# ECE 564 Computer Vision Assignment 7

Submit HTML documentation on Isidore.

- Use CV2019-03-20.zip images 4 – 6, showing the target board on floor, right-wall, and left-wall.
Find the extrinsics for these images. For each image calculate the location of the camera from the two
walls and floor. Compare the results.
- Given a triangle represented by three principal vanishing points, write a MATLAB code to determine
the orthocenter and distances
*d*_{1} and *d*_{2} for each vertex. Check
that the focal length formula gives the same result for each case.

- Write a MATLAB function to determine the Euler line of a triangle. Demonstrate that
the three centers do in fact lie on the Euler line (see references)
- Using CV2019-03-20.zip images 4 – 12, find the three principal horizon lines and construct
an “ortho triangle” to determine the orthocenter
(principal point) and focal length of the camera. Compare to the MATLAB camera calibration you
performed in an earlier assignment.
Construct a diagram similar to the example below.

- Using CV2019-03-20.zip images 20 &ndash 23, generate a tform for image 20. Use that tform and
`imwarp`

to generate views for all four images. Use MATLAB or manual effort to overlay the
resulting images. For example, you may make hard-copy prints of the transformed
views, cut out appropriate parts and overlay the images to show an overview of that part of the hallway.
- Construct a map of that portion of the hallway.
Determine the distance between the left-wall (seen in images 20 and 21) and the right-wall
(seen in image 23)

#### References

Orthocenter of a triangle (Wikipedia)

Orthocenter (with animation)
(Math Open Reference)

Euler line (Wikipedia)

Euler line (Math Open Reference)

Maintained by John Loomis,
last updated *21 March 2019 *