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you have to move center of your image which is not georeferenced to the exact location, this is the movement problem and your question about pixels and cm, think about a resolution (100,100) with 2 different pixel sizes 1 - 1*1 cm2 2 - 1000*1000 cm2 do you think calculation in pixels is correct now?1 point
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I don't have any documents, unfortunately. convert your image into an array. find the x y of the center of the image for example (10 cm, 12 cm) convert them to degrees dx = Long - Xdeg dy = Lat - Ydeg A = move all the cells with this dx and dy B = rotate A (flight azimuth) C = scale B based on flight height and .. (i'm not sure about dz)1 point
