https://blog.csdn.net/goodxin_ie/article/details/82856008

https://stackoverflow.com/questions/49816206/cmake-find-package-specify-path

https://gist.github.com/raulqf/f42c718a658cddc16f9df07ecc627be7

https://linuxize.com/post/how-to-install-opencv-on-ubuntu-20-04/

**OpenCV Error: Assertion failed (src.type() == CV_8UC1) in cv::findNonZero?**

cv::cvtColor(xrayImg,xray1Channel,CV_BGR2GRAY);

https://rain-bow.tistory.com/entry/CUDA-ERROR-nvidia-smi-has-failed-because-it-couldnt-communicate-with-the-nvidia-driver

Minimal Solver : RANSAC방법으로 minimal set(N-Points)을 가지고 Model을 구하는 것.

Non-Minimal Solver : 얻어진 Model과 Inliers 데이터들을 Least Square 방식으로 최적화 하는 작업.

M-Esitmator :

• Non Linear Convex Problem, to solve this problem.
• solve problem in iteraritvely optmizing by object function(cost function).
• to update parameter to do iteration, we need to have some speicifc weight to update parameter by object function.
• to avoid local minimum problem, there is many kind of ways to optimization is we called M-Estimator.
• https://en.wikipedia.org/wiki/M-estimator

The term ego vehicle refers to the vehicle that contains the sensors that perceive the environment around the vehicle .

Reference

즉, 현재 관심있어하는 로봇 Coordinate(Ego Vehicle)로 부터 주변 인지되는 객체들의 정보를 얻는 것.