#Ubuntu 20.04 LTS
#ROS Installation https://wiki.ros.org/noetic/Installation/Ubuntu
#Ouster-ROS Install https://github.com/ouster-lidar/ouster-ros
#OpenCV 3.4.16 https://docs.opencv.org/3.4/d7/d9f/tutorial_linux_install.html (git checkout 3.4.16)
#Spinnaker ~ Install Install Spinnaker SDK 2.2.0.48 -> fix static IP Remove 2.2.0.48 Install Spinnaker SDK 1.26.0.31 -> for launching Flir_adk_Ethernet
#Flir https://github.com/FLIR/flir_adk_ethernet
#Network Setting for Scanning Ouster // IPv4 > Manual > 169.254.71.1 / 255.255.255.0 / 169.254.71.2 Livox // IPv4 > Manual > 192.168.1.1XX / 255.255.255.0 / (XX: Serial Last Number) IPv6 > Link-Local Only
#Calibartion https://github.com/koide3/direct_visual_lidar_calibration?tab=readme-ov-file
roscore
rosrun direct_visual_lidar_calibration preprocess ouster ouster_preprocessed -dv
--camera_info_topic /flir_adk/camera_info
--image_topic /flir_adk/image_raw
--points_topic /ouster/points
--camera_model plumb_bob
--camera_intrinsic 1119.798146,1118.683090,740.720832,530.000662
--camera_distortion_coeffs -0.363603,0.131881,0.001062,-0.000594,0.000000
rosrun direct_visual_lidar_calibration preprocess livox livox_preprocessed -dv
--camera_info_topic /flir_adk/camera_info
--image_topic /flir_adk/image_raw
--points_topic /livox/lidar
--camera_model plumb_bob
--camera_intrinsic 1119.798146,1118.683090,740.720832,530.000662
--camera_distortion_coeffs -0.363603,0.131881,0.001062,-0.000594,0.000000
rosrun direct_visual_lidar_calibration preprocess ouster ouster_preprocessed -adv\
rosrun direct_visual_lidar_calibration initial_guess_manual ouster_preprocessed rosrun direct_visual_lidar_calibration initial_guess_manual livox_preprocessed
rosrun direct_visual_lidar_calibration calibrate ouster_preprocessed rosrun direct_visual_lidar_calibration calibrate livox_preprocessed
rosrun direct_visual_lidar_calibration calibrate ouster_preprocessed
rosrun direct_visual_lidar_calibration viewer ouster_preprocessed
matrix calculator: https://staff.aist.go.jp/k.koide/workspace/matrix_converter/matrix_converter.html
[ .. , .. , .. , .. .. , .. , .. , .. .. , .. , .. , .. .. , .. , .. , ..]
3x3: rotation matrix --> needs inverse matrix 3x1: translation matrix
#livox_ros_driver_for_R2LIVE Install https://github.com/ziv-lin/livox_ros_driver_for_R2LIVE input: serial roslaunch livox_ros_driver livox_lidar.launch (xfer_format: 0 --> PointCloud2 msg : 1 --> CustomMsg) /
#R3LIVE Install https://github.com/hku-mars/r3live#21-strong-robustness-in-various-challenging-scenarios
roslaunch r3live r3live_bag_ouster.launch
roslaunch r3live r3live_reconstruct_mesh.launch
#Record Data roslaunch ouster_ros driver.launch roslaunch flir_adk_ethernet blackfly.launch rosbag record -b 2048 /ouster/points /ouster/imu /flir_adk/image_raw rosbag record -b 2048 /livox/lidar /livox/imu /flir_adk/image_raw
inadyn-mt --username hbj9807@gmail.com --password PfFiaYU9BeLy1tmy7uKPZ7Hk8fnzsw
--alias hbj9807.dynv6.net,hash ip6
--dyndns_server_name dynv6.com
--dyndns_server_url /nic/update
--dyndns_system custom@http_svr_basic_auth
--verbose 5