source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/LaserDataCollection/checking_sph_conversion.m @ 37

% *  This code was used in the following articles:
% *  [1] Learning 3-D Scene Structure from a Single Still Image, 
% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng, 
% *      In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
% *      (best paper)
% *  [2] 3-D Reconstruction from Sparse Views using Monocular Vision, 
% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng, 
% *      In ICCV workshop on Virtual Representations and Modeling 
% *      of Large-scale environments (VRML), 2007. 
% *  [3] 3-D Depth Reconstruction from a Single Still Image, 
% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. 
% *      International Journal of Computer Vision (IJCV), Aug 2007. 
% *  [6] Learning Depth from Single Monocular Images, 
% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. 
% *      In Neural Information Processing Systems (NIPS) 18, 2005.
% *
% *  These articles are available at:
% *  http://make3d.stanford.edu/publications
% * 
% *  We request that you cite the papers [1], [3] and [6] in any of
% *  your reports that uses this code. 
% *  Further, if you use the code in image3dstiching/ (multiple image version),
% *  then please cite [2].
% *  
% *  If you use the code in third_party/, then PLEASE CITE and follow the
% *  LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
% *
% *  Finally, this code is for non-commercial use only.  For further 
% *  information and to obtain a copy of the license, see 
% *
% *  http://make3d.stanford.edu/publications/code
% *
% *  Also, the software distributed under the License is distributed on an 
% * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either 
% *  express or implied.   See the License for the specific language governing 
% *  permissions and limitations under the License.
% *
% */
yFactor=180/2272;
xFactor=4;
ymax=(yFactor*2272)/2;
xmax=xFactor*20;

%% we know that theta = centerAngle and phi = 90degree shud correspond to xcenter and
%% ycenter of the image

ss=2/180;
for y=-1:ss:(1-ss)
    theta=acos(y);
    j=180-(round(theta*(180/pi)))
    for x=-1:ss:(1-ss)
        phi=acos(x/sin(theta));
        imAngle = -140.7+round(phi*(180/pi));
        [tmp i] = min( abs( logDepth(:,2) - imAngle) );
        i
%         theta = arcsin(sqrt(x^2+y^2)/r)*(180/pi); %% notice that the scaling 'r' depends on the image size
%         quantizedLogDepth(x,y) = logDepth(i,j);
    end
end