Malmberget

Dense Cloud Confidence: 20 Filter Component Size: 99%

22 February 2022

Survey Data

1 2 3 4 5 6 7 8 9 > 9 100 m

Fig. 1. Camera locations and image overlap.

Number of images: 163 Flying altitude: 152 m Ground resolution: 2.42 cm/pix Coverage area: 0.0201 km² Camera stations: 163 Tie points: 24,805 Projections: 293,666 Reprojection error: 0.593 pix
Camera Model Resolution Focal Length Pixel Size Precalibrated
Test_Pro (10.26mm) 5472 x 3648 10.26 mm 2.41 x 2.41 μm No

Table 1. Cameras.

Camera Calibration

1 pix

Fig. 2. Image residuals for Test_Pro (10.26mm).

Test_Pro (10.26mm)

163 images

Type Resolution Focal Length Pixel Size Frame 5472 x 3648 10.26 mm 2.41 x 2.41 μm
Value Error F Cx Cy B1 B2 K1 K2 K3 P1 P2
F 4353.32 0.1 1.00 0.03 0.09 -0.57 0.00 -0.07 0.15 -0.14 -0.02 -0.05
Cx -8.54265 0.14 1.00 -0.12 0.07 0.37 -0.04 0.01 0.01 0.88 -0.11
Cy -49.5715 0.15 1.00 -0.69 0.14 0.04 -0.04 0.03 -0.19 0.66
B1 -4.60695 0.094 1.00 -0.09 -0.12 0.07 -0.04 0.18 -0.28
B2 -10.1318 0.075 1.00 0.03 -0.02 0.01 0.13 0.04
K1 0.0033936 6.9e-05 1.00 -0.94 0.87 -0.04 -0.09
K2 0.048191 0.00023 1.00 -0.98 0.02 0.04
K3 -0.0522545 0.00026 1.00 -0.01 -0.03
P1 -0.00132411 1.1e-05 1.00 -0.11
P2 -0.00315197 7.4e-06 1.00

Table 2. Calibration coefficients and correlation matrix.

Camera Locations

100 m -4 m -3.2 m -2.4 m -1.6 m -0.8 m 0 m 0.8 m 1.6 m 2.4 m 3.2 m 4 m x 15

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 (cm) Y error (cm) Z error (cm) XY error (cm) Total error (cm)
32.9239 48.8177 65.6456 58.8825 88.1844

Table 3. Average camera location error.

X - Longitude, Y - Latitude, Z - Altitude.

Digital Elevation Model

130 m 250 m 100 m

Fig. 4. Reconstructed digital elevation model.

Resolution: 4.84 cm/pix Point density: 426 points/m²

Processing Parameters

General
Cameras 163
Aligned cameras 163
Coordinate system WGS 84 (EPSG::4326)
Rotation angles Yaw, Pitch, Roll
Point Cloud
Points 24,805 of 41,811
RMS reprojection error 0.298289 (0.593037 pix)
Max reprojection error 1.23906 (17.4516 pix)
Mean key point size 1.88688 pix
Point colors 3 bands, uint8
Key points No
Average tie point multiplicity 21.7614
Alignment parameters
Accuracy Highest
Generic preselection Yes
Reference preselection Source
Key point limit 40,000
Tie point limit 4,000
Exclude stationary tie points Yes
Guided image matching No
Adaptive camera model fitting Yes
Matching time 2 minutes 18 seconds
Matching memory usage 496.78 MB
Alignment time 1 minutes 26 seconds
Alignment memory usage 109.96 MB
Optimization parameters
Parameters f, cx, cy, k1-k3, p1, p2
Adaptive camera model fitting Yes
Optimization time 3 seconds
Software version 1.7.3.12473
File size 14.59 MB
Depth Maps
Count 163
Depth maps generation parameters
Quality High
Filtering mode Mild
Max neighbors 100
Processing time 15 minutes 34 seconds
Memory usage 8.97 GB
Software version 1.7.3.12473
File size 1.15 GB
Dense Point Cloud
Points 56,767,979
Point colors 3 bands, uint8
Depth maps generation parameters
Quality High
Filtering mode Mild
Max neighbors 100
Processing time 15 minutes 34 seconds
Memory usage 8.97 GB
Dense cloud generation parameters
Processing time 1 hours 15 minutes
Memory usage 13.11 GB
Software version 1.7.3.12473
File size 804.80 MB
Model
Faces 2,282,952
Vertices 1,145,733
Vertex colors 3 bands, uint8
Texture 4,096 x 4,096 x 10, 4 bands, uint8
Depth maps generation parameters
Quality High
Filtering mode Mild
Max neighbors 100
Processing time 15 minutes 34 seconds
Memory usage 8.97 GB
Reconstruction parameters
Surface type Arbitrary
Source data Dense cloud
Interpolation Enabled
Strict volumetric masks No
Processing time 6 minutes 19 seconds
Memory usage 6.51 GB
Texturing parameters
Mapping mode Generic
Blending mode Mosaic
Texture size 4,096
Enable hole filling Yes
Enable ghosting filter Yes
UV mapping time 3 minutes 17 seconds
UV mapping memory usage 2.95 GB
Blending time 1 minutes 57 seconds
Blending memory usage 4.47 GB
Software version 1.7.3.12473
File size 319.03 MB
Tiled Model
Texture 3 bands, uint8
Depth maps generation parameters
Quality High
Filtering mode Mild
Max neighbors 100
Processing time 15 minutes 34 seconds
Memory usage 8.97 GB
Reconstruction parameters
Source data Dense cloud
Tile size 256
Face count Medium
Enable ghosting filter No
Processing time 46 minutes 49 seconds
Memory usage 3.59 GB
Software version 1.7.2.12040
File size 475.98 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) i9-10900 CPU @ 2.80GHz
GPU(s) NVIDIA GeForce RTX 2080 SUPER