Dear Darshana Mistry,

Look the links, may be useful.

http://stackoverflow.com/questions/5100173/procrustes-analysis-finding-the-angle-between-two-images-represented-by-two-se

https://courses.cs.washington.edu/courses/cse576/book/ch11.pdf

Regards, Shafagat

Hello Shafagat,

Thank you for sharing this document. 

In my Proposed method, homography transformation parameters matrix are found based on feature matching points which are found using SIFT/SURF/ORB method.

H = |   a     b      p |

      |   c     d      q |

      |   m    n      s |

where a, b, c and d elements are for scaling, rotation, reflection and shearing. m and n elements for translation. s for scaling. p and q are projection elements.

http://idav.ucdavis.edu/~hkim/mvs/dataset/ - from this link, Building1 dataset, 

For 00000000.jpg(reference image) and  00000001.jpg , Projection calculating matrix  from my proposed method as

1.1777  -0.003198  -57.0282

0.0250  1.14970  -103.581

0.00000578   -0.0000011   1

Note:- For features are found and matching based on SURF

From Dataset has given intrinsic and extrinsic parameters of data. 

Intrinsic Camera K matrix values are: "k11 k12 k13 k21 k22 k23 k31 k32 k33 focal-length radial-distortion1, radial-distortion2. Extrinsic [R t] matrix are as: r11 r12 r13 r21 r22 r23 r31 r32 r33 t1 t2 t3". 

If Z is not present then  r31, r32 and r33 are zero.

Homography geometry is used when t1 t2 and t3 are zero, otherwise that geometry is consider as epipolar geometry.

 The projection matrix for that image is K*[R t]. The rotation and translation is based on the right-handed coordinate system. We are consider homography geometry. So, projection matrix H=KR(K)-1(it is based on different survey papers).

For 00000000.jpg(reference image) and  00000001.jpg of Building1 dataset, calculated projection matrix as

1.03893 -0.04542 -818.50793

0.14471 0.99796 -144.37276

0.00029 -0.00000 0.72855

Both transformation parameters are approximately same except p and q projection parameters.

Do you have any idea why this is happen? Can you please give remarks on based on changed of focal length,what is effect on homography transformation parameters?

So, I want to find that how rotation translation parameters are found from latitude or longitude angles of two images.

Thank you, 

Hello Arpana,

Thank you for giving answer.

Actually I want to find relation between homography transformation matrix and projection matrix(which is found based on camera's intrinsic and extrinsic parameters)? For this camera's extrinsic parameters, I have latitude and longitude value and I have to find extrinsic parameters matrix(3x3).

Regards,

Dr Darshana Mistry Hello, I am wondering if you ever found a method for calculating a cameras extrinsic parameters solely based on latitude and longitude of the camera?