GE312 Lecture 6:

COORDINATE
TRANSFORMATIONS
Engr. Mark Dave B. Plaza
Instructor, GE Dept., CEA, USTP-CDO
Outline

▪ 2-D Conformal Transformation

▪ 2-D Affine Transformation
▪ 3-D Dimensional Conformal Coordinate Transformation

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Intended Learning Outcomes
After the Lecture students will be able to
▪ Determine parameters for 2-D Conformal Transfomation
▪ Estimate position of 2-D Coordinates using Conformal Transformation equation
▪ Determine parameters for 2-D Affine Transfomation
▪ Estimate position of 2-D Coordinates using Affine Transformation equation
▪ Determine parameters for 3-D Conformal Transfomation
▪ Estimate position of 3-D Coordinates using Conformal Transformation equation

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2-D Conformal Transformation
Lecture 6.1

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2-D Conformal Transformation
The two-dimensional conformal coordinate transformation, also known as the
four-parameter similarity transformation, has the characteristic that true shape
is retained after transformation.
This transformation is a three-step process that involves:
1. Scaling to create equal dimensions in the two coordinate systems
2. Rotation to make the reference axes of the two systems parallel
3. Translations to create a common origin for the two coordinate systems

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Equation Development
Figure (a) and (b) illustrate two
independent coordinate systems. In
these systems, three common
control points, A, B, and C, exist
(i.e., their coordinates are known in
both systems). Points 1 through 4
have their coordinates known only
in the xy system of Figure (b). The
problem is to determine their XY
coordinates in the system of Figure
(a). The necessary equations are
developed as follows.
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Equation Development
Step 1: Scaling. To make line
lengths as defined by the xy
coordinate system equal to
their lengths in the XY system,
it is necessary to multiply xy
coordinates by a scale factor,
S. Thus, the scaled
coordinates x’ and y’ are

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Equation Development
Step 2: Rotation, the XY coordinate
system has been superimposed on the
scaled x’y’system. The rotation angle,𝜃, is
shown between the y'and Y axes. To
analyze the effects of this rotation, an
X’Y'system was constructed parallel to the
XY system such that its origin is common
with that of the x’y'system. Expressions that
give the (X’,Y’) rotated coordinates for any
point (such as point 4 shown) in terms of its
x’y'coordinates are

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Equation Development
Step 3: Translation. To finally arrive at XY
coordinates for a point, it is necessary to
translate the origin of the X’Y’system to the
origin of the XY system. It can be seen that
this translation is accomplished by adding
translation factors as follows:

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Equation Development
Applying previous Equations the result will be the following:

Now let S cos 𝜃 = a, S sin 𝜃 = b, 𝑇𝑋 =c, and 𝑇𝑌 = d and add residuals

to make redundant equations consistent.

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Equation Development
Applying previous Equations the result will be the following:

Now let S cos 𝜃 = a, S sin 𝜃 = b, 𝑇𝑋 =c, and 𝑇𝑌 = d and add residuals

to make redundant equations consistent.

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Application of Least Squares
The equations represent the
basic observation equations for a
two-dimensional conformal
coordinate transformation that
have four-point unknowns: a, b,
c, and d.

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Application of Least Squares
In Matrix Equation this can be written as:

Where,

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Application of Least Squares
After the adjustment, the scale factor S and rotation angle 𝜃 can be
computed with the following equations:

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Application of Least Squares
Example 1. A survey conducted in an arbitrary xy coordinate system
produced station coordinates for A, B, and C as well as for stations 1
through 4. Stations A, B, and C also have known state plane
coordinates, labeled E and N. It is required to derive the state plane
coordinates of stations 1 through 4. The table below is a tabulation of
the arbitrary coordinates and state plane coordinates.

