Based on the description of fitting warped blade surface with ruled surface, the locus of cathode is induced by rigid body transfer in this paper.
在阐述用直纹面拟合扭曲型面的基础上，用刚体变换的方法推算出阴极的控制轨迹。
The focal length of camera is estimated efficiently by using the algorithm of equidistant matching, images are warped to the surface of sphere whose radius equals to the focal length of camera.
使用等距离匹配算法计算相机的焦距，以相机焦距作为球体半径，将照片图像投影至球面上。
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