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
37
Biểu thức 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 parenthesisfcameraToPixelt,c,p=c+t·p−c
38
Biểu thức 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 , EndFractionfinvCameraToPixelf,c,p=f−cp−c
39
Biểu thức 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 parenthesistclosestX=finvCameraToPixelPclosest.x,C.x,P.x
equals=
0.2 0 2 5 3 1 6 4 5 5 70.20253164557
40
Biểu thức 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 parenthesistclosestY=finvCameraToPixelPclosest.y,C.y,P.y
equals=
0.2 0 2 5 3 1 6 4 5 5 70.20253164557
41
Nhãn ẩn: 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 parenthesisfcameraToPixeltclosestX,C.x,P.x,fcameraToPixeltclosestY,C.y,P.y
Nhãn
equals=
left parenthesis, negative 0.5 , negative 0.4 2 4 6 7 0 8 9 , right parenthesis−0.5,−0.42467089
42
Biểu thức 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 parenthesistfarthestX=finvCameraToPixelPfarthest.y,C.y,P.y
equals=
1.3 5 3 2 7 9 6 3 1 7 61.35327963176
43
Biểu thức 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 parenthesistfarthestY=finvCameraToPixelPfarthest.x,C.x,P.x
equals=
1.3 5 3 2 7 9 6 3 1 7 61.35327963176
44
Nhãn ẩn: 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 parenthesisfcameraToPixeltfarthestX,C.x,P.x,fcameraToPixeltfarthestY,C.y,P.y
Nhãn
equals=
left parenthesis, 0.5 , 0.3 6 1 2 8 9 9 9 , right parenthesis0.5,0.36128999
"t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "X" , BaselinetfarthestX
46
Biểu thức 47: "f" Subscript, "c" "a" "m" "e" "r" "a" "T" "o" "P" "i" "x" "e" "l" , Baseline left parenthesis, "t" , "C" , "P" , right parenthesisfcameraToPixelt,C,P
miền t Cực tiểu: "t" Subscript, "c" "l" "o" "s" "e" "s" "t" "X" , BaselinetclosestX
less than or equal to "t" less than or equal to≤t≤
miền t Cực đại: "t" Subscript, "f" "a" "r" "t" "h" "e" "s" "t" "X" , BaselinetfarthestX
47
Biểu thức 48:
48
Biểu thức 49:
49
50
cung cấp bởi
cung cấp bởi
A
B
Camera
Pixel
left
bottom
top
right
closest pixel
farthest pixel
"x"x
"y"y
"a" squareda2
"a" Superscript, "b" , Baselineab
77
88
99
over÷
chức năng
((
))
less than<
greater than>
44
55
66
times×
| "a" ||a|
,,
less than or equal to≤
greater than or equal to≥
11
22
33
negative−
A B C
StartRoot, , EndRoot
piπ
00
..
equals=
positive+
hoặc
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