\documentclass{article}
\usepackage{ifthen}
\usepackage{epsfig}
\usepackage[utf8]{inputenc}
\usepackage{xcolor}
\color{white}
\pagecolor{black}
\usepackage{newunicodechar}
  \makeatletter
    \def\doxynewunicodechar#1#2{%
    \@tempswafalse
    \edef\nuc@tempa{\detokenize{#1}}%
    \if\relax\nuc@tempa\relax
      \nuc@emptyargerr
    \else
      \edef\@tempb{\expandafter\@car\nuc@tempa\@nil}%
      \nuc@check
      \if@tempswa
        \@namedef{u8:\nuc@tempa}{#2}%
      \fi
    \fi
  }
  \makeatother
  \doxynewunicodechar{⁻}{${}^{-}$}% Superscript minus
  \doxynewunicodechar{²}{${}^{2}$}% Superscript two
  \doxynewunicodechar{³}{${}^{3}$}% Superscript three

\pagestyle{empty}
\begin{document}
\[
\text{FoV}_x = 2 \cdot \tan^{-1}\left(\frac{\text{image width}}{2 \cdot f_x}\right)
\]
\pagebreak

\[
\text{FoV}_y = 2 \cdot \tan^{-1}\left(\frac{\text{image height}}{2 \cdot f_y}\right)
\]
\pagebreak

\[
    \text{depth} = \frac{\text{baseline} \times f_x}{\text{disparity} + (c_{x_{right}} - c_{x_{left}})}
\]
\pagebreak

\[
    \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth}} - (c_{x_{right}} - c_{x_{left}})
\]
\pagebreak

\[
    \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth (meters)}} - (c_{x_{right}} - c_{x_{left}})
\]
\pagebreak

\[ \text{depth} = \frac{\text{baseline} \times \text{focal length}}{\text{disparity}} \]
\pagebreak

\[ Z = \frac{baseline \times f}{disparity + (cx1 - cx0)} \]
\pagebreak

\end{document}