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• DOF（Depth of Focus，焦深）是光刻工艺中的关键参数，指在保持图像清晰度的前提下，晶圆表面允许偏离最佳焦平面的最大距离范围。 - 当晶圆表面位于DOF范围内时，光刻胶能够获得清晰的图案转移；超出这个范围则会导致图案模糊或分辨率下降。 连接雷鸟魔盒后，目前是 支持0 Dof， 投屏后的画面会跟随头部的移动而移动，时间久了会让我有点头晕，实际感受如下图所示。 二、如何选？ AR眼镜选购该看啥核心指标 1、DoF (自由度)--告别眩晕、边缘模糊的关键 前面反复跟大家提到了DoF，那DoF是什么呢？ 我们在现实世界中的运动可以抽象为围绕六个轴的移动：三个方向轴（上下、前后、左右移动）和三个旋转轴（头部的旋转）。
焦深（Depth of Focus）和景深（Depth of Field）的缩写都是 DoF，所以经常被搞错。 焦深指的是摄影系统内成像介质（以前是胶片，现在是 CMOS）与镜头位置所允许的误差，以前也被叫做 Lens to Film Tolerance，镜头到底片的容差。 焦深的计算公式为 t=2Ncv/f，t 为总焦深，N 为镜头光圈 f 值，c 为弥散圆，v 为像. 罚方法比较通用，我一般是用强制 节点位移 单元来实现，这个单元只含有一个节点，然后单刚主元就是被约束的自由度上是罚系数，未约束的自由度上是0，单元内力就是当前位移和目标位移之差乘以罚系数，未激活的自由度内力也是0。然后 支反力 就是内力。 用罚方法特别适合强制位移值在不同. ） 上面这个公式中，DOF是景深，N是光圈值，f是镜头焦距，H是物距，c是弥散圆直径。 重点来了，公式中的c，是和底片尺寸有关的。 因为这个公式是在胶片时代确定的，当时对景深和弥散圆的判定是有观测标准的，即将照片放大到5寸，从1.5米距离观看是否清晰。
位移边界条件的突变 the option *boundary,type=displacement has been used
Check status file between steps for warnings on any jumps prescribed across the steps in displacement values of translational dof For rotational dof make sure that there are no such jumps All jumps in displacements across steps are ignored Latent-Class Hough Forests for 6 DoF Object Pose Estimation 这两篇文章都使用了一种霍夫森林的方法，其思想是建立图像patch与SE3中的pose的对应关系，就是训练一个随机森林。 然后检测的时候从图像中提取patch，在SE3空间投票以推算最终的pose。
An internal solution magnitude limit was exceeded.(node number 9502,body jiaban,dof ux) please che… 手臂灵活吧，这里其实已经涉及到 自由度（DoF, Degree of Freedom） 的概念。 机器人的自由度（DoF, Degree of Freedom），表示机器人位形所需的最小实值坐标数。
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