Triangulation Light Plane Ax+ By+Cz +D=o Object Laser Image point (x,y3) Camera Depth from ray-plane triangulation o Intersect camera ray with light plane X=X 2 D y=yzf Ax'+ By+cfCamera Triangulation ◼ Depth from ray-plane triangulation: ❑ Intersect camera ray with light plane Laser Object Light Plane Ax + By +Cz + D = 0 (x' , y') Image Point y y z f x x z f ' / ' / = = Ax By Cf Df z + + − = '