2. Assume the stereo geometry given in class with origin at (0,0,0), a baseline of b=2cm sep- arating the two lens centers, and a distance between each lens and corresponding image plane of f=0.5cm. Suppose the left and right image planes are each a 1cm x 1cm square with the origin of each local coordinate system at the center of the square. Assume that we are viewing a black plane with three bright white spots. The three spots are observed in the left image at coordinates (x;, y;) = {(0.0, 0.2), (-0.3, 0.2), (0.0, 0.1) } and in the right image at coordinates (x,, y,) = {(-0.1, 0.2), (0.1, 0.2), (0.2, 0.1) } a) Determine the image correspondences for the points. b) Determine the coordinates (x, y, z) of the three bright points in the scene. c) Determine the gradient space representation (p, q) for the plane in the scene