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Application of Least Squares
Solution:
By applying Least Squares Matrix Equation and using the controls A,
B, and C we will have the following element for Matrices:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐴𝑇 𝐿 and corresponding
formulae the results are the following:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐴𝑇 𝐿 and corresponding
formulae the results are the following:

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2-D Affine Transformation
Lecture 6.2

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2-D Affine Transformation
The two-dimensional affine coordinate transformation, also
known as the six – parameter transformation, is a slight variation
from the two-dimensional conformal transformation.
In the affine transformation there is the additional allowance for two
different scale factors; one in the x direction and the other in the y
direction. This transformation is commonly used in
photogrammetry for interior orientation.
That is, it is used to transform photo coordinates from an arbitrary
measurement photo coordinate system to a camera fiducial system
and to account for differential shrinkages that occur in the x and y
directions.
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2-D Affine Transformation
As in the conformal transformation, the affine transformation also
applies two translations of the origin, and a rotation about the origin,
plus a small nonorthogonality correction between the x and y axes.
This results in a total of six unknowns. The mathematical model for
the affine transformation is

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Application of Least Squares
The equations represent the
basic observation equations for a
two-dimensional affine coordinate
transformation that have four-
point unknowns: a, b, c, and d.

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Application of Least Squares
The equations represent the
basic observation equations for a
two-dimensional affine coordinate
transformation that have four-
point unknowns: a, b, c, and d.

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Application of Least Squares
In Matrix Equation this can be written as:

Where,

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Application of Least Squares
Example 2. Photo coordinates, which have been measured using a digitizer,
must be transformed into the camera’s fiducial coordinate system. The four
fiducial points and the additional points were measured in the digitizer’s xy
coordinate system and are listed in table together with the known camera XY
fiducial coordinates.

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Application of Least Squares
Solution:
By applying Least Squares Matrix Equation and using the fiducial 1,
3, 5, and 7 we will have the following element for Matrices:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐴𝑇 𝐿 and corresponding
formulae the results are the following:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐴𝑇 𝐿 and corresponding
formulae the results are the following:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐴𝑇 𝐿 and corresponding
formulae the results are the following:

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3-D Conformal Transformation
Lecture 6.3

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3-D Conformal Transformation
The three-dimensional conformal coordinate transformation is also known as
the seven-parameter similarity transformation. It transfers points from one
three-dimensional coordinate system to another.
The three-dimensional conformal coordinate transformation involves seven
parameters:
othree rotations,
othree translations, and
oone scale factor.
The rotation matrix is developed from three consecutive two dimensional rotations
about the x, y, and z axes, respectively.

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Rotation Matrix

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Rotation Matrix

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Rotation Matrix

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Rotation Matrix

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Rotation Matrix

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3-D Conformal Transformation
Since the rotation matrix is
orthogonal, it has the property
that its inverse is equal to its
transpose. Using this property
and multiplying the terms of the
matrix X by a scale factor, S, and
adding translations factors Tx, Ty,
and Tz to translate to a common
origin yields the following
mathematical model for the
transformation:

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3-D Conformal Transformation
Previous equations involve seven unknowns (𝑆, 𝜃1 , 𝜃2 , 𝜃3 , 𝑇𝑥 , 𝑇𝑦 , 𝑇𝑧 ). For a unique
solution, seven equations must be written. This requires a minimum of two control
stations with known XY coordinates and also xy coordinates, plus three stations
with known Z and z coordinates. If there are more than the minimum number of
control points, a least-squares solution can be used.
The equations are nonlinear in their unknowns and thus must be linearized for a
solution. The following linearized equations can be written for each point as

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3-D Conformal Transformation

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3-D Conformal Transformation

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Application of Least Squares
Example . The three-dimensional xyz coordinates were measured for six points.
Four of these points (1, 2, 3, and 4) were control points whose coordinates were
also known in the XYZ control system. The data are shown in Table. Compute the
parameters of a three-dimensional conformal coordinate transformation and use
them to transform points 5 and 6 in the XYZ system.

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Application of Least Squares
Solution:
By applying Least Squares Matrix Equation and using the known
points 1, 2, 3, and 4 we will have the following element for Matrices:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐽𝑇 𝐾 and corresponding
formulae the results are the following:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐽𝑇 𝐾 and corresponding
formulae the results are the following:

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Application of Least Squares
Solution:
Upon solving using least squares 𝑋 = 𝑁 −1 𝐽𝑇 𝐾 and corresponding
formulae the results are the following:

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References
1. Ghilani, C. and Wolf, P. Adjustment Computation, 4th Edition 2006

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THANK YOU

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