# ECE 564 Computer Vision Assignment 5

Submit HTML documentation and MATLAB code on Isidore.

- Use the images taken in class 18 Feb 2019 to generate figures
similar to those for Room KL351G.
Compare explictly the results from extrinsics to our measurements. For example, where is the camera in the room?
What are the dimensions of the room?
- Use the images taken in class 6 February 2019, particularly the first six images.
Find the distance of the camera from the floor for each of the floor images using the corner locations provided by the
instructor as an attachment to the last assignment. Generate the
extrinsics by
[R, T] = extrinsics(imagePoints, worldPoints, cameraParams);

(using the MATLAB Computer Vision toolbox).
- For these same images, find the associated vanishing points. The line connecting the vanishing points from both images in
the same plane is the horizon line for that plane.
- Use
`fitgeotrans`

and
`imwarp`

to generate an ortho view of one of the checkerboard images.
You may crop the results to show just the region of the target board. You can use
`pat2s.jpg`

to obtain reference points, or you can use the imagePoints/worldPoints.
- Use the results of the previous problem to find the projective transform.
Then read Hartley and Zisserman, Section 4.1, and write a MATLAB
function for the direct linear transformation (DLT) algorithm. The
result should match the matrix generated by
`fitgeotrans`

or
`cp2tform`

within a multiplicative factor.
- Study the Bouguet code
`visualize_distortions`

and `apply_distortion`

and
document the analysis performed. Modify the scripts so they may be used with MATLAB vision toolbox distortion
parameters. Show how a large square in the center of the image would be distorted. Muliply the distortion by
10 or more so that the form of distortion, barrel or pincushion is evident. Write a script to plot radial
distortion vs. radius. How would you calculate the distortion in percent?

#### Reference

Richard Hartley and Andrew Zisserman,
*Multiple View Geometry in Computer Vision*,
Cambridge, 2000. ISBN 0-521-54051-8.

Maintained by John Loomis,
last updated *26 February 2019 *