Image Georeferencing

Geo-reference (CTRL+F>Geo Ref Images) function on Mission Planner needs to be modified to project the photos on the ground correctly.

Right now it rotates and sets the photo at the right spot on the KMZ file. But the projection is not calculated, the photo is just centered on the spot with the size entered by the user.

We need to calculate the projection of the photo on the ground using photogrammetric theory. We already have the 6 external orientation parameters at hand ( 3 coordinates, 3 attitude) and the internal parameters of the camera can be typed or selected by the user (as is implemented on Planning>Right Click>Map Tool>camera), all that is missing is some math.

So if you know your photogrammetric formulas please share! I will look up but if someone has the experience that would be handy. To state clearly what is needed:

Input:
- 3 Coordinates for the camera position (lat,lon,alt)
- 3 angles for the orientation of the camera (pitch,roll,yaw)
- Camera sensor size
- Camera focal length

Required output
- 4 coordinates for the corners of the projected picture

With the coordinates when can use this specification of KML to add the photos: [nonrectangular quadrilateral ground overlays](https://developers.google.com/kml/documentation/kmlreference#gxlatlonquad)

I also started a discussing on [drones-discuss](https://groups.google.com/forum/?fromgroups=#!topic/drones-discuss/dyNoG7VNVpY) about this topic.

Start at Mission Planner's CTRL+F > Geo Ref Images function and compare its current KMZ placement with Planning > Right Click > Map Tool > camera inputs. Review the linked gx:LatLonQuad KML specification and the stated camera position, orientation, sensor, and focal-length inputs. Done means producing four ground-corner coordinates and using them for the nonrectangular quadrilateral overlay.

Written by the indexing model from the issue text.