anyone willing to share the implementation of vanishing point algorithm using opencv [closed]

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Hello guys, I am working on a quad-rotor ARDRONE for its autonomous navigation.I was able to control it successfully using ROS. But I learned that for its autonomous navigation in hallway or a corridor it needs the vanishing point algorithm.I am planning to implement it using OPENCV.I have already implemented the houghlines using opencv.Any one willing to share their work on this ,please let me know.

thank you karthik