The three different coordinate systems used to perform the mapping can be seen in Figure 4 (a) below. The world coordinate system (x ,y , z ) of the 3D object is shown together with the colored orthogonal basis of the local camera coordinate system. The x, y and z-axis have the colors blue, red and black respectively. The third coordinate system is generated when the local camera coordinate system is moved to the center of the camera sensor. (x’ , y’ ) is the pixel value of the damage in the image while (cposx ,cposy , cposz ) is the position of the camera in world coordinates. The distance from the camera to the TP in the direction in which the camera is pointing is given by DCT . fk andfl is the focal length of the camera expressed in pixels along the horizontal and vertical direction of the camera sensor, these two parameters are the same for many cameras. cx and cymeasure the number of pixels from the upper left corner to the center of the camera sensor. The Pitch, Roll and Yaw of the drone (and camera) are abbreviated with the letters P , R and Y in equation (1). The yaw angle determines the direction in which the camera is pointing. This direction is given by the green ray in the Figure. The first matrix in equation (1) is the rotation matrix that transforms local camera coordinates into world coordinates. A more detailed explanation of equation (1) can be found in reference [12].