##Pages for SfM and PCL infos
#About Feature (ORB)
ORB: an efficient alternative to SIFT or SURF.pdf
新版本2.4.2简介&FREAK和ORB特征描述子效果对比features2d
#SfM info#
[Multiple View Geometry/Book]***
ftp://vista.eng.tau.ac.il/dropbox/aviad/Hartley,%20Zisserman%20-%20Multiple%20View%20Geometry%20in%20Computer%20Vision.pdf
Visual 3D Modeling from Images/Book
[Computer Vision : Algorithm and Application/Book]***
ftp://vista.eng.tau.ac.il/dropbox/aviad/Szeliski%20-%20Computer%20Vision%20Algorithms%20and%20Applications.pdf
Bundler: Structure from Motion (SfM) for Unordered Image Collections
BigSFM: Reconstructing the World from Internet Photos
LSD-SLAM: Large-Scale Direct Monocular SLAM
Robust Global Translations with 1DSfM //databese
##Bundle Adjustment
VisualSFM : A Visual Structure from Motion System
Towards Linear-time Incremental Structure from Motion
Structure from Motion Using Structure-less Resection
A Generic Sparse Bundle Adjustment C/C++ Package Based on the Levenberg-Marquardt Algorithm
Multibody Structure-from-Motion in Practice
Generic and Real Time Structure from Motion using Local Bundle Adjustment
Incremental Motion Estimation Through Local Bundle Adjustment
Dynamic Weighting of Laser Tracker Measurements for Bundle Adjustment
Bundle Adjustment: Sparse Estimation in Multi-View Geometry
Incremental Light Bundle Adjustment
Bundle Adjustment — A Modern Synthesis
Structure-and-Motion Pipeline on a Hierarchical Cluster Tree
BundlerによるStructure from MotionでKAZE局所特徴量を使ってみた
============================================================================================ #SSBA-3.0
============================================================================================ #PCL info
PCL点云可视化及滤波处理 (http://cdn.verydemo.com/demo_c316_i102814.html)
Building Point Cloud Library with Visual Studio 2012/2013/2015
PCL学习笔记（1）：pcl1.6.0+vs2010环境配置以及第一个pcl程序
###■Appendix4 - PCL (Point Cloud Library)のビルド
$ sudo apt-get -y install libeigen3-dev
$ sudo apt-get -y install libflann-dev
$ sudo apt-get install libboost-all-dev
$ sudo apt-get install libqt4-dev libvtk5-qt4-dev
$ sudo apt-get install openni-dev
$ sudo apt-get install libusb-1.0-0-dev
$ mkdir pcl
$ cd pcl
$ tar zxvf pcl-pcl-1.7.2.tar.gz
$ cd pcl-pcl-1.7.2
$ mdkir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make -j2
$ sudo make install
============================================================================================ ###Qt5 install
============================================================================================
For installing sth on PC
======================================================================
##依赖库安装(OpenCV)
###■Appendix3 - opencvのビルド
● 必要ソフトウェアのインストール
Build Tools
$ sudo apt-get -y install build-essential checkinstall cmake pkg-config yasm
GUI
$ sudo apt-get -y install libqt4-dev libgtk2.0-dev
Media & Video
$ sudo apt-get -y install libjpeg-dev libpng-dev libtiff5-dev libjasper-dev
$ sudo apt-get -y install libavcodec-dev libavformat-dev libswscale-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev libxine-dev
$ sudo apt-get -y install libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev
$ sudo apt-get -y install x264 v4l-utils
Parallelism and linear algebra libraries
$ sudo apt-get -y install libtbb-dev libeigen3-dev
Python
$ sudo apt-get -y install python-dev python-numpy
###● Opencv 2.4.11 のソースファイルの入手
http://opencv.org/downloads.html
VAERSION 2.4.11, OpenCV for Linux/Mac を選択。
(opencv-2.4.11.zip)
###● Opencv のbuild
- ~/opencv 以下に、opencvのソースを解凍したとします。
- release版をビルドし、/usr/localにインストールする場合です。
- 演算量算出のときは、ローカルなフォルダにインストールします。
その場合は、 -DCMAKE_INSTALL_PREFIXの設定値を変更します。
$ cd ~/opencv2/opencv-2.4.11
$ mkdir release
$ cd release
$ cmake \
-DCMAKE_BUILD_TYPE=RELEASE \
-DCMAKE_INSTALL_PREFIX=/usr/local \
-DBUILD_EXAMPLES=ON \
-DINSTALL_C_EXAMPLES=ON \
-DINSTALL_PYTHON_EXAMPLES=ON \
-DWITH_1394=OFF \
-DWITH_OPENGL=ON \
-DWITH_QT=ON \
-DWITH_TBB=ON \
-DWITH_V4L=ON \
-DWITH_XINE=ON \
..
$ make
$ sudo make install
$ sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
$ sudo ldconfig
##更新源
sudo apt-get update
更新已安装的包
sudo apt-get upgrade
安装所需的依赖库
sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev
##安装OpenCV
OpenCV官网下载稳定的安装包，opencv-2.4.10.zip，我下载的版本。
首先需要提供gcc 4.4.x及以上到编译器支持，以及CMAKE编译工具。要确保自己的机器安装好。
解包
unzip opencv-2.4.10.zip
切换到解压目录
cd opencv-2.4.10/
编译
cmake .
make
sudo make install
安装成功之后在你的机器目录/usr/local/include/下有两个目录（opencv和opencv2），以及在/usr/local/lib/下的一些库文件libopencv_开头的库文件。
======================================================
配置Linux.openCV参数设置
在/etc/ld.so.conf.d/opencv.conf文件中加入一行：/usr/local/lib ,
可能会没有opencv.conf这个文件，那我们就自己创建一个:
sudo gedit /etc/ld.so.conf.d/opencv.conf。
使用下面这条命令：
sudo ldconfig
在 /etc/ bash.bashrc中加入:（sudo gedit /etc /bash.bashrc以root进入才能修改）
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH
配置一下环境变量
sudo gidet /etc/bash.bashrc
文件的最后增加一下内容
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH
source /etc/bash.bashrc
菜单栏Settings->Complier, gcc编译器选项下找到Linker Settingtab页，添加库文件，将/usr/local/lib/ 下向这样的文件'libopncv_*.so'添加到此处。
切换到Search directories在该页下找到，Compilertab页，添加这个目录/usr/local/include/opencv2
opencv+codeblocks configration
========================================================================================== #SfM environment config Cloud Point Library (CPL)(http://pointclouds.org/downloads/linux.html) WIN7(32位)VS2010+openCV 2.4.10+PCL 1.6.0+CUDA 6.5.14+ CMake 3.2.1+ SSBA-3.0 配置
==========================================================================================