Given is a Equation in the Form
$A_{i}\underline{r}=0$ like:
$\begin{bmatrix}\underline{0}^T & -\underline{X}_{i}^T & y_{i}\underline{X}_{i}^T\\\underline{X}_{i}^T & \underline{0}^T &-x_{i}\underline{X}_{i}^T \end{bmatrix} \begin{bmatrix} \underline{r}_{1} \\ \underline{r}_{2}\\ \underline{r}_{3}\end{bmatrix} = \begin{bmatrix}\underline{0}\end{bmatrix}$
$A$ can be extended to be a 12 x 12 matrix and $\underline{r} $ should be a 4x1 matrix
I assume that $\underline{r}^T$ is like [a, b, c, 1]. How can I solve this equation with numpy? It is recommended to solve the Equation using SVD, but I doubt that this is the right way.