ES 
e d 
We can now make a small transformation programmed in SUB- ROUTINE or a procedure 
called TRANS 1 (X, OR) with the dimension X(3) and OR(6). Reading the coordinates Xp . Yp ; 
Zp into X and the orientation parametres Xo» Yos Z9; w, @ , K into OR, TRANS 1 will 
perform the following special transformation : 
Xe 811 819 aq x -X 
YA = (891 822 854( X Xs - Y | 
d 231 ?32 ?33 Zon &, 
where the a-matrice is evaluated from w , ¢ and k in the usual way. 
By calling TRANS 1 with the coordinates to an object point as input along with the elements 
of exterior orientation, the transformation gives as output the coordinates in a camera-located 
system, 
The next transformation is called TRANS 2 (X, OR) with the dimension X (3) and OR (1), 
Reading the coordinates Xo YR Zy into X and the focallength c into OR the transformation 
performs a perspective projection from a camera-located System upon a plane in the distance 
OR (1) from the perspective center. 
Xk = C Xl Z4 
V uci Yk/ Zu 
e ESC 
Calling TRANS2 with coordinates of an object point in the camera-located system and \ / 
the focal length as input, the transformation gives the picture coordinates in a principal-point- d 
located system. 
  
  
  
Fig. 3. The geometrical relation between the point P in a camera-located 
system and the picture-point in a principal- point-located system. e - 
) 
  
Fig. 2. The coordinates to point P in the geodetic 
system and in the camera-located system. 
—18 -—