NGEN06 GIS ALGORITHMS

EMPIRICAL TRANSFORMATIONS

GIANNI GORGOGLIONE

EMPIRICAL TRANSFORMATIONS IN THE

EUCLIDEAN PLANE
Preparation
1. Equation for affine transformation in the plane:
X=Xo+x*mx*cos - y*my*sin(+)
=o+x*mx*sin + y*my*cos(+)
Where Xo, Yo, mx, my, , are the 6 parameters of the transformation and X, Y, x, y are the
co-ordinates of points in the two co-ordinate systems.
2. We can rewrite the above equations of the affine transformation as follows:
X= a+a1*x + 2*y
Y=bo+b1*x+b2*y
where: a=Xo, a1= mx*cos,
bo=Yo, b1= mx*sin,

2= - my*sin(+)
b2= my*cos(+)

The 6 parameters of the transformation are estimated using common points. If for example
we have 3 common points in both systems (the minimum number of control points needed),
then we can have a linear system of 6 equations, using the values X,Y and x,y of our 3
common points. The equation system would be as following:
X1= a+a1*x1+ 2*y1
X2= a+a1*x2+ 2*y2
X3= a+a1*x3+ 2*y3
Y1=bo+b1*x1+b2*y1
Y2=bo+b1*x2+b2*y2
Y3=bo+b1*x3+b2*y3
The transformation parameters Xo, Yo, mx, my, , are computed from the parameters a, a1,
2, bo, b1, b2 using the following relationships:
Xo= a

Yo= bo

NGEN06 GIS ALGORITHMS

EMPIRICAL TRANSFORMATIONS
= arctan (b1/ a1)

= arctan(-2/ b2) - arctan(b1/ a1)

mx=SQRT(a12+b12)

my=SQRT((a22+b22)

GIANNI GORGOGLIONE

Task
The matlab files with the finction and the code are included in the .zip file

Affine function
function [Xo,Yo,alpha,beta,mx,my] = affine1(points);
%function affine1 that computes the 6 unknown parameters of affine
%transformation
% Detailed explanation goes here
points = load('gcp.txt');
X= points(:,2);
Y= points(:,3);

% Here we create a matrix with elements 1

[numberofpoints,y] = size(points)
for i=[1:numberofpoints]
vect1(i,1)= 1;
end

% Here we join the "1" elements and the x,y co-ordinates in one matrix.
xy= cat(2,vect1, points(:,4:5));

NGEN06 GIS ALGORITHMS

EMPIRICAL TRANSFORMATIONS

GIANNI GORGOGLIONE

% Here we compute the six parameters of the transformation.

a=xy\X;
b=xy\Y;
Xo = a(1,1)
Yo = b(1,1)
alpha = atan(b(2,1)/a(2,1))
beta = atan (-a(3,1)/b(3,1)) - atan(b(2,1)/a(2,1))
mx = sqrt(a(2,1)^2+b(2,1)^2)
my = sqrt(a(3,1)^2+b(3,1)^2)

end

Affine transformation
Description: This programmes calls a function which computes the affine transformation
% parameters for given matrices with coordinates of points in two co-ordinate systems.
% Next it computes the RMS value of the transformation and prints the RMS value.
% Finally plots the values of the control points, both for the original coordinates
% and the transformed co-ordintates, so that there is a visual evaluation of the transformation.
%
% clear
% format short

%This part is to load the poin matrix with co-ordinates of the common points in
%the two co-ordinate systems and to call the function that computes the
%affine transformation parameters Xo,Yo, alpha, beta, mx, my

NGEN06 GIS ALGORITHMS

EMPIRICAL TRANSFORMATIONS

GIANNI GORGOGLIONE

points = load('gcp.txt');
affine1(points)
[Xo,Yo,alpha,beta,mx,my] = affine1(points)

%This part is to calculate the co-orfinates of the control points using the
%affine transformation parameters.

Xaf=Xo+mx*cos(alpha)*points(:,4)-my*sin(alpha+beta)*points(:,5)
Yaf=Yo+mx*sin(alpha)*points(:,4)+my*cos(alpha+beta)*points(:,5)

%% This part is to compute the RMS value of the transformation

RMS_sum=0
[numberofpoints,y] = size(points)

for i=[1:numberofpoints]
Sx=points(i,2)-Xaf(i,1);
Sy=points(i,3)-Yaf(i,1);
RMS_sum=RMS_sum+((Sx)^2+(Sy)^2);
end

RMS=sqrt(RMS_sum\8)

%%This part is to plot the original values as well the trandformed values

NGEN06 GIS ALGORITHMS

EMPIRICAL TRANSFORMATIONS
%%of the control points.

plot(points(:,2),points(:,3),'or'); hold on
plot(Xaf(:,1),Yaf(:,1),'ob');

GIANNI GORGOGLIONE