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 [X] = Polar2Cartesian(defaultPara, Long, Lat, Alt, FlagConv) |
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40 | |
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41 | % This function convert the Geographic coordinate system in polar coordinate to |
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42 | % Cartesian coordinate system which set z in the north south pole and |
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43 | % x pointing out from Africa see: http://en.wikipedia.org/wiki/Latitude_and_Longitude |
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44 | % for more information |
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45 | % implement using equation in |
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46 | % http://www.colorado.edu/geography/gcraft/notes/datum/gif/llhxyz.gif |
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47 | % |
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48 | % Input: |
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49 | % defaultPara - ellip_equatorial_radius, defaultPara.ellip_polar_radius. |
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50 | % Long - Longitude in Decimal Degree (can be column vector) |
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51 | % Lat - Latitude in Decimal Degree |
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52 | % Alt - Altitude in Decimal Degree (above means see level) |
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53 | % |
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54 | % Return: |
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55 | % X - (x y z ) in Cartesian coordinate |
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56 | |
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57 | if nargin <5 |
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58 | FlagConv = false; |
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59 | end |
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60 | % convert degree to Radian |
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61 | if FlagConv |
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62 | Long = Long/180*pi; |
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63 | Lat = Lat/180*pi; |
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64 | end |
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65 | |
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66 | % calculate intermediant parameter |
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67 | f_geo = (defaultPara.ellip_equatorial_radius - defaultPara.ellip_polar_radius)... |
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68 | /defaultPara.ellip_equatorial_radius; % flattening |
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69 | tempf = (defaultPara.ellip_equatorial_radius^2 - defaultPara.ellip_polar_radius^2)... |
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70 | /(defaultPara.ellip_equatorial_radius)^2; |
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71 | Eccen_sqr = 2*f_geo-f_geo^2; % eccentricity_squares |
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72 | tt = sqrt(1 - Eccen_sqr*(sin(Lat)^2) ); |
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73 | NewN = defaultPara.ellip_equatorial_radius/sqrt( 1-(tempf*sin(Lat))^2); |
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74 | N = defaultPara.ellip_equatorial_radius/tt;% radius of curvature in prime vertical |
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75 | |
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76 | % main port of Cartesian2Polar |
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77 | % x = (N+Alt).*cos(Lat).*cos(Long); |
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78 | % y = (N+Alt).*cos(Lat).*sin(Long); |
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79 | % z = ((N)*(1-Eccen_sqr)+Alt).*sin(Lat);%z = ((N)*(1)+Alt).*sin(Lat); |
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80 | x = (NewN+Alt).*cos(Lat).*cos(Long); |
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81 | y = (NewN+Alt).*cos(Lat).*sin(Long); |
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82 | z = ((NewN)*(1-tempf)+Alt).*sin(Lat); |
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83 | |
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84 | |
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85 | X = [x; y; z]; |
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86 | return; |
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