source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/image3dstiching/useful/convert_quaternion_to_R9.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.
% *
% */
function [R] = convert_quaternion_to_R9(q)
        for n=1:size(q,1)
                w = q(n,1);
                x = q(n,2);
                y = q(n,3);
                z = q(n,4);
                R(n,:) = [      w^2 + x^2 - y^2 - z^2,       2*x*y - 2*w*z,           2*x*z + 2*w*y,...
                        2*x*y + 2*w*z,               w^2 - x^2 + y^2 - z^2,   2*y*z - 2*w*x,...
                        2*x*z - 2*w*y,               2*y*z + 2*w*x,           w^2 - x^2 - y^2 + z^2 ];
        end
return;