COORDINATE

TRANSFORMATIONS (Part 2)
2D Projective Coordinate Transformation
2D General Polynomial Transformation
3D Conformal Coordinate Transformation

GsE 188 Lecture 8B

 2-Dimensional Projective
Coordinate Transformation
2-Dimensional Projective
Coordinate Transformation
● Enables the analytical computation of XY coordinates of
points after they have been projected onto a plane from a
nonparallel plane
● Most common use is in analytical rectification (calculating
coordinates of points in a rectified-ratioed photo from a
tilted photograph)
● Could also be used for georeferencing (ground
registration), where a digital image is processed to align it
to a ground coordinate system
● 8 parameters
2-Dimensional Projective
Coordinate Transformation

m11 ( X P − X L ) + m12 (YP − YL ) + m13 (− H )

x = x0 −
m31 ( X P − X L ) + m32 (YP − YL ) + m33 (− H )
m21 ( X P − X L ) + m22 (YP − YL ) + m23 (− H )
y = y0 −
m31 ( X P − X L ) + m32 (YP − YL ) + m33 (− H )
where:
m(ω , θ , κ )
x0 , y0 , f = PP displacement, focal length
X L , YL , Z L = ground coordinates of exposure station
ZL
H=
f
Final Form..

a1 x + b1 y + c1 X,Y = ground or
X= rectified-ratioed
a3 x + b3 y + 1 coordinates
a2 x + b2 y + c2 x,y = tilted
Y= photograph
a3 x + b3 y + 1 coordinates
If we linearize…
⎡ ∂X ∂X ∂X ⎤ ⎡ da1 ⎤
⎢ ∂a ..... ⎢ db ⎥
∂b1 ∂b3 ⎥ ⎢ 1⎥
⎢ 1 ⎥ ⎡X − X0⎤
⎢ ∂Y ∂Y
.....
∂Y ⎥ ⎢ dc1 ⎥ ⎢ Y −Y ⎥
⎢ ∂a1 ∂b1 ∂b3 ⎥ ⎢ ⎥ ⎢ 0 ⎥
⎢ da2 ⎥
B = ⎢ ∂X ∂X ∂X ⎥ x= f = ⎢X − X0⎥
⎢ ..... ⎥ ⎢ db2 ⎥ ⎢ ⎥
⎢ ∂a1 ∂b1 ∂b3 ⎥ ⎢ ⎥ ⎢ : ⎥
⎢ : : : : ⎥ ⎢ dc2 ⎥ ⎢⎣ Y − Y0 ⎥⎦
⎢ ∂Y ∂Y ∂Y ⎥ ⎢ da ⎥
⎢ ∂a ..... ⎢ 3⎥
⎣ 1 ∂b1 ∂b3 ⎥⎦ ⎢⎣ db3 ⎥⎦

Initial estimates of the unknowns are used, and

the solution is solved iteratively!
 A simpler linear form…
To facilitate its use with least squares, the rational form is
rearranged..

a1 x + b1 y + c1 − a3 xX − b3 yX = X + v X
a2 x + b2 y + c2 − a3 xY − b3 yY = Y + vY

Technically, equations of this form are solved via general least

squares technique. But if x, y, X and Y values on the left hand side
are treated as constants, the simpler method of indirect
observations can be used with satisfactory results.
 2-Dimensional General
Polynomial Transformation
 2-Dimensional General
Polynomial Transformation

● Used for polynomial STRIP and BLOCK adjustment

● Transformation from strip coordinates to ground
coordinates
● Uses polynomial coefficients to correct for strip
deformation

2 2
y1 = a0 + a1 x1 + a2 x2 + a3 x1 x2 + a4 x1 + a5 x2 …
2 2
y2 = b0 + b1 x1 + b2 x2 + b3 x1 x2 + b4 x1 + b5 x2 …
3-Dimensional Conformal
Coordinate Transformation
3-Dimensional Conformal
Coordinate Transformation
● Used in analytical photogrammetry to transform arbitrary
stereomodel coordinates to ground or object space
coordinates, and from independent stereomodels to 3D
strip models
● Different scales, different origins, and non-parallel
● Seven (7) parameters
● Transformation equations can be expressed in 7
independent parameters: ω , φ , κ , s, T , T , T
X Y Z
where:

