2D-2D 3D-2D 3D-3D 相机位姿估计

1.2D-2D对极几何 输入：相机内参、像素匹配点对，输出：相机位姿 1.1本质矩阵 \(E\) 矩阵 \(E=t^{\wedge} R\) 对极约束：\(x_2^Tt^{\wedge} Rx ...