4.2 task 2 (3.5 marks): process a low resolution sensor image with realistic features the first image was idealised for simplicity. the next image is more realistic and as such lens effects and other ambient disturbances including thermal gradient are present in the image. as such a more sophisticated algorithm of edge detection will be required. you are to use an algorithm that uses sobel edge detection (see appendix c) and implement it in the form of a matlab program that is capable of performing the following tasks: 1. (2 marks) find the centre of the circular feature in pixels. for this section, an edge threshold is required. initialise a threshold variable towards the top of your script and adjust to your own taste. a specific value will be provided by demonstrators when you are being marked. 2. (0.5 marks) calculate the radius of the feature in pixels. 3. (0.5 marks) calculate the area of the feature in pixels. 4. (0.5 marks) given that the distance from the camera to the surface is 1m and the camera sensor information from section 3, calculate the x-y coordinate of the centre in units of pixels, diagonal distance in meters relative to the top-left corner of the image (i. e.: pixel index 1,1), the radius of the feature in meters and the area of the feature in meters squared. the distance should be a variable declared in your matlab script and the camera specification are given in section 3.2. on demonstration day, a previously-unknown distance will be used for marking purposes. you may use matlab’s built-in implementation of the sobel algorithm (documentation: here) or implement it yourself.