Orientation parameters

 Hello everyone

I recently created an ortho using Pix4D. I am trying to write a program that projects an image point onto the orthophoto. Does anyone know exactly what equations I have to use. I know they should be collinearity equations, but I am not sure about the conventions (coordinate systems, orientation angles and the order they are used to form the orientaiton matrix)  pix4d uses.

 

Thanks

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