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OpenCV 计算外参的函数 cvFindExtrinsicCameraParams2, 用到了 DLT 方法来计算初始的外参参数.
Intro
from wikipedia:
Direct linear transformation (DLT) is an algorithm which solves a set of variables from a set of similarity relations:
x k ∝ A y k    f o r    k = 1 , . . . , N x_k \propto A y_k \; for \; k = 1, ..., N x