source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/image3dstiching/useful/Polar2Cartesian.m

Last change on this file was 37, checked in by (none), 14 years ago

Added original make3d

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1% *  This code was used in the following articles:
2% *  [1] Learning 3-D Scene Structure from a Single Still Image,
3% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng,
4% *      In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
5% *      (best paper)
6% *  [2] 3-D Reconstruction from Sparse Views using Monocular Vision,
7% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng,
8% *      In ICCV workshop on Virtual Representations and Modeling
9% *      of Large-scale environments (VRML), 2007.
10% *  [3] 3-D Depth Reconstruction from a Single Still Image,
11% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
12% *      International Journal of Computer Vision (IJCV), Aug 2007.
13% *  [6] Learning Depth from Single Monocular Images,
14% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng.
15% *      In Neural Information Processing Systems (NIPS) 18, 2005.
16% *
17% *  These articles are available at:
18% *  http://make3d.stanford.edu/publications
19% *
20% *  We request that you cite the papers [1], [3] and [6] in any of
21% *  your reports that uses this code.
22% *  Further, if you use the code in image3dstiching/ (multiple image version),
23% *  then please cite [2].
24% * 
25% *  If you use the code in third_party/, then PLEASE CITE and follow the
26% *  LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
27% *
28% *  Finally, this code is for non-commercial use only.  For further
29% *  information and to obtain a copy of the license, see
30% *
31% *  http://make3d.stanford.edu/publications/code
32% *
33% *  Also, the software distributed under the License is distributed on an
34% * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
35% *  express or implied.   See the License for the specific language governing
36% *  permissions and limitations under the License.
37% *
38% */
39function [X] = Polar2Cartesian(defaultPara, Long, Lat, Alt, FlagConv)
40
41% This function convert the Geographic coordinate system in polar coordinate to
42% Cartesian coordinate system which set z in the north south pole and
43% x pointing out from Africa see: http://en.wikipedia.org/wiki/Latitude_and_Longitude
44% for more information
45% implement using equation in
46% http://www.colorado.edu/geography/gcraft/notes/datum/gif/llhxyz.gif
47%
48% Input:
49%       defaultPara - ellip_equatorial_radius, defaultPara.ellip_polar_radius.
50%       Long - Longitude in Decimal Degree (can be column vector)
51%       Lat - Latitude in Decimal Degree
52%       Alt - Altitude in Decimal Degree (above means see level)
53%
54% Return:
55%       X - (x y z ) in Cartesian coordinate
56
57if nargin <5
58    FlagConv = false;
59end
60% convert degree to Radian
61if FlagConv
62    Long = Long/180*pi;
63    Lat = Lat/180*pi;
64end   
65
66% calculate intermediant parameter
67f_geo = (defaultPara.ellip_equatorial_radius - defaultPara.ellip_polar_radius)...
68            /defaultPara.ellip_equatorial_radius; % flattening
69tempf = (defaultPara.ellip_equatorial_radius^2 - defaultPara.ellip_polar_radius^2)...
70            /(defaultPara.ellip_equatorial_radius)^2;
71Eccen_sqr = 2*f_geo-f_geo^2; % eccentricity_squares
72tt = sqrt(1 - Eccen_sqr*(sin(Lat)^2) );
73NewN = defaultPara.ellip_equatorial_radius/sqrt( 1-(tempf*sin(Lat))^2);
74N = defaultPara.ellip_equatorial_radius/tt;% radius of curvature in prime vertical
75
76% main port of Cartesian2Polar
77% x = (N+Alt).*cos(Lat).*cos(Long);
78% y = (N+Alt).*cos(Lat).*sin(Long);
79% z = ((N)*(1-Eccen_sqr)+Alt).*sin(Lat);%z = ((N)*(1)+Alt).*sin(Lat);
80x = (NewN+Alt).*cos(Lat).*cos(Long);
81y = (NewN+Alt).*cos(Lat).*sin(Long);
82z = ((NewN)*(1-tempf)+Alt).*sin(Lat);
83
84
85X = [x; y; z];
86return;
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