A few questions on an underdetermined linear system of equations

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Reading this paper and trying to get a gasp of it, in the introduction section it talks about a linear system of equations which is $Y=DX$ where $D \in \mathbb R^{n\times K}$. The part I am trying to understand is as follows:

if $n<K$ and $D$ is a full rank matrix, an infinite number of solutions are available for the problem, hence constraints on the solution must be set.

What I understand from this answer is quite different from what they are claiming to be the case. My questions are:

  • What is the condition $D$ being full rank doing? Why is it needed? Since we already know that's an underdetermined system and it has infinitely many solutions.
  • Then it says we need to set constraints, but the answer I linked to states that we more constraints we will have more equations and the case would turn into a different one. Is it right?
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This equation has K unknowns and n conditions. Because $n \lt K$, it needs more constraints in order to have an unique solution. Because D is full rank, so likely, it needs another $K-n$ independent constraints.