ViSP  2.9.0
vpMeterPixelConversion.cpp
1 /****************************************************************************
2  *
3  * $Id: vpMeterPixelConversion.cpp 4574 2014-01-09 08:48:51Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Meter to pixel conversion.
36  *
37  * Authors:
38  * Eric Marchand
39  * Anthony Saunier
40  *
41  *****************************************************************************/
42 
48 #include <visp/vpMeterPixelConversion.h>
49 #include <visp/vpCameraParameters.h>
50 #include <visp/vpException.h>
51 #include <visp/vpMath.h>
52 #include <visp/vpDebug.h>
53 
55 void
57  const double &rho_m, const double &theta_m,
58  double &rho_p, double &theta_p)
59 {
60  double co = cos(theta_m) ;
61  double si = sin(theta_m) ;
62  double d = sqrt(vpMath::sqr(cam.py*co) + vpMath::sqr(cam.px*si)) ;
63 
64  if (fabs(d)<1e-6)
65  {
66  vpERROR_TRACE("division by zero") ;
68  "division by zero")) ;
69  }
70 
71  theta_p = atan2(cam.px*si, cam.py*co) ;
72  rho_p = (cam.px*cam.py*rho_m + cam.u0*cam.py*co + cam.v0*cam.px*si) ;
73  rho_p /= d ;
74 
75 
76 }
77 
78 
79 /*
80  * Local variables:
81  * c-basic-offset: 2
82  * End:
83  */
84 
#define vpERROR_TRACE
Definition: vpDebug.h:395
error that can be emited by ViSP classes.
Definition: vpException.h:76
static double sqr(double x)
Definition: vpMath.h:106
Generic class defining intrinsic camera parameters.
static void convertLine(const vpCameraParameters &cam, const double &rho_m, const double &theta_m, double &rho_p, double &theta_p)
line coordinates conversion (rho,theta)