[37] | 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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