From c4204e30a64c194c74c9671b845a710a3d5b3ee0 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 7 Dec 2022 22:30:24 +0900
Subject: [PATCH] use insta360_air.launch ins sample launches

---
 .../sample_dual_fisheye_to_panorama.launch    |  29 +----
 .../sample/sample_insta360_air.launch         | 110 +-----------------
 2 files changed, 4 insertions(+), 135 deletions(-)

diff --git a/jsk_perception/sample/sample_dual_fisheye_to_panorama.launch b/jsk_perception/sample/sample_dual_fisheye_to_panorama.launch
index 6e2bcf3004..f6815c829e 100644
--- a/jsk_perception/sample/sample_dual_fisheye_to_panorama.launch
+++ b/jsk_perception/sample/sample_dual_fisheye_to_panorama.launch
@@ -1,30 +1,5 @@
 <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="$(arg gui)">
-    <node name="image_view"
-          pkg="image_view" type="image_view">
-      <remap from="image" to="dual_fisheye_to_panorama/output"/>
-    </node>
-  </group>
 </launch>
diff --git a/jsk_perception/sample/sample_insta360_air.launch b/jsk_perception/sample/sample_insta360_air.launch
index 5d2a3df81a..6df69383d1 100644
--- a/jsk_perception/sample/sample_insta360_air.launch
+++ b/jsk_perception/sample/sample_insta360_air.launch
@@ -1,110 +1,4 @@
 <launch>
-
-  <!-- insta360 air settings -->
-  <arg name="publish_image" default="true" />
-  <arg name="use_usb_cam" default="false" />
-  <arg name="camera_name" default="insta360" />
-  <arg name="vendor" default="0x2e1a" />
-  <arg name="product" default="0x1000"/>
-  <!--
-  Available sizes for mjpeg are
-      1472 x 736  with 30 fps
-      2176 x 1088 with 30 fps
-      3008 x 1504 with 30 fps
-  -->
-  <arg name="width" default="3008" />
-  <arg name="height" default="1504" />
-  <arg name="video_mode" default="mjpeg" />
-  <arg name="frame_rate" default="30" />
-  <arg name="brightness" default="128" />
-  <arg name="create_panorama" default="true" />
-  <arg name="throttle" default="false" />
-  <arg if="$(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>