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
表达式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
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表达式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
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表达式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
表达式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
隐藏 标签 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
标签
equals=
left parenthesis, negative 0.5 , negative 0.4 2 4 6 7 0 8 9 , right parenthesis−0.5,−0.42467089
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表达式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
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表达式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
隐藏 标签 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
标签
equals=
left parenthesis, 0.5 , 0.3 6 1 2 8 9 9 9 , right parenthesis0.5,0.36128999