ω , φ , κ = rotation in x,y,z s = scale

TX , TY , TZ = translations in x,y,z
Step 1: Rotation
● Three rotation equations corresponding to the three
rotation parameters ω , φ , κ
● Rotation equations are developed in a sequence of three
independent two-dimensional rotations
POSITIVE ROTATION ANGLES
(RIGHT HANDED SYSTEM)
z

+ve κ

y
+ve ω
+ve φ

x
Step 1: Rotation
Step 1: Rotation
● ω,φ,κ are the rotation angles we need to apply
to make the 2 coordinate systems parallel
● The rotation matrix has nine elements,
governed by these 3 parameters
● Construct x’y’z’ coordinate system parallel to
XYZ
● Development of M is from x’y’z’ à xyz
 Omega (ω) rotation about the x’
axis

z’
z1 x1 = xʹ
y1 = yʹ cos ω + z ʹ sin ω
z1 = − yʹ sin ω + z ʹ cos ω
A
in ω
z’ s
ω ω y1
c os os
y ’ z’ c
y’ s

ω
in ω

y’
Phi (φ) rotation about y1-axis
Kappa (κ) rotation about z2-axis
Kappa (k) rotation about z2-axis
Kappa (k) rotation about z2-axis
Step 1: Rotation
⎡ x⎤ ⎡ x'⎤ Note:
⎢ y ⎥ = M ⎢ y '⎥
⎢ ⎥ ⎢ ⎥ x’y’z’ // XYZ
⎢⎣ z ⎥⎦ ⎢⎣ z ' ⎥⎦
M = rotation matrix
⎡ x'⎤ ⎡ x⎤
⎢ y '⎥ = M −1 ⎢ y ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ z ' ⎥⎦ ⎢⎣ z ⎥⎦
Orthogonality of M
−1 T
M =M
2 2 2 2 2 2
m + m + m =1
11 12 13 m + m + m =1
11 21 31
2 2 2 2 2 2
m + m + m =1 m + m + m =1
21 22 23 12 22 32
2 2 2 2 2 2
m + m + m =1
31 32 33 m + m + m =1
13 23 33
 X = MX ʹ Xʹ = M X T

Therefore,

xʹ = m11 x + m21 y + m31 z

yʹ = m12 x + m22 yʹ + m32 z
z ʹ = m13 x + m23 y + m33 z
Step 2: Scaling and Translation
● After rotating, scale and
translate

⎡X ⎤ ⎡ x'⎤ ⎡TX ⎤
⎢ Y ⎥ = s ⎢ y '⎥ + ⎢T ⎥
⎢ ⎥ ⎢ ⎥ ⎢ Y⎥
⎢⎣ Z ⎥⎦ ⎢⎣ z ' ⎥⎦ ⎢⎣TZ ⎥⎦
⎡X ⎤ ⎡ x ⎤ ⎡TX ⎤
⎢ Y ⎥ = sM −1 ⎢ y ⎥ + ⎢T ⎥
⎢ ⎥ ⎢ ⎥ ⎢ Y⎥ T
⎢⎣ Z ⎥⎦ ⎢⎣ z ⎥⎦ ⎢⎣TZ ⎥⎦ X = sM X + T
Linearization
⎛ ∂X P ⎞ ⎛ ∂X P ⎞ ⎛ ∂X P ⎞ ⎛ ∂X P ⎞
X P = ( X P )0 + ⎜ ⎟ ds + ⎜ ⎟ dω + ⎜⎜ ⎟⎟ dφ + ⎜ ⎟ dκ
⎝ ∂s ⎠ 0 ⎝ ∂ω ⎠ 0 ⎝ ∂φ ⎠ 0 ⎝ ∂κ ⎠ 0
⎛ ∂X P ⎞ ⎛ ∂X P ⎞ ⎛ ∂X P ⎞
+ ⎜⎜ ⎟⎟ dTX + ⎜⎜ ⎟⎟ dTY + ⎜⎜ ⎟⎟ dTZ
⎝ ∂TX ⎠ 0 ⎝ ∂TY ⎠ 0 ⎝ ∂TZ ⎠ 0
⎛ ∂YP ⎞ ⎛ ∂YP ⎞ ⎛ ∂YP ⎞ ⎛ ∂YP ⎞
YP = (YP ) 0 + ⎜ ⎟ ds + ⎜ ⎟ dω + ⎜⎜ ⎟⎟ dφ + ⎜ ⎟ dκ
⎝ ∂s ⎠ 0 ⎝ ∂ω ⎠ 0 ⎝ ∂φ ⎠ 0 ⎝ ∂κ ⎠ 0
⎛ ∂YP ⎞ ⎛ ∂YP ⎞ ⎛ ∂YP ⎞
+ ⎜⎜ ⎟⎟ dTX + ⎜⎜ ⎟⎟ dTY + ⎜⎜ ⎟⎟ dTZ
⎝ ∂TX ⎠0 ⎝ ∂TY ⎠ 0 ⎝ ∂TZ ⎠ 0
⎛ ∂Z P ⎞ ⎛ ∂Z P ⎞ ⎛ ∂Z P ⎞ ⎛ ∂Z P ⎞
Z P = (Z P )0 + ⎜ ⎟ ds + ⎜ ⎟ dω + ⎜⎜ ⎟⎟ dφ + ⎜ ⎟ dκ
⎝ ∂s ⎠ 0 ⎝ ∂ω ⎠ 0 ⎝ ∂φ ⎠ 0 ⎝ ∂κ ⎠ 0
⎛ ∂Z P ⎞ ⎛ ∂Z P ⎞ ⎛ ∂Z P ⎞
+ ⎜⎜ ⎟⎟ dTX + ⎜⎜ ⎟⎟ dTY + ⎜⎜ ⎟⎟ dTZ
⎝ ∂TX ⎠ 0 ⎝ ∂TY ⎠ 0 ⎝ ∂TZ ⎠ 0
Linearization

