CALIBRAÇÃO

Processing Report
13 September 2023
 Survey Data
>9
9
8
7
6
5
4
3
2
1

100 m

Fig. 1. Camera locations and image overlap.

Number of images:185 Camera stations: 185

Flying altitude: 82.2 m Tie points: 44,870
Ground resolution:3.54 cm/pix Projections: 206,776
Coverage area: 0.143 km^2 Reprojection error:6.29 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

FC330 (3.61m… 4000 x 3000 3.61 mm 1.56 x 1.56 um Não
Table 1. Cameras.

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Calibração da Câmara

2 pix
Fig. 2. Image residuals for FC330 (3.61mm).

FC330 (3.61mm)
185 images

Type Resolution Focal Length Pixel Size

Frame 4000 x 3000 3.61 mm 1.56 x 1.56 um

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

F 2208.4 4.2 1.00 0.05 -0.09 -0.19 -0.02 -0.39 0.17 0.07 -0.18 0.03 0.10

Cx -0.488238 0.67 1.00 0.00 -0.09 0.20 -0.02 0.01 0.01 -0.01 -0.03 -0.01

Cy -6.11024 0.68 1.00 -0.15 -0.10 0.07 -0.06 0.04 -0.03 -0.01 -0.14

B1 -8.41368 0.093 1.00 -0.10 0.08 -0.03 -0.02 0.05 -0.02 0.02

B2 -0.728792 0.1 1.00 0.01 -0.01 -0.00 0.01 -0.05 0.01

K1 -0.088657 0.0011 1.00 -0.95 0.83 -0.74 -0.01 -0.04

K2 0.0392111 0.0034 1.00 -0.96 0.90 0.01 0.02

K3 0.0553678 0.0042 1.00 -0.99 -0.00 0.01

K4 -0.0298886 0.0018 1.00 0.00 -0.02

P1 0.00104057 3.7e-05 1.00 -0.10

P2 0.000986882 2.8e-05 1.00

Table 2. Calibration coefficients and correlation matrix.

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

x 1.5

100 m

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)
3.04198 5.53512 30.4182 6.31595 31.067
Table 3. Average camera location error.
X - Easting, Y - Northing, Z - Altitude.

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 Ground Control Points
8 cm
6.4 cm
4.8 cm
3.2 cm
1.6 cm
0 cm
-1.6 cm
-3.2 cm
ALV_1
ALV_13 -4.8 cm
ALV_4 ALV_7 ALV_10 -6.4 cm
-8 cm

x 200
ALV_2 ALV_5 ALV_8 ALV_11ALV_14

ALV_3 ALV_6 ALV_9 ALV_12ALV_15

Control points Check points

100 m

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.

Número X error (cm) Y error (cm) Z error (cm) XY error (cm) Total (cm)
15 2.32653 3.91649 3.23226 4.55539 5.58562
Table 4. Control points RMSE.
X - Easting, Y - Northing, Z - Altitude.

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Rótulo X error (cm) Y error (cm) Z error (cm) Total (cm) Imagem (pix)
ALV_4 -3.53561 9.38419 -7.55472 12.5554 8.163 (35)
ALV_7 0.266964 2.67149 1.803 3.23403 0.904 (29)
ALV_10 0.581161 0.0246735 -0.544367 0.796676 0.644 (34)
ALV_13 -0.285059 -1.68555 -0.201574 1.72133 0.561 (29)
ALV_14 -0.00778875 -1.04797 0.885384 1.37193 0.565 (32)
ALV_11 0.0361931 -0.127885 -2.01109 2.01548 0.715 (30)
ALV_8 -0.327066 0.312998 2.45155 2.493 0.748 (36)
ALV_5 -1.70453 -0.208248 2.65361 3.16076 1.476 (38)
ALV_2 -4.44442 2.56451 -4.67604 6.94226 2.161 (27)
ALV_3 0.821459 0.405985 -1.57995 1.82644 0.643 (28)
ALV_6 0.569825 -0.0987558 1.27674 1.40161 0.762 (32)
ALV_9 0.768836 -1.07204 0.51498 1.41619 0.580 (32)
ALV_15 -0.262508 0.29433 -1.63314 1.68008 0.516 (31)
ALV_12 0.99342 -0.361072 1.6554 1.96408 0.658 (33)
ALV_1 6.5412 -11.0756 6.81959 14.5589 30.616 (15)
Total 2.32653 3.91649 3.23226 5.58562 6.029
Table 5. Control points.
X - Easting, Y - Northing, Z - Altitude.

