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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% function phip = pixelAzimuthAngle(thetac, phic, fc, up, vp)
% Converts pixel coordinates to azimuth angles.
%
% Input parameters:
% - thetac: camera zenith angle (in radians)
% - phic: camera azimuth angle (in radians)
% - fc: camera focal length
% - up: x-coordinates of pixels in image
% - vp: y-coordinates of pixels in image
%
% Output parameters:
% - phip: pixel azimuth angle
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function phip = pixelAzimuthAngle(thetac, phic, fc, up, vp)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Copyright 2006-2009 Jean-Francois Lalonde
% Carnegie Mellon University
% Do not distribute
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
phip = atan2((sin(phic).*sin(thetac).*fc-cos(phic).*up-sin(phic).*cos(thetac).*vp),(cos(phic).*sin(thetac).*fc+sin(phic).*up-cos(phic).*cos(thetac).*vp));
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