48 #include <visp/vpFeatureBuilder.h>
49 #include <visp/vpFeatureException.h>
50 #include <visp/vpException.h>
116 if(fabs(theta_r-theta_l)<min || fabs(fabs(theta_r-theta_l)-M_PI)<min \
117 || fabs(fabs(theta_r-theta_l)-2*M_PI)<min)
119 vpCERROR<<
"there is no vanishing point : the lines are parallel in the image plane"<<std::endl;
123 y = (rho_r *c_l - rho_l * c_r) / (-s_l * c_r + s_r * c_l );
124 x = (rho_r *s_l - rho_l * s_r) / (-c_l * s_r + c_r * s_l );