Figure B1 . Photogrammetric transformation 



The ground coordinates for the point Q can be found from image coordinates 



by 



X = (Z c -Z) [tan(x+a) sin (j> - sec(T+a)tany cos(j)] 

 = Z'F,(a,Y) 



(Bl) 



Y = (Z c -Z) [ tan (t+ a) cos (J) - sec(T+a)tany sin<J)] 

 = Z'FJa,y) 



(B2) 



where Z' = (Z -Z) andF { andF 2 are functions of the camera parameters 

 and image geometry f c , (a, y, t, and (». The angles a and y are defined as 



a = tan" 





(B3) 



and 



B2 



Appendix B Photogrammetry 



