矩阵自由度反映矩阵元素的约束状态，与线性方程组解的多样性有关。例如，3x3旋转矩阵有3个自由度，而3x3 homography矩阵有8个自由度。在方程组中，自由度表示变量超过方程的数量。在张正友的相机标定中，给定一个homography，可以得到两个内在参数的约束，因为homography有8个自由度，旋转和 translation 分别有3个自由度，剩余2个自由度用于内在参数约束。
在计算机视觉应用中，经常碰见矩阵自由度的说法，矩阵自由度同矩阵本身的性质，以及相关线性方程组的解，有着千丝万缕的联系，这里就集中解释下DOF（degree of freedom）的具体含义。
1.矩阵的自由度的定义
There are several different ways to think about degrees of freedom of a matrix.
Consider a m×n matrix. This matrix has mn entries. We can change mn values in this matrix to make mn unique matrices, so it has mn degrees of freedom.
What if we had a square m×m matrix that we knew was upper triangular? Well then, we know that several values in the matrix are 0. There are actually only m+m−1+⋯+2+1 nonzero entries, and so that's the number of the degrees of freedom of the matrix.
What is we had a 2×2 matrix that we knew was a rotation matrix? That puts huge constraints on the possible values in the matrix. Indeed, once one of the values i
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