(A) 读入图片，根据现实世界中平行线在图像中交于消失点的基本原理，在图像Kyoto Street 中上选取三组具有正交关系的平行线，对三组平行线进行延长，最终获得三个正交方向上的消失点连接水平上的消失点得到水平方向消失线，计算水平方向消失线
(B)依据三个正交消失点进行矫正，计算相机内参。像素坐标与相机坐标存在如下关系其中 f 为焦距， u v 为光学中心.旋转矩阵R ，内参矩阵K 皆可逆，则由式可推导出
(C)三个消失点 将消失点坐标 和(6)式代入(1)式可以求解旋转矩阵R 。旋转矩阵R 的每行每列都应该是单位长度且
(D)确定图像 High Building 中的消失线，并分别确定参考物路牌和带测量建筑的最高点和最低点像素坐标。
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