1 | % * This code was used in the following articles:
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2 | % * [1] Learning 3-D Scene Structure from a Single Still Image,
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3 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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4 | % * In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
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5 | % * (best paper)
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6 | % * [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
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7 | % * Ashutosh Saxena, Min Sun, Andrew Y. Ng,
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8 | % * In ICCV workshop on Virtual Representations and Modeling
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9 | % * of Large-scale environments (VRML), 2007.
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10 | % * [3] 3-D Depth Reconstruction from a Single Still Image,
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11 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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12 | % * International Journal of Computer Vision (IJCV), Aug 2007.
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13 | % * [6] Learning Depth from Single Monocular Images,
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14 | % * Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
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15 | % * In Neural Information Processing Systems (NIPS) 18, 2005.
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16 | % *
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17 | % * These articles are available at:
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18 | % * http://make3d.stanford.edu/publications
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19 | % *
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20 | % * We request that you cite the papers [1], [3] and [6] in any of
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21 | % * your reports that uses this code.
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22 | % * Further, if you use the code in image3dstiching/ (multiple image version),
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23 | % * then please cite [2].
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24 | % *
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25 | % * If you use the code in third_party/, then PLEASE CITE and follow the
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26 | % * LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
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27 | % *
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28 | % * Finally, this code is for non-commercial use only. For further
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29 | % * information and to obtain a copy of the license, see
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30 | % *
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31 | % * http://make3d.stanford.edu/publications/code
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32 | % *
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33 | % * Also, the software distributed under the License is distributed on an
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34 | % * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
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35 | % * express or implied. See the License for the specific language governing
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36 | % * permissions and limitations under the License.
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37 | % *
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38 | % */
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39 | function [ImgInfo]=ExtractGPSInfo(defaultPara,Fdir, ImgInfo) |
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40 | |
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41 | % This function extract the GPS information |
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42 | % ex: Longitude Latitude Altitude (Maybe more in future) |
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43 | % Then attach the Info on the ImgInfo if applicable |
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44 | |
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45 | % initialize file identifier |
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46 | temp = dir([Fdir '/info/*.ubx']); |
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47 | fid = fopen([Fdir '/info/' temp.name]); |
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48 | SumAltitude = 0; |
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49 | |
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50 | PriorTime = '0'; |
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51 | i = 1; |
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52 | % extract GPS info from .ubx file |
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53 | while i <= length(ImgInfo) |
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54 | GPSWorks = true; |
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55 | TargetTime = ImgInfo(i).ExifInfo.DateTime; |
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56 | Ptr = strfind(TargetTime,' ')+1; |
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57 | TargetTime = TargetTime(Ptr:end); |
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58 | TargetTime = strrep(TargetTime,':',''); |
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59 | % finding $GPGGA |
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60 | inline_tmp = []; |
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61 | while str2num(TargetTime) > str2num(PriorTime) |
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62 | nline = fgetl(fid); |
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63 | if nline==-1 |
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64 | disp('end of file'); |
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65 | break; |
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66 | end |
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67 | if strcmp( nline(1:6), '$GPGGA') |
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68 | inline_tmp = nline; |
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69 | PriorTime = nline(8:13); |
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70 | end |
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71 | end |
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72 | nline = inline_tmp; |
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73 | % locate |
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74 | Ptr = strfind(nline,','); |
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75 | % Latitude info in $GPGGA line |
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76 | ImgInfo(i).Geo.Latitude = str2num( (nline( (Ptr(2)+1): (Ptr(2)+2) ) ) ) + str2num( (nline( (Ptr(2)+3): (Ptr(3)-1) ) ) )/60; |
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77 | if isempty(ImgInfo(i).Geo.Latitude) |
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78 | disp('Latitude empty'); |
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79 | GPSWorks = false; |
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80 | end |
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81 | if strcmp( nline(Ptr(3)+1), 'S') |
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82 | ImgInfo(i).Geo.Latitude = - ImgInfo(i).Geo.Latitude; |
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83 | end |
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84 | |
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85 | % Longitude |
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86 | ImgInfo(i).Geo.Longitude = str2num(nline( (Ptr(4)+1):(Ptr(4)+3) ))+str2num(nline( (Ptr(4)+4):(Ptr(5)-1)))/60; |
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87 | if isempty(ImgInfo(i).Geo.Longitude) |
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88 | disp('Longtitude empty'); |
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89 | TargetTime |
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90 | PriorTime |
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91 | i |
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92 | ImgInfo(i).ExifInfo.name |
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93 | GPSWorks = false; |
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94 | end |
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95 | if strcmp( nline( Ptr(5)+1 ), 'W') |
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96 | ImgInfo(i).Geo.Longitude = - ImgInfo(i).Geo.Longitude; |
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97 | end |
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98 | |
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99 | % altitude in meters |
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100 | ImgInfo(i).Geo.altitude = str2num(nline( (Ptr(9)+1):(Ptr(10)-1) )); |
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101 | if isempty(ImgInfo(i).Geo.altitude) |
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102 | disp('altitude empty'); |
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103 | GPSWorks = false; |
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104 | end |
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105 | |
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106 | % % transform into X Y Z coordinate |
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107 | % [X] = Polar2Cartesian(defaultPara, ImgInfo(i).Geo.Longitude, ImgInfo(i).Geo.Latitude, ImgInfo(i).Geo.altitude, true); |
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108 | % ImgInfo(i).X_world = X; |
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109 | |
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110 | % move on on other image |
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111 | SumAltitude = SumAltitude + ImgInfo(i).Geo.altitude; |
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112 | i = i + 1; |
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113 | end |
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114 | SumAltitude = SumAltitude/length(ImgInfo); |
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115 | |
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116 | for i = 1:length(ImgInfo) |
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117 | % Force the same Altitude |
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118 | ImgInfo(i).Geo.altitude = SumAltitude; |
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119 | end |
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120 | |
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121 | return; |
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