Find closest and farthest pixel from camera

Computing multiple depth points between the closest and the farthest pixel. Following equations are the line from the camera to the pixel then it inverse

Expression 38: "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" , "c" , "p" , right parenthesis equals "c" plus "t" times left parenthesis, "p" minus "c" , right parenthesis

Expression 39: "f" Subscript, "i" "n" "v" "C" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "f" , "c" , "p" , right parenthesis equals StartFraction, left parenthesis, "f" minus "c" , right parenthesis Over left parenthesis, "p" minus "c" , right parenthesis , EndFraction

Expression 40: "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "X" , Baseline equals "f" Subscript, "i" "n" "v" "C" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "P" Subscript, "c" "l" "o" "s" "e" "s" "t" , Baseline . "x" , "C" . "x" , "P" . "x" , right parenthesis

equals

0.2 0 2 5 3 1 6 4 5 5 7

Expression 41: "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "Y" , Baseline equals "f" Subscript, "i" "n" "v" "C" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "P" Subscript, "c" "l" "o" "s" "e" "s" "t" , Baseline . "y" , "C" . "y" , "P" . "y" , right parenthesis

equals

0.2 0 2 5 3 1 6 4 5 5 7

Hidden Label: left parenthesis, "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "X" , Baseline , "C" . "x" , "P" . "x" , right parenthesis , "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "Y" , Baseline , "C" . "y" , "P" . "y" , right parenthesis , right parenthesis

Label

equals

left parenthesis, negative 0.5 , negative 0.4 2 4 6 7 0 8 9 , right parenthesis

Expression 43: "t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "X" , Baseline equals "f" Subscript, "i" "n" "v" "C" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "P" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" , Baseline . "y" , "C" . "y" , "P" . "y" , right parenthesis

equals

1.3 5 3 2 7 9 6 3 1 7 6

Expression 44: "t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "Y" , Baseline equals "f" Subscript, "i" "n" "v" "C" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "P" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" , Baseline . "x" , "C" . "x" , "P" . "x" , right parenthesis

equals

1.3 5 3 2 7 9 6 3 1 7 6

Hidden Label: left parenthesis, "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "X" , Baseline , "C" . "x" , "P" . "x" , right parenthesis , "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "Y" , Baseline , "C" . "y" , "P" . "y" , right parenthesis , right parenthesis

Label

equals

left parenthesis, 0.5 , 0.3 6 1 2 8 9 9 9 , right parenthesis

Expression 46: "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "T" "o" "F" "a" "r" "t" "h" "e" "s" "t" , Baseline equals 1.3 5 2 5 3 1 6 4 5 5 6 9 6 2 0 4

"t" Subscript, "c" "l" "o" "s" "e" "s" "t" "X" , Baseline

"t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "X" , Baseline

Expression 47: "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" , "C" , "P" , right parenthesis

domain t Minimum: "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "X" , Baseline

less than or equal to "t" less than or equal to

domain t Maximum: "t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "X" , Baseline

Expression 48:

Expression 49:

Camera

Pixel

left

bottom

top

right

closest pixel

farthest pixel