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Provided we know the following information:
: Distance between camera and laser
: At the camera: Angle between direction to laser and direction to laser point
: At the laser: Angle between direction to camera and direction to laser point

We want to know:
: The distance from the camera to the laser point

Camera, laser and laser point form a triangle with inner angles , and


We use the sine theorem which relates the length of triangle edges with their opposite angles:




Problem
When the laser point is far away, becomes close to . Thus, becomes close to 0 and the computation becomes unstable.