What does the Output Params Folder contain?

If the Camera Internals and Externals, AAT, BBA option is selected for step 1. Initial Processing under the Calibration tab (205327965), Pix4Dmapper generates a params folder. 

This folder can be found in  ...\project_name\1_initial\params.

The params folder contains the following files:

 

dvp

It contains one file per image with the internal and external orientation and can be used in DAT/EM software. This file is only exported if the Undistorted Images option is selected in step 1. Initial Processing under the Calibration tab (205327965).

 

project_name_tp_bingo

It contains the image coordinates (for all calibrated images) for the GCPs and Check points and some of the Automatic Tie Points. These coordinates refer to the original (distorted) images. For more information: 203590305. It can be used with the BINGO software.

 

project_name_tp_orima

It contains information for the calibrated cameras about the GCPs and Check points and some of the Automatic Tie Points. It can be used with the Orima software.

 

project_name_tp_pix4d

It contains the image coordinates (for all calibrated images) for the GCPs and Check points and some of the Automatic Tie Points. These coordinates refer to the original (distorted) images. The fourth column is the scale (relative accuracy) of the point. A point with scale 2 is more accurate than a point with scale 4. For example a point that was found on the edge of a building is probably more accurate than a point that was found on the textureless wall of a building.

 

project_name_calibrated_camera_parameters

For each calibrated camera, it contains the following information:

  • fileName imageWidth imageHeight
  • camera matrix K [3x3]
  • radial distortion [3x1]
  • tangential distortion [2x1]
  • camera position t [3x1]
  • camera rotation R [3x3]
  • camera model m = K [R|-Rt] X = KRX - KRt = Pmatrix* X, where X is a 3D point.

This information is used by computer vision users. The positions and rotations of the cameras are defined in a local coordinate system.

 

project_name_calibrated_external_camera_parameters

For each calibrated camera, it contains the following information:

  • image name
  • X: The computed X coordinate in the output coordinate system.
  • Y: The computed Y coordinate in the output coordinate system.
  • Z: The computed Z coordinate in the output coordinate system.
  • Omega: The computed Omega angle (degrees) in the output coordinate system. For more information 202558969.
  • Phi: The computed Phi angle (degrees) in the output coordinate system. For more information 202558969.
  • Kappa: The computed Kappa angle (degrees) in the output coordinate system. For more information 202558969.

For more information about the internal and external camera parameter definition: 202559089.

 

project_name_calibrated_external_camera_parameters_wgs84

For each calibrated camera, it contains the following information:

  • image name
  • longitude: The computed longitude in WGS84.
  • latitude: The computed latitude in WGS84.
  • altitude: The computed altitude in WGS84.
  • Omega: The computed Omega angle (degrees) in the output coordinate system. For more information 202558969.
  • Phi: The computed Phi angle (degrees) in the output coordinate system. For more information 202558969.
  • Kappa: The computed Kappa angle (degrees) in the output coordinate system. For more information 202558969.

For more information about the internal and external camera parameter definition: 202559089.

 

project_name_calibrated_external_camera_parameters_error

For each calibrated camera, it contains the following information:

  • imageName
  • cameraIndex: Index to specify to which group the cameras belong to.
  • cameraName
  • X_opt: The computed X coordinate in the output coordinate system.
  • Y_opt: The computed Y coordinate in the output coordinate system.
  • Z_opt: The computed Z coordinate in the output coordinate system.
  • X_gps: The input X position of the camera in the output coordinate system.
  • Y_gps:  The input Y position of the camera in the output coordinate system.
  • Z_gps:  The input Z position of the camera in the output coordinate system.
  • X_acc: The X accuracy of the cameras position.
  • Y_acc: The Y accuracy of the cameras position.
  • Z_acc: The Z accuracy of the cameras position.
  • Omega: The computed omega angle of the camera in degrees.
  • Phi: The computed phi angle of the camera in degrees.
  • Kappa: The computed kappa angle of the camera in degrees.
  • Xo: The X position of the image row that is read out first, computed if the camera model is rolling shutter. 
  • Yo: The Y position of the image row that is read out first, computed if the camera model is rolling shutter. 
  • Zo: The Z position of the image row that is read out first, computed if the camera model is rolling shutter. 
  • Xrows: The X position of the image row that is read out last, computed if the camera model is rolling shutter. 
  • Yrows: The Y position of the image row that is read out last, computed if the camera model is rolling shutter. 
  • Zrows: The Z position of the image row that is read out last, computed if the camera model is rolling shutter. 
  • X_uncertainty: The uncertainty of the computed X coordinate in the output coordinate system.
  • Y_uncertainty: The uncertainty of the computed Y coordinate in the output coordinate system.
  • Z_uncertainty: The uncertainty of the computed Z coordinate in the output coordinate system.
  • Omega_uncertainty: The uncertainty of the omega angle of the camera. 
  • Phi_uncertainty: The uncertainty of the phi angle of the camera. 
  • Kappa_uncertainty: The uncertainty of the kappa angle of the camera. 
  • X_rs_uncertainty: The uncertainty of the rolling shutter of the camera in the X dimension. 
  • Y_rs_uncertainty: The uncertainty of the rolling shutter of the camera in the Y dimension.
  • Z_rs_uncertainty: The uncertainty of the rolling shutter of the camera in the Z dimension.
  • inlierProb: Value between 0 and 1 indicating the outlier score (<0.5 corresponds to an outlier)

This information can be used to analyse the geolocation and accuracy of the input images positions.

