The currently devised solution
A global Delaunay triangulation, constrained to contain the detected straight edges, is performed. The distance from the finger to the surface is computed along the straight line, determined by the last two sampled positions of the finger itself.
The hypothesis of having depth
labels on all points of a Cartesian grid would allow to interpolate only
locally, but this would require an intermediate interpolation; this would
be both unreliable and time-consuming.
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