a11ds + a12 dω + a13 dφ + a14 dκ + a15 dTX + a16 dTY + a17 dTZ
= [X P − ( X P ) 0 ]+ν X P
a21ds + a22 dω + a23 dφ + a24 dκ + a25 dTX + a26 dTY + a27 dTZ
= [YP − (YP ) 0 ]+ν YP
a31ds + a32 dω + a33 dφ + a34 dκ + a35 dTX + a36 dTY + a37 dTZ
= [Z P − ( Z P ) 0 ]+ν Z P
Linearization
a11 = m11 x p + m21 y p + m31 z p
a12 = a16 = a17 = a25 = a27 = a35 = a36 = 0
a13 = ⎡⎣(− sin φ cos κ ) x p + (sin φ sin κ ) y p + (cos φ ) z p ⎤⎦ s
a14 = (m21 x p − m11 y p )s
a15 = a26 = a37 = 1
a21 = m12 x p + m22 y p + m32 z p
a22 = (−m13 x p − m23 y p − m33 z p )s
Linearization
⎡(sin ω cos φ cos κ ) x p + (− sin ω cos φ sin κ ) y p ⎤
a23 = ⎢ ⎥s
⎢⎣ + (sin ω sin φ ) z p ⎥⎦
a24 = (m22 x p − m12 y p )s
a31 = m13 x p + m23 y p + m33 z p
a32 = (m12 x p + m22 y p + m32 z p )s
⎡(− cos ω cos φ cos κ ) x p + (cos ω cos φ sin κ ) y p ⎤
a33 = ⎢ ⎥s
⎢⎣ + (− cos ω sin φ ) z p ⎥⎦
a34 = (m23 x p − m13 y p )s
3-Dimensional Conformal
Coordinate Transformation
● Since we still need to linearize the equations,
the solution is very long
● This type of transformation can be solved
using computer programs/software.

GsE 188 Lab Exercise #5: 3D Conformal Transformation

Announcement
● Oct 9 (Friday):
➢ Lecture 9: Interior Orientation
➢ Lecture 10: Relative and Absolute Orientation
➢ Release of GsE 188 Lab 6: Single Photo Resection
● October 14 (Wednesday): GsE 188 First Long Exam
● Time: 1 – 4 PM
● Bring calculator
● Coverage: Lec 1 (Intro to Photogrammetry) to Lec 10
(Relative and Absolute Orientation)
● October 16 (Friday):
● Discussion of LE 1 (Bang)
● Lecture 11: Rectification and Photogrammetric Control (Sir
Ark)