Malmberget
Dense Cloud Confidence: 20 Filter Component Size: 99%
22 February 2022
Survey Data
Fig. 1. Camera locations and image overlap.
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
Fig. 2. Image residuals for Test_Pro (10.26mm).
Test_Pro (10.26mm)
163 images
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
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
Fig. 4. Reconstructed digital elevation model.
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 |