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Digital Elevation Model
3m

-15 m

100 m

Fig. 5. Reconstructed digital elevation model.

Resolution: 14.1 cm/pix

Point density: 50 points/m^2

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Processing Parameters

Geral
Câmaras 185
Aligned cameras 185
Marcadores 15
Shapes
Polygon 1
Coordinate system SIRGAS 2000 / UTM zone 24S (EPSG::31984)
Rotation angles Yaw, Pitch, Roll
Nuvem de Pontos
Pontos 44,870 of 55,790
RMS reprojection error 0.516934 (6.28582 pix)
Max reprojection error 14.2499 (123.107 pix)
Mean key point size 15.597 pix
Cores dos pontos 3 bands, uint8
Key points Não
Average tie point multiplicity 5.25621
Parâmetros de alinhamento
Precisão Baixa
Generic preselection Sim
Reference preselection Source
Key point limit 40,000
Key point limit per Mpx 1,000
Tie point limit 10,000
Exclude stationary tie points Sim
Guided image matching Não
Adaptive camera model fitting Não
Matching time 2 minutes 3 seconds
Matching memory usage 190.62 MB
Alignment time 54 seconds
Alignment memory usage 92.89 MB
Optimization parameters
Parâmetros f, b1, b2, cx, cy, k1-k4, p1, p2
Adaptive camera model fitting Não
Optimization time 3 seconds
Date created 2023:09:12 19:24:29
Software version 1.8.5.15139
File size 7.90 MB
Mapas de Profundidade
Número 185
Depth maps generation parameters
Qualidade Média
Filtering mode Moderate

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 Max neighbors 16
Tempo de processamento 2 hours 28 minutes
Memory usage 655.61 MB
Date created 2023:09:13 15:32:11
Software version 1.8.5.15139
File size 223.86 MB
Dense Point Cloud
Pontos 7,780,072
Cores dos pontos 3 bands, uint8
Depth maps generation parameters
Qualidade Média
Filtering mode Moderate
Max neighbors 16
Tempo de processamento 2 hours 28 minutes
Memory usage 655.61 MB
Dense cloud generation parameters
Tempo de processamento 6 minutes 1 seconds
Memory usage 2.68 GB
Ground points classification parameters
Max angle (deg) 15
Max distance (m) 0.1
Cell size (m) 80
Classification time 24 seconds
Classification memory usage 314.97 MB
Date created 2023:09:13 15:38:13
Software version 1.8.5.15139
File size 102.25 MB
Modelo
Faces 506,334
Vértices 254,440
Cores dos vértices 3 bands, uint8
Depth maps generation parameters
Qualidade Média
Filtering mode Moderate
Max neighbors 16
Tempo de processamento 2 hours 28 minutes
Memory usage 655.61 MB
Parâmetros de reconstrução
Surface type Mapa de alturas / Terreno
Source data Dense cloud
Interpolation Enabled
Strict volumetric masks Não
Tempo de processamento 18 seconds
Memory usage 207.70 MB
Date created 2023:09:13 16:13:09
Software version 1.8.5.15139
File size 11.61 MB
DEM

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 Tamanho 3,455 x 3,359
Coordinate system SIRGAS 2000 / UTM zone 24S (EPSG::31984)
Parâmetros de reconstrução
Source data Mesh
Interpolation Enabled
Tempo de processamento 7 seconds
Memory usage 126.89 MB
Date created 2023:09:13 16:16:13
Software version 1.8.5.15139
File size 42.79 MB
Orthomosaic
Tamanho 13,820 x 13,436
Coordinate system SIRGAS 2000 / UTM zone 24S (EPSG::31984)
Colors 3 bands, uint8
Parâmetros de reconstrução
Modo de combinação Mosaico
Surface DEM
Enable hole filling Sim
Enable ghosting filter Não
Tempo de processamento 2 minutes 38 seconds
Memory usage 886.16 MB
Date created 2023:09:13 16:19:25
Software version 1.8.5.15139
File size 2.31 GB
System
Software name Agisoft Metashape Professional
Software version 1.8.5 build 15139
OS Windows 64 bit
RAM 7.39 GB
CPU AMD Ryzen 3 PRO 4350G with Radeon Graphics
GPU(s) None

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