2. (20 points) Vanishing points: Consider two images of a scene obtained by two calibrated cameras differing in orien- tation and position. Suppose both cameras have the same intrinsic parameters and hence the same known calibration matrix K and the two views are related by an unknown rotation matrix R. Let v and v' be the two given vanishing points in the two cameras of the same scene line. Derive an expression relating the vanishing point in each camera to its calibration matrix K and the direction of the line d and d' respectively. Then, find the relation between these two directions d and d'. 2. (20 points) Vanishing points: Consider two images of a scene obtained by two calibrated cameras differing in orien- tation and position. Suppose both cameras have the same intrinsic parameters and hence the same known calibration matrix K and the two views are related by an unknown rotation matrix R. Let v and v' be the two given vanishing points in the two cameras of the same scene line. Derive an expression relating the vanishing point in each camera to its calibration matrix K and the direction of the line d and d' respectively. Then, find the relation between these two directions d and d