Calculating camera ray direction to 3d world pixel
问题 I'm want to calculate ray directions from camera to pixel positions (in world coords) with given height as described in this paper. Camera image size is 640,480. I calibrated the intrinsic camera parameters and undistort each image. I measured the physical distance between camera and background plane (29 cm) as sketched here: 1 cm translates to 25 pixel (assuming quadratic pixels). My first approach was to calculate based on pixel- and camera position as follows: float3 pixPos = (float3)(u, v