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I thought you might be interested in looking at Расчёт дистанции до объекта.
http://www.compvision.ru/forum/index.php?/topic/2338-%D1%80%D0%B0%D1%81%D1%87%D1%91%D1%82-%D0%B4%D0%B8%D1%81%D1%82%D0%B0%D0%BD%D1%86%D0%B8%D0%B8-%D0%B4%D0%BE-%D0%BE%D0%B1%D1%8A%D0%B5%D0%BA%D1%82%D0%B0/
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