Skansen
Processing Report
28 January 2022
Survey Data
Fig. 1. Camera locations and image overlap.
| Camera Model | Resolution | Focal Length | Pixel Size | Precalibrated |
| NIKON D90 (50mm) | 4288 x 2848 | 50 mm | 5.6 x 5.6 μm | No |
Table 1. Cameras.
Camera Calibration
Fig. 2. Image residuals for NIKON D90 (50mm).
NIKON D90 (50mm)
464 images
| Value | Error | F | Cx | Cy | K1 | K2 | K3 | P1 | P2 | |
| F | 9027.4 | 0.054 | 1.00 | 0.03 | -0.16 | 0.09 | 0.03 | -0.03 | 0.02 | -0.18 |
| Cx | -39.3627 | 0.05 | 1.00 | -0.06 | -0.00 | 0.01 | -0.01 | 0.95 | -0.00 | |
| Cy | -19.2511 | 0.043 | 1.00 | -0.05 | 0.01 | -0.01 | -0.05 | 0.91 | ||
| K1 | -0.00123352 | 3.2e-05 | 1.00 | -0.96 | 0.91 | 0.00 | -0.06 | |||
| K2 | 0.0369789 | 0.00092 | 1.00 | -0.98 | 0.00 | 0.02 | ||||
| K3 | 0.0817932 | 0.0081 | 1.00 | -0.00 | -0.01 | |||||
| P1 | -0.00117973 | 1.9e-06 | 1.00 | 0.01 | ||||||
| P2 | -0.000240186 | 1.6e-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) |
| 1.46789 | 1.86561 | 4.89725 | 2.37386 | 5.44227 |
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 | 464 |
| Aligned cameras | 391 |
| Coordinate system | WGS 84 (EPSG::4326) |
| Rotation angles | Yaw, Pitch, Roll |
| Point Cloud | |
| Points | 954,475 of 1,898,975 |
| RMS reprojection error | 0.120739 (0.169025 pix) |
| Max reprojection error | 0.3 (1.1949 pix) |
| Mean key point size | 1.4233 pix |
| Point colors | 3 bands, uint8 |
| Key points | No |
| Average tie point multiplicity | 5.39656 |
| 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 | 30 minutes 2 seconds |
| Matching memory usage | 879.07 MB |
| Alignment time | 14 minutes 7 seconds |
| Alignment memory usage | 735.30 MB |
| Optimization parameters | |
| Parameters | f, cx, cy, k1-k3, p1, p2 |
| Adaptive camera model fitting | No |
| Optimization time | 34 seconds |
| Software version | 1.7.2.12040 |
| File size | 279.27 MB |
| Depth Maps | |
| Count | 384 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 12 minutes 23 seconds |
| Memory usage | 761.80 MB |
| Software version | 1.7.2.12040 |
| File size | 357.90 MB |
| Dense Point Cloud | |
| Points | 29,475,556 |
| Point colors | 3 bands, uint8 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 12 minutes 23 seconds |
| Memory usage | 761.80 MB |
| Dense cloud generation parameters | |
| Processing time | 21 minutes 35 seconds |
| Memory usage | 5.12 GB |
| Software version | 1.7.2.12040 |
| File size | 549.93 MB |
| Model | |
| Faces | 1,883,628 |
| Vertices | 951,099 |
| 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 | 12 minutes 23 seconds |
| Memory usage | 761.80 MB |
| Reconstruction parameters | |
| Surface type | Arbitrary |
| Source data | Dense cloud |
| Interpolation | Enabled |
| Strict volumetric masks | No |
| Processing time | 12 minutes 30 seconds |
| Memory usage | 15.21 GB |
| Texturing parameters | |
| Mapping mode | Generic |
| Blending mode | Mosaic |
| Texture size | 4,096 |
| Enable hole filling | Yes |
| Enable ghosting filter | Yes |
| UV mapping time | 5 minutes 10 seconds |
| UV mapping memory usage | 3.15 GB |
| Blending time | 20 minutes 29 seconds |
| Blending memory usage | 4.82 GB |
| Software version | 1.7.2.12040 |
| File size | 283.16 MB |
| Tiled Model | |
| Texture | 3 bands, uint8 |
| Depth maps generation parameters | |
| Quality | Medium |
| Filtering mode | Mild |
| Processing time | 12 minutes 23 seconds |
| Memory usage | 761.80 MB |
| Reconstruction parameters | |
| Source data | Dense cloud |
| Tile size | 256 |
| Face count | Medium |
| Enable ghosting filter | No |
| Processing time | 2 hours 50 minutes |
| Memory usage | 3.27 GB |
| Software version | 1.7.2.12040 |
| File size | 658.91 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 |