Bogota_CENIT

Reporte de Procesamiento 1
19 February 2018
Survey Data
>9
9
8
7
6
5
4
3
2
1

2 km

Fig. 1. Camera locations and image overlap.

Number of images: 3,325 Camera stations: 3,325

Flying altitude: 180 m Tie points: 2,346,921
Ground resolution: 3.85 cm/pix Projections: 12,006,994
Coverage area: 8.21 km² Reprojection error: 0.987 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

S.O.D.A. (10.6 mm) 5472 x 3648 10.6 mm 2.4 x 2.4 μm No
Table 1. Cameras.
Camera Calibration

1 pix
Fig. 2. Image residuals for S.O.D.A. (10.6 mm).

S.O.D.A. (10.6 mm)

3325 images

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 10.6 mm 2.4 x 2.4 μm

Value Error F Cx Cy B1 B2 K1 K2 K3 K4 P1 P2

F 4392.38 0.035 1.00 -0.13 -0.63 0.19 -0.00 -0.12 0.08 -0.07 0.07 -0.01 0.01

Cx -24.2541 0.012 1.00 0.09 -0.06 0.08 -0.02 0.03 -0.03 0.03 0.68 0.00

Cy -4.7731 0.013 1.00 -0.18 -0.01 -0.02 0.03 -0.04 0.03 0.01 0.35

B1 1.88713 0.0036 1.00 -0.00 0.05 -0.05 0.04 -0.03 -0.04 -0.01

B2 0.242414 0.0035 1.00 -0.00 0.00 -0.00 0.00 0.03 -0.03

K1 0.0492351 2.9e-05 1.00 -0.97 0.93 -0.88 -0.02 -0.01

K2 -0.350897 0.00021 1.00 -0.99 0.96 0.02 0.00

K3 0.709095 0.00059 1.00 -0.99 -0.02 -0.00

K4 -0.375361 0.00057 1.00 0.02 0.00

P1 -0.00256978 7.2e-07 1.00 0.01

P2 0.000171126 5.1e-07 1.00

Table 2. Calibration coefficients and correlation matrix.

Camera Locations
35 m
28 m
21 m
14 m
7m
0m
-7 m
-14 m
-21 m
-28 m
-35 m

x 100

2 km

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)
0.873739 1.2272 26.1648 1.50647 26.2081
Table 3. Average camera location error.
X - Longitude, Y - Latitude, Z - Altitude.
Ground Control Points
3.5 cm
2.8 cm
MP-17
2.1 cm
MP-16
MP-15
1.4 cm
MP-14 0.7 cm
MP-13 0 cm
-0.7 cm
MP-12
-1.4 cm
MP-11 -2.1 cm
MP-10 -2.8 cm
-3.5 cm
MP-09

MP-08
x 30000

MP-07
MP-06
MP-05
MP-04

MP-03
MP-02
MP-01

Control points Check points

2 km

Fig. 4. GCP locations and error estimates.

Z error is represented by ellipse color. X,Y errors are represented by ellipse shape.
Estimated GCP locations are marked with a dot or crossing.

Count X error (cm) Y error (cm) Z error (cm) XY error (cm) Total (cm)
17 0.459067 0.436395 0.811074 0.63339 1.02909
Table 4. Control points RMSE.
X - Longitude, Y - Latitude, Z - Altitude.
Label X error (cm) Y error (cm) Z error (cm) Total (cm) Image (pix)
MP-01 0.250013 -0.000298358 0.137348 0.285257 0.200 (15)
MP-02 -0.558527 -0.0878479 0.163715 0.588619 0.396 (17)
MP-03 0.621663 0.200003 0.12185 0.664314 0.434 (15)
MP-04 -0.413776 -0.139388 0.0370328 0.438191 0.324 (16)
MP-05 0.0721133 -0.126226 0.410656 0.435628 0.225 (33)
MP-06 0.481955 0.444239 -0.15782 0.674193 0.213 (20)
MP-07 -1.32219 1.24675 3.25148 3.72488 0.104 (2)
MP-08 0.550194 0.0885029 0.0909951 0.564648 0.320 (13)
MP-09 0.0616025 0.200196 0.242177 0.320193 0.197 (27)
MP-10 -0.154258 -0.184899 -0.0323126 0.242955 0.180 (16)
MP-11 -0.144111 -0.0146291 0.248752 0.287853 0.218 (9)
MP-12 0.279524 0.312098 0.263585 0.494991 0.235 (14)
MP-13 -0.174465 -0.525437 0.140101 0.571096 0.148 (37)
MP-14 -0.0842135 0.636712 0.0375836 0.643356 0.222 (17)
MP-15 0.359779 -0.595931 0.297278 0.756934 0.305 (13)
MP-16 -0.260509 0.412742 0.0464822 0.490287 0.294 (14)
MP-17 0.0278574 -0.12637 0.211718 0.248133 0.216 (17)
Total 0.459067 0.436395 0.811074 1.02909 0.256
Table 5. Control points.
X - Longitude, Y - Latitude, Z - Altitude.
Digital Elevation Model
2.56 km

2.53 km

2 km

Fig. 5. Reconstructed digital elevation model.

Resolution: 15.4 cm/pix

Point density: 42.1 points/m²
Processing Parameters

General
Cameras 3325
Aligned cameras 3325
Markers 17
Coordinate system W GS 84 (EPSG::4326)
Rotation angles Yaw, Pitch, Roll
Point Cloud
Points 2,346,921 of 2,592,563
RMS reprojection error 0.148069 (0.986797 pix)
Max reprojection error 0.966362 (44.729 pix)
Mean key point size 6.34351 pix
Effective overlap 5.47384
Alignment parameters
Accuracy Medium
Generic preselection Yes
Reference preselection Yes
Key point limit 40,000
Tie point limit 4,000
Matching time 53 minutes 21 seconds
Optimization parameters
Parameters f, b1, b2, cx, cy, k1-k4, p1, p2
Fit rolling shutter No
Optimization time 28 seconds
Dense Point Cloud
Points 462,581,918
Reconstruction parameters
Quality Medium
Depth filtering Aggressive
Depth maps generation time 3 hours 47 minutes
Dense cloud generation time 3 hours 44 minutes
DEM
Size 80,224 x 77,305
Coordinate system MAGNA-SIRGAS / Colombia Bogota zone (EPSG::3116)
Reconstruction parameters
Source data Dense cloud
Interpolation Enabled
Processing time 14 minutes 19 seconds
Orthomosaic
Size 220,299 x 202,455
Coordinate system MAGNA-SIRGAS / Colombia Bogota zone (EPSG::3116)
Channels 3, uint8
Reconstruction parameters
Blending mode Mosaic
Surface DEM
Enable hole filling Yes
Processing time 1 hours 13 minutes
Software
Version 1.4.0 build 5076
Platform W indows 64