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ch7 pose_estimation_2d2d #305

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YZCOrange opened this issue May 10, 2024 · 0 comments

YZCOrange commented May 10, 2024

请问一下这个Mat d = y2.t() * t_x * R * y1;是怎么推导的呀，我看书上说根据三角测量很容易得出深度，但是我看代码里面这样写，不知道如何推导的

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