Hello, I know it may be a stupid, but I would like to find a function which could compute a pixel say, (x1, y1) in the moving image 's location in the static image, say (x2, y2). It seems to me that the (x1, y1) and (x2, y2) are related through the so-called transformation . Could you explain the detailed relationship among them and what exactly the direction of x, y and z in your code? (from left to right, up to down and top tp buttom?) Thanks