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!! 写真から3Dへ
沖縄の首里城や熊本城の復元に使われたらしい
*https://www.cs.cornell.edu/projects/bigsfm/
*https://lm-7.hatenadiary.org/entry/20100103/1262482038

*https://aicam.jp/tech/sfmmvs

! 目標
*python(pip) だけで構成する
*屋内版はDepthMapが作れること
*屋外版は複数の装置(マルチコンピュータでの運用)ができる様にする

! 構成
*https://daily-tech.hatenablog.com/entry/2019/08/04/032130
*https://daily-tech.hatenablog.com/entry/2018/01/01/133755

!原理
*https://qiita.com/sobeit@github/items/d419ea39b06e43e6200f
*https://qiita.com/ringo156/items/9d4f81cd9aa70aa626ff

! アプリ
*http://ccwu.me/vsfm/
*https://github.com/alicevision/Meshroom
*https://styly.cc/ja/tips/photogrammetry-rinmizouchi-meshroom/
*https://psarlin.com/superglue/
*https://colmap.github.io/
*https://github.com/colmap/pycolmap

!カメラキャリブレーション
*http://labs.eecs.tottori-u.ac.jp/sd/Member/oyamada/OpenCV/html/py_tutorials/py_calib3d/py_table_of_contents_calib3d/py_table_of_contents_calib3d.html#py-table-of-content-calib
*https://qiita.com/ReoNagai/items/5da95dea149c66ddbbdd
*https://jp.mathworks.com/help/symbolic/developing-an-algorithm-for-undistorting-an-image.html
*https://www.qoosky.io/techs/67a3d876c4

*https://daily-tech.hatenablog.com/entry/2019/06/05/153145
*https://daily-tech.hatenablog.com/entry/2019/06/07/022607
*https://daily-tech.hatenablog.com/entry/2019/06/10/042630
*三角測量
*https://sites.google.com/view/senmitsu/%E6%B8%AC%E9%87%8F%E7%B3%BB/


 黄金分割探索
 3ten no kankaku ga ougonhi (1+sqrt(5.0))/2.0
*http://ysrken.seesaa.net/article/lens-parameter-optimization-for-distortion.html

 number plate
 Truck Big  440x220 (275)
 Normal Car 330x165 (210)
*https://info.alumania.net/info-car/%E3%83%8A%E3%83%B3%E3%83%90%E3%83%BC%E3%83%97%E3%83%AC%E3%83%BC%E3%83%88%E3%81%AE%E5%A4%A7%E3%81%8D%E3%81%95%E9%81%95%E3%81%84%E3%81%A8%E3%82%B5%E3%82%A4%E3%82%BA%E5%AF%B8%E6%B3%95/14611/

  信号機　大きさ
 1250x450 (lenz 300)
*https://always3d.com/knowledge-signal-size/
*https://note.com/roadsign/n/ndf89d949eab8

! SfM/MVS 
*https://github.com/alicevision/meshroom
*https://gijyutusyanokyuujitu.hatenablog.jp/entry/2018/04/29/205308
*https://aicam.jp/tech/sfmmvs
*https://github.com/cdcseacave/openMVS
*https://www.opensfm.org/docs/building.html
*https://github.com/mapillary/OpenSfM

*https://daily.belltail.jp/?p=1387
*https://daily.belltail.jp/?p=1387
*https://github.com/snavely/bundler_sfm

!TEST(SfM)( 2枚の画像から3次元にする)
*https://github.com/alyssaq/3Dreconstruction
 pip3 install numpy
 pip3 install matplotlib
 pip3 install opencv-python
 pip3 install opencv-contrib-python
*https://cvml-expertguide.net/terms/cv/epipolar-geometry/
*https://www.qoosky.io/techs/24007913d6

!OpenSfM
 > git clone --recursive https://github.com/mapillary/OpenSfM
 > cd ./OpenSfM
 > python3.9 install -r ./requirements.txt
 > python3.9 setup.py build 
!openMVS
*https://github.com/cdcseacave/openMVS

! openMVG 
 openSfM の他にもと調べてたら出てきた。。。
*https://github.com/openMVG/openMVG
 build の際に
    #include <Eigen/Dense>
    が見つからない旨のエラーは
 　　#include <eigen3/Eigen/Dense>
    にするか。。Makeをなおす。。
*https://github.com/openMVG/openMVG
*https://github.com/cdcseacave/openMVS

! TEST multi View stereo
*https://github.com/trungnguyencs/MultiView-Stereo
*https://github.com/cdcseacave/openMVS
*https://github.com/trungnguyencs/MultiView-Stereo

!Test カメラ位置推定
*http://blog.livedoor.jp/tmako123-programming/archives/52508207.html
*https://github.com/snavely/bundler_sfm


