clearclose?all;
clc;
points?=?[245508117592238455335;410386321275230214161];
%%
%compute?the?rate?from?pixel?to?distances
P1?=?[points（11）?points（21）];
P2?=?[points（12）?points（22）];

Pixel_D?=?norm（P1?-?P2‘fro‘）;
Real_D?=?300*sqrt（2）;
global?rate;
rate?=?Real_D?/?Pixel_D;?%mm

%%
%get?the?vanishing?points
vanishPoint1_x?=?（points（11）*points（23）-points（21）*points（13））*（points（14）-points（17））?-?（points（14）*points（27）?-?points（17）*points（24））*（points（11）?-?points（13））;
tmp1?=?（（points（24）?-?points（27））*?（points（11）?-?points（13））?-?（points（21）?-?points（23））*（points（14）?-?points（17）））;
vanishPoint1_x?=?vanishPoint1_x?/?tmp1;

vanishPoint1_y?=?vanishPoint1_x?*?（points（24）?-?points（27））?+?points（14）*points（27）?-?points（17）*points（24）;
vanishPoint1_y?=?vanishPoint1_y?/?（points（14）?-?points（17））;

vanishPoint2_x?=?（points（17）*points（23）-points（27）*points（13））*（points（14）-points（12））?-?（points（14）*points（22）?-?points（12）*points（24））*（points（17）?-?points（13））;
tmp2?=?（（points（24）?-?points（22））*?（points（17）?-?points（13））?-?（points（27）?-?points（23））*（points（14）?-?points（12）））;
vanishPoint2_x?=?vanishPoint2_x?/?tmp2;

vanishPoint2_y?=?vanishPoint2_x?*?（points（24）?-?points（22））?+?points（14）*points（22）?-?points（12）*points（24）;
vanishPoint2_y?=?vanishPoint2_y?/?（points（14）?-?points（12））;

v_V1?=?[vanishPoint1_x?vanishPoint1_y];
v_V2?=?[vanishPoint2_x?vanishPoint2_y];

%%
%compute?the?focus?distance
point_P_x?=?352;
point_P_y?=?288;
v_P?=?[point_P_xpoint_P_y];
[v_real_P_xv_real_P_y]?=?pixel2space（point_P_xpoint_P_y）;


k?=?（vanishPoint2_y?-?vanishPoint1_y）?/?（vanishPoint2_x?-?vanishPoint1_x）;
Puv_x?=?（point_P_x?+??k?*?point_P_y?-?vanishPoint2_y?*?k）?/?（k^2?+1-vanishPoint2_x?*?k^2）;
Puv_y?=?vanishPoint2_y?-vanishPoint2_x?*?k?+?Puv_x?*?k;

v_Puv?=?[Puv_x?Puv_y];
[v_Real_Puv_xv_Real_Puv_y]?=?pixel2space（Puv_xPuv_y）;

v1toPuv?=?v_V1?-?v_Puv;
v2toPuv?=?v_V2?-?v_Puv;

Dv12Puv?=?norm（v1toPuv‘f