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use insta360_air.launch ins sample launches
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@knorth55
knorth55 committed Dec 7, 2022
1 parent 33f1377 commit c4204e3
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29 changes: 2 additions & 27 deletions jsk_perception/sample/sample_dual_fisheye_to_panorama.launch
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<launch>
<arg name="gui" default="true"/>
<include file="$(find jsk_perception)/sample/sample_insta360_air.launch"
pass_all_args="true" />

<arg name="INPUT_IMAGE" default="/insta360/image_raw" doc="topic name of 360 camera image" />
<arg name="refine_align" default="false" doc="If true, panorama is improved by refine align process. Note that this process takes a large CPU load." />
<arg name="fovd" default="185.0" doc="Camera's Field of View [degree]" />
<arg name="save_unwarped" default="false" doc="Save unwarped fisheye images. This is useful to create MLS grids." />
<arg name="resolution_mode" default="high" doc="Resolution mode, 'high' or 'low'" />

<node name="dual_fisheye_to_panorama"
pkg="nodelet" type="nodelet"
args="standalone jsk_perception/DualFisheyeToPanorama">
<remap from="~input" to="$(arg INPUT_IMAGE)"/>
<param name="light_compen" value="false" />
<param name="refine_align" value="$(arg refine_align)" />
<param name="fovd" value="$(arg fovd)" />
<param name="save_unwarped" value="$(arg save_unwarped)" />
<rosparam
command="load"
file="$(find jsk_perception)/config/dual_fisheye_to_panorama/$(arg resolution_mode)_resolution_config.yaml"
subst_value="true"/>
</node>

<group if="$(arg gui)">
<node name="image_view"
pkg="image_view" type="image_view">
<remap from="image" to="dual_fisheye_to_panorama/output"/>
</node>
</group>
</launch>
110 changes: 2 additions & 108 deletions jsk_perception/sample/sample_insta360_air.launch
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<launch>

<!-- insta360 air settings -->
<arg name="publish_image" default="true" />
<arg name="use_usb_cam" default="false" />
<arg name="camera_name" default="insta360" />
<arg name="vendor" default="0x2e1a" />
<arg name="product" default="0x1000"/>
<!--
Available sizes for mjpeg are
1472 x 736 with 30 fps
2176 x 1088 with 30 fps
3008 x 1504 with 30 fps
-->
<arg name="width" default="3008" />
<arg name="height" default="1504" />
<arg name="video_mode" default="mjpeg" />
<arg name="frame_rate" default="30" />
<arg name="brightness" default="128" />
<arg name="create_panorama" default="true" />
<arg name="throttle" default="false" />
<arg if="$(arg throttle)" name="dual_fisheye_image" default="/insta360/throttled/image_raw" />
<arg unless="$(arg throttle)" name="dual_fisheye_image" default="/insta360/image_raw" />
<arg name="throttled_rate" default="1.0" />
<arg name="refine_align" default="false" />
<arg name="save_unwarped" default="false" />
<arg name="panorama_resolution_mode" default="high" />
<arg name="gui" default="true" />

<!-- Publish camera image -->
<group if="$(arg publish_image)">
<!-- For melodic or newer -->
<include unless="$(arg use_usb_cam)" file="$(find jsk_perception)/launch/libuvc_camera.launch">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="vendor" value="$(arg vendor)" />
<arg name="product" value="$(arg product)" />
<arg name="height" value="$(arg height)" />
<arg name="width" value="$(arg width)" />
<arg name="video_mode" value="$(arg video_mode)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="brightness" value="$(arg brightness)" /> <!-- -32768 ~ 32767 -->
<arg name="gui" value="$(arg gui)" />
</include>
<!-- For kinetic or older -->
<include if="$(arg use_usb_cam)" file="$(find jsk_perception)/launch/usb_cam.launch">
<arg name="camera_name" value="$(arg camera_name)" />
<arg name="video_device" value="/dev/insta360" />
<arg name="height" value="$(arg height)" />
<arg name="width" value="$(arg width)" />
<arg name="video_mode" value="$(arg video_mode)" />
<arg name="frame_rate" value="$(arg frame_rate)" />
<arg name="brightness" value="$(arg brightness)" /> <!-- 0 ~ 255 -->
<arg name="gui" value="$(arg gui)" />
</include>
</group>

<!-- Split insta360 air image into 2 fisheye image -->
<node pkg="jsk_perception" name="split_image" type="split_image.py" output="screen">
<remap from="~input" to="/insta360/image_raw" />
<rosparam>
vertical_parts: 1
horizontal_parts: 2
</rosparam>
</node>

<group ns="insta360" if="$(arg throttle)">
<node name="throttle_camera_info"
pkg="nodelet" type="nodelet"
args="standalone jsk_topic_tools/LightweightThrottle"
respawn="true">
<remap from="~input" to="camera_info"/>
<remap from="~output" to="throttled/camera_info" />
<param name="update_rate" value="$(arg throttled_rate)" />
</node>
<node name="throttle_rgb"
pkg="nodelet" type="nodelet"
args="standalone jsk_topic_tools/LightweightThrottle"
respawn="true">
<remap from="~input" to="image_raw" />
<remap from="~output" to="throttled/image_raw" />
<param name="update_rate" value="$(arg throttled_rate)" />
</node>
<node name="throttle_rgb_compressed"
pkg="nodelet" type="nodelet"
args="standalone jsk_topic_tools/LightweightThrottle"
respawn="true">
<remap from="~input" to="image_raw/compressed" />
<remap from="~output" to="throttled/image_raw/compressed" />
<param name="update_rate" value="$(arg throttled_rate)" />
</node>
</group>

<include if="$(arg create_panorama)"
file="$(find jsk_perception)/sample/sample_dual_fisheye_to_panorama.launch">
<arg name="gui" value="false" />
<arg name="INPUT_IMAGE" value="$(arg dual_fisheye_image)" />
<arg name="fovd" value="210" />
<arg name="refine_align" value="$(arg refine_align)" />
<arg name="save_unwarped" value="$(arg save_unwarped)" />
<arg name="resolution_mode" value="$(arg panorama_resolution_mode)" />
</include>

<group if="$(arg gui)">
<node name="image_view"
pkg="image_view" type="image_view">
<remap from="image" to="dual_fisheye_to_panorama/output"/>
</node>
</group>

<include file="$(find jsk_perception)/launch/insta360_air.launch"
pass_all_args="true">
</launch>

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