*http://ccwu.me/vsfm/
*https://code.google.com/archive/p/osm-bundler/wikis
*http://grail.cs.washington.edu/projects/mcba/


! TESTデータ
*https://www.robots.ox.ac.uk/~vgg/data/mview/

!OpenSfM
*https://mlengineer.hatenablog.com/entry/2019/09/16/150820#OpenSfM%E3%82%92%E4%BD%BF%E3%81%86
*https://www.opensfm.org/docs/index.html
*https://github.com/mapillary/OpenSfM
**https://www.kkaneko.jp/tools/ubuntu/suitesparselinux.html

!OpenMVG/OpenMVS
*https://aicam.jp/tech/sfmmvs
*http://www.regard3d.org/index.php/documentation/compiling
*https://openmvg.readthedocs.io/en/latest/software/SfM/SfM/
*http://cdcseacave.github.io/openMVS/
*https://github.com/openMVG/openMVG

OpenMVS
*https://qiita.com/fujin/items/d816a7e9b8c2577a7e37
*https://aicam.jp/tech/sfmmvs
*https://openmvg.readthedocs.io/en/latest/

*https://qiita.com/fujin/items/d816a7e9b8c2577a7e37

OpenGV
*https://laurentkneip.github.io/opengv/page_installation.html

OpenMesh
*https://www.graphics.rwth-aachen.de/software/openmesh/

! 深度マップ
*https://github.com/isl-org/MiDaS
*https://www.qoosky.io/techs/24007913d6
*https://dev.classmethod.jp/articles/stereo-depth-estimation-with-opencv-2nd/
*https://resanaplaza.com/2023/09/15/%E3%80%90%E5%AE%9F%E8%B7%B5%E3%80%91python-%E3%81%A8-midas-%E3%81%A7%E6%B7%B1%E5%BA%A6%E6%8E%A8%E5%AE%9A%EF%BC%81depthmap%E3%82%92%E4%BD%9C%E3%82%8D%E3%81%86%EF%BC%81/




!! 3Dスキャナ
*https://en.openscan.eu/openscan
*https://github.com/OpenScanEu/OpenScan
*https://github.com/LibreScanner/horus
*https://github.com/bqlabs/ciclop

! イメージ・データ
*https://www.robots.ox.ac.uk/~vgg/data/mview/

! RANSRAC
*tips-ransac
*https://github.com/scipy/scipy-cookbook/blob/master/ipython/attachments/RANSAC/ransac.py
*https://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FISHER/RANSAC/#fischler
*https://hkawabata.github.io/technical-note/note/ML/ransac.html
*[直線の推定|https://qiita.com/smurakami/items/14202a83bd13e55d4c09]
*https://qiita.com/kazetof/items/b3439d9258cc85ddf66b
*==https://scipy.github.io/old-wiki/pages/Cookbook/RANSAC==
*[NG-RANSAC|https://github.com/vislearn/ngransac]

! pyntcloud (点群の処理ライブラリ )
*https://github.com/daavoo/pyntcloud

! 平面フィッティング
*https://qiita.com/sage-git/items/f64620d18eeff8a11308

! ヤコビアン
*http://math-juken.com/sikaku/jacobian/
*https://www.it-swarm-ja.com/ja/python/python%E3%81%A7%E3%83%A4%E3%82%B3%E3%83%93%E8%A1%8C%E5%88%97%E3%82%92%E8%A8%88%E7%AE%97%E3%81%97%E3%81%BE%E3%81%99/837274750/
*http://math-juken.com/sikaku/jacobian/
 pip3 install autograd
*https://github.com/HIPS/autograd

!! 最終目標 ( SLAM )
*https://jp.mathworks.com/discovery/slam.html
*https://gijyutusyanokyuujitu.hatenablog.jp/entry/2018/05/17/044851
*https://github.com/raulmur/ORB_SLAM2


    
https://qiita.com/sage-git/items/f64620d18eeff8a11308

! open3d
tips-Open3D
*https://blog.negativemind.com/2018/10/17/open3d/
*https://ichi.pro/python-de-tengun-kara-3-d-messhu-o-seiseisuru-tame-no-5-suteppu-gaido-60176041760954


!SuperGlue
 特徴点の一致
*https://psarlin.com/superglue/
*https://github.com/magicleap/SuperGluePretrainedNetwork

! CloudCompare
*https://cloudcompare.org/

点群の結合
*https://qiita.com/xasdas/items/7c563888993272cec72b
*https://qiita.com/xasdas/items/87ba9ac8eb5ca440719b
*https://qiita.com/xasdas/items/552fceb0d46fc53c107c



! 瞳孔間距離 ( 視差の距離？？ )
*https://www.tanaka-megane.co.jp/contents/megane-select-pd/
 男性 64mm
 女性 62mm
 * 瞳のサイズ
 11.7mm +- 0.5mm