For more information about the internal and external camera parameter definition: 202559089.

 

project_name_calibrated_images_position

For each calibrated camera, it contains the following information:

  • image name
  • X: The computed X coordinate in the output coordinate system.
  • Y: The computed Y coordinate in the output coordinate system.
  • Z: The computed Z coordinate in the output coordinate system.

For more information about the internal and external camera parameter definition: 202559089.

 

project_name_calibrated_internal_camera_parameters.cam

It contains the following information:

  • FOCAL: Optimized (computed) focal length
  • Principal Point Offset xpoff ypoff in mm (Inpho): The principal point offset in x and y direction as it should be used in the Inpho software. For more information: 202559629.
  • Principal Point Offset xpoff ypoff in mm: The principal point offset in x and y direction in mm.
  • Principal Point Offset xpoff ypoff in pixel: The principal point offset in x and y direction in pixels.
  • Information about the lens distortions.

 

project_name_pix4d_calibrated_internal_camera_parameters.cam

It contains information about the optimized (computed) internal camera parameters.

  • Focal length in [mm]
  • Principal point Py [mm]
  • Principal point Py [mm]
  • Symmetrical (Radial) Lens Distortion K1
  • Symmetrical (Radial) Lens Distortion K2
  • Symmetrical (Radial) Lens Distortion K3
  • Tangential Lens Distortion T1
  • Tangential Lens Distortion T2

For more information about the internal and external camera parameter definition: 202559089.
These internal camera parameters can also be found at the quality report. For more information: 202558679.

 

project_name_ camera.ssk

It contains information about the camera parameters. It can be used with the ImageStation software or other compatible stereo viewing software.

 

project_name_photo.ssk

It contains information about the images. It can be used with the ImageStation software or other compatible stereo viewing software.

 

project_name_estimated_gcps_position

Generated if GCPs have been imported to the project. It contains the following information:

  • GCP label
  • X: The computed X coordinate in the output coordinate system.
  • Y: The computed Y coordinate in the output coordinate system.
  • Z: The computed Z coordinate in the output coordinate system.

 

project_name_image_to_output_transform

Defines the site calibration transformation between image geolocation coordinate system and output coordinate system. This file can be used in further projects by importing it in the Site Calibration Parameters window. For more information: 205171315

 

project_name_measured_estimated_gcps_position 

Generated if GCPs have been imported to the project. It contains the following information:

  • GCP label
  • GCP measured X: The input X coordinate given in the output coordinate system.
  • GCP measured Y: The input Y coordinate given in the output coordinate system.
  • GCP measured Z: The input Z coordinate given in the output coordinate system.
  • GCP estimated X: The computed X coordinate in the output coordinate system.
  • GCP estimated Y: The computed Y coordinate in the output coordinate system.
  • GCP estimated Z: The computed Z coordinate in the output coordinate system.
  • GCP weight: The weight that the GCP had for processing. The weight is based on the zoom level on which a GCP was marked. For more information:202557589
  • GCP visible in # images: The number of images on which a GCP was marked.

 

project_name_measured_gcps_position 

Generated if GCPs have been imported to the project. It contains the following information:

  • GCP measured X: The input X coordinate given in the output coordinate system.
  • GCP measured Y: The input Y coordinate given in the output coordinate system.
  • GCP measured Z: The input Z coordinate given in the output coordinate system.

   

project_name_pmatrix

The P-Matrix contains information about the internal and external camera parameters. It allows to convert the 3D coordinates (X,Y,Z) of a 3D point into 2D coordinates (u,v) of an undistorted image. The 3D coordinate system are expressed in the local coordinate system. 

It can only be used with perspective lens cameras and with the undistorted images that are generated by Pix4Dmapper. (u,v) are the coordinates in the undistorted images given in pixels.

The first four numbers in the file correspond to the first row in the matrix.

 project_name_sun_angles

 It contains the angle of the irradiance sensor and the irradiance value when this information is available.

project_name_offset.xyz

It contains the offset between the centered points and the output coordinate system. It can be used for the textured mesh (.obj file) and densified points cloud (.ply and .xyz file). This is the difference between the local coordinate system in which some of the outputs are created and the output coordinate system. 

 

project_name_wkt.prj

It contains the projection of the output coordinate system in the projection format.

 

project_name_result_correlations_internals

It contains the correlation values between the optimized internal camera parameters. The correlation is expressed from a range -1 to 1, i.e. 0 value is for parameters that are independent and 1 for parameters that are fully correlated. Negative correlation indicates that the one variable increases when the other decreases. It contains the following information:

  • Camera model name.
  • Camera model with distortions.
  • Headers for columns - internal camera parameters: focal length, principal point Px, principal point Py, radial lens distortion R1, radial lens distortion R2, radial lens distortion R3, tangential lens distortion T1, tangential lens distortion T2.
  • Correlation matrix.

 

 

 

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