 | -0.01 | -0.03 | ||||
| K3 | 0.346009 | 0.00014 | 1.00 | 0.00 | 0.04 | |||||
| P1 | -0.000868737 | 3.4e-06 | 1.00 | 0.01 | ||||||
| P2 | -0.00045842 | 4.1e-06 | 1.00 |
Table 2. Calibration coefficients and correlation matrix.
Camera Locations
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 (m) | Y error (m) | Z error (m) | XY error (m) | Total error (m) |
| 6.52557 | 1.65652 | 10.8188 | 6.73254 | 12.7426 |
Table 3. Average camera location error.
X - Longitude, Y - Latitude, Z - Altitude.
Digital Elevation Model
Fig. 4. Reconstructed digital elevation model.
Processing Parameters
| General | |
| Cameras | 171 |
| Aligned cameras | 170 |
| Coordinate system | WGS 84 (EPSG::4326) |
| Rotation angles | Yaw, Pitch, Roll |
| Point Cloud | |
| Points | 66,581 of 858,747 |
| RMS reprojection error | 0.33765 (0.534949 pix) |
| Max reprojection error | 0.699988 (2.87889 pix) |
| Mean key point size | 1.59085 pix |
| Point colors | 3 bands, uint8 |
| Key points | No |
| Average tie point multiplicity | 3.30131 |
| Alignment parameters | |
| Accuracy | Highest |
| Generic preselection | Yes |
| Reference preselection | No |
| Key point limit | 60,000 |
| Tie point limit | 0 |
| Exclude stationary tie points | Yes |
| Guided image matching | No |
| Adaptive camera model fitting | No |
| Matching time | 7 minutes 55 seconds |
| Matching memory usage | 1.20 GB |
| Alignment time | 5 minutes 55 seconds |
| Alignment memory usage | 314.74 MB |
| Optimization parameters | |
| Parameters | f, cx, cy, k1-k3, p1, p2 |
| Adaptive camera model fitting | No |
| Optimization time | 21 seconds |
| Software version | 1.7.2.12040 |
| File size | 47.26 MB |
| Depth Maps | |
| Count | 78 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 2 minutes 49 seconds |
| File size | 78.63 MB |
| Dense Point Cloud | |
| Points | 3,285,939 |
| Point colors | 3 bands, uint8 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 2 minutes 49 seconds |
| Dense cloud generation parameters | |
| Processing time | 3 minutes 58 seconds |
| Software version | 1.7.2.12040 |
| File size | 84.27 MB |
| Model | |
| Faces | 208,556 |
| Vertices | 105,831 |
| Vertex colors | 3 bands, uint8 |
| Texture | 4,096 x 4,096 x 10, 4 bands, uint8 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 2 minutes 49 seconds |
| Reconstruction parameters | |
| Surface type | Arbitrary |
| Source data | Dense cloud |
| Interpolation | Enabled |
| Strict volumetric masks | No |
| Processing time | 2 minutes 25 seconds |
| Memory usage | 1.60 GB |
| Texturing parameters | |
| Mapping mode | Generic |
| Blending mode | Mosaic |
| Texture size | 4,096 |
| Enable hole filling | Yes |
| Enable ghosting filter | Yes |
| UV mapping time | 2 minutes 8 seconds |
| UV mapping memory usage | 3.85 GB |
| Blending time | 3 minutes 33 seconds |
| Blending memory usage | 3.98 GB |
| Software version | 1.7.2.12040 |
| File size | 158.07 MB |
| Tiled Model | |
| Texture | 3 bands, uint8 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 2 minutes 49 seconds |
| Reconstruction parameters | |
| Source data | Dense cloud |
| Tile size | 256 |
| Face count | Medium |
| Enable ghosting filter | No |
| Processing time | 28 minutes 48 seconds |
| Memory usage | 2.15 GB |
| Software version | 1.7.2.12040 |
| File size | 91.64 MB |
| System | |
| Software name | Agisoft Metashape Professional |
| Software version | 1.7.2 build 12040 |
| OS | Windows 64 bit |
| RAM | 127.78 GB |
| CPU | Intel(R) Core(TM) i9-9900K CPU @ 3.60GHz |
| GPU(s) | GeForce RTX 2080 |