Photogrammetry Practice

Affine Transformation

1) The machine coordinates of the right photo from a pair of aerial photographs and we have
the following information:

Machine Coordinates
Point
2 (mm) 2(mm)
F1 507.225 246.947
F2 772.264 189.704
F3 611.676 71.609
F4 667.813 365.039
1 569.997 233.39
2 589.513 356.495
3 552.434 122.595
4 639.74 218.326
5 664.01 347.787
6 613.43 80.774
The calibration camera certified gives

Xp=0.0, yp=0.0, c= 150 mm,

Image Coordinates
Fiducial Marks
X(mm) Y (mm)
-150 0
150 0
0 -150
0 150

Lenses Distortions Table

r(mm) 10 20 30 40 50 60 70 80 90 100
r(um) -4 -5 -6 -3 -2 1 5 5 7 4
r(mm) 110 120 130 140 150 160 170
r(um) 4 7 7 6 6 5 5

The flight information we have the height elevation (Zo= 2000 m) and the average ground
elevation is Zp=200 m.

Determine the image coordinates of points 1, 2, 3, 4, 5 y 6

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Dr. Martn E. Candanedo G. Elements of Geomatic
Solution:

We have the affine model to transform from a local system to a global system
1 2
= + 2 []
1

= Image coordinates of the fiducial marks

[]= Machine coordinates

, , 1 , 2 , 1 , 2= Transformation Affine parameters

= + 1 + 2

= + 1 + 2

As it can be seen, one can write two equations (one for X and one for Y) per point. Four points are
used (Fiducial marks, F1, F2, F3, F4) from which the machine and image coordinates are known, so
that the following equation can be written:
1 = + 1 1 + 2 1
1 = + 1 1 + 2 1
2 = + 1 2 + 2 2
2 = + 1 2 + 2 2
3 = + 1 3 + 2 3
3 = + 1 3 + 2 3
4 = + 1 4 + 2 4
4 = + 1 4 + 2 4
Performing a rearrangement of the variables in order to be able to construct the design matrix and
the observation vector:

1 = + 1 1 + 2 1 + 0 + 0 + 0
1 = 0 + 0 + 0 + + 1 1 + 2 1
2 = + 1 2 + 2 2 + 0 + 0 + 0
2 = 0 + 0 + 0 + + 1 2 + 2 2
3 = + 1 3 + 2 3 + 0 + 0 + 0
3 = 0 + 0 + 0 + + 1 3 + 2 3
4 = + 1 4 + 2 4 + 0 + 0 + 0
4 = 0 + 0 + 0 + + 1 4 + 2 4
From the eight equations, now the design matrix can be define as:

1 507.225 246.947 0 0 0
0 0 0 1 507.225 246.947
1 772.264 189.704 0 0 0
A= 0 0 0 1 772.264 189.704
1 611.676 71.609 0 0 0
0 0 0 1 611.676 71.609
1 667.813 365.039 0 0 0
0 0 0 1 667.813 365.039

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Dr. Martn E. Candanedo G. Elements of Geomatic
 -150
0
150
Y= 0
0
-150
0
150

Using the Gauss-Markov Model, now we can solve for the Affine Transformation Parameters, and
we found:

-649.997
1.086995
= -0.20796
-350.016
0.212053
0.981822
That can be represented as:

a0= -649.997
a1= 1.086995
a2= -0.20796
b0= -350.016
b1= 0.212053
b2= 0.981822

With the Affine parameters that we have just computed, we can determine the coordinates of the
points 1 to 6.

Con las valores de los parmetros de Affine

Machine Coordinates Image Coordinates

Points
(mm) (mm) x(mm) y(mm)
1 569.997 233.39 -78.948 0.001
2 589.513 356.495 -83.335 125.007
3 552.434 122.595 -74.998 -112.504
4 639.74 218.326 -0.005 0.000
5 664.01 347.787 -0.546 132.254
6 613.43 80.774 0.001 -140.630

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Once we have computed the image coordinate, it is necessary to correct the image points due to
the distortion of the lenses and the atmospheric refraction.

Correction for the Distortion of Lenses:

Table for Lenses Distortions

r(mm) 10 20 30 40 50 60 70 80 90 100
r(um) -4 -5 -6 -3 -2 1 5 5 7 4
r(mm) 110 120 130 140 150 160 170
r(um) 4 7 7 6 6 5 5

2 2 2
= ( ) + ( )

( )
=

( )
=

= +

= +

Point x(mm) y(mm) r(mm) r(*) x y Xc Yc

1 -78.948 0.001 78.948 0.005 -0.0050 0.0000 -78.953 0.001
2 -83.335 125.007 150.238 0.006 -0.0033 0.0050 -83.338 125.012
3 -74.998 -112.504 135.211 0.0065 -0.0036 -0.0054 -75.002 -112.509
4 -0.005 0.000 0.005 0 0.0000 0.0000 -0.005 0.000
5 -0.546 132.254 132.256 0.007 0.0000 0.0070 -0.546 132.261
6 0.001 -140.630 140.630 0.006 0.0000 -0.0060 0.001 -140.636
(*) It is obtained from the table for lenses distortion from the Camera Calibration.

Correction for Atmospheric Refraction.

2 2 2
= ( ) + ( )

( )
=

( )
=

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Dr. Martn E. Candanedo G. Elements of Geomatic
 2
= (1 + )
2

= 13 ( ) 1 0.02 (2 + ) 106

Zo= 2000 m , Zo=2 Km, (It needs to be expressed in kilometers)

Zp= 200 m, Zp= 0.2 km (It needs to be expressed in kilometers)

= 13 (2 0.2) 1 0.02 (2 2 + 0.2) 106

=2.14344E-05

Punto xc(mm) yc(mm) r(mm) r x y Xc Yc

1 -78.953 0.001 78.948 0.0022 -0.0022 0.0000 -78.946 0.001
2 -83.338 125.012 150.244 0.0065 -0.0036 0.0054 -83.334 125.006
3 -75.002 -112.509 135.217 0.0053 -0.0029 -0.0044 -74.999 -112.505
4 -0.005 0.000 0.005 0.0000 0.0000 0.0000 -0.005 0.000
5 -0.546 132.261 132.263 0.0050 0.0000 0.0050 -0.546 132.256
6 0.001 -140.636 140.636 0.0057 0.0000 -0.0057 0.001 -140.631

= ()

= ()

(*) It is always negative due to the fact that refraction is an excess of energy that has been
introduced in the process of taking the picture.

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Dr. Martn E. Candanedo G. Elements of Geomatic