看……“三角测量点一”在风暴之顶。
三角测量通过以分别作（顶点）的两个已知点和一个未知点形成一个三角形，来求出或定位该未知点，如在航海中。
The location of an unknown point, as in navigation, by the formation of a triangle having the unknown point and two known points as the vertices.
对应特征点的三维重建是根据三角测量的方法计算其投影矩阵，然后用奇异值分解求出特征点的三维齐次坐标。
Feature points' 3d coordinates are computed through singular value decomposition of projector matrix, then compute projector matrix by triangulation.
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