The formula of image point coordinate transformation in analytic photogrammetry

Let the image space coordinates of an image point be X, у, -f, its auxiliary space coordinates be X, Y, Z, and the projection center S be the origin of these two coordinate systems. The coordinate transformation relationship (expressed in matrix form) is as follows:

Where f is the main distance of the camera; R is a rotation matrix, which consists of cosine of the included angle between the corresponding coordinate axes of the two coordinate systems. They are all functions of the three corner elements of the photo in the spatial coordinate system (Figure 1).