ROS1 noetic error

[rtarun1]

Hello,

Thank you for the amazing work @Abanesjo

• In humble is there a way to get front and back images separately?
• I was able to run Insta360 X5 on humble! But, The build fails in noetic

Errors     << insta360_ros_driver:make /home/container_user/catkin_ws/logs/insta360_ros_driver/build.make.001.log                                                
/home/container_user/catkin_ws/src/insta360_ros_driver/src/main.cpp: In member function ‘int CameraWrapper::run_camera()’:
/home/container_user/catkin_ws/src/insta360_ros_driver/src/main.cpp:186:49: error: ‘struct ins_camera::DeviceDescriptor’ has no member named ‘lens_type’
  186 |                     << "lens type:" << int(desc.lens_type) << std::endl;
      |                                                 ^~~~~~~~~
/home/container_user/catkin_ws/src/insta360_ros_driver/src/main.cpp:210:43: error: ‘using element_type = class ins_camera::Camera’ {aka ‘class ins_camera::Camera’} has no member named ‘GetCameraType’; did you mean ‘GetCameraLensType’?
  210 |             auto camera_type = this->cam->GetCameraType();
      |                                           ^~~~~~~~~~~~~
      |                                           GetCameraLensType
/home/container_user/catkin_ws/src/insta360_ros_driver/src/main.cpp:181:55: warning: control reaches end of non-void function [-Wreturn-type]
  181 |             auto list = discovery.GetAvailableDevices();
      |                                                       ^
make[2]: *** [CMakeFiles/insta360_ros_driver.dir/build.make:63: CMakeFiles/insta360_ros_driver.dir/src/main.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:359: CMakeFiles/insta360_ros_driver.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/container_user/catkin_ws/build/insta360_ros_driver; catkin build --get-env insta360_ros_driver | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

• Also, for extrinsic calibration with other sensors, I need the intrinsic, any way to get them?

Thank you.

[varunkudan]

@rtarun1

1. For my application in the past I saved the image and split the images manually. Although with ros you can use soemthing like cv_bridge or directky access the array and manually publish separately.
2. For calibration in the past I used Kalibr, although I first saved the images, and ran the data set offline using kalbr and it worked.7

hope this helps.

[rtarun1]

Thank you for your input @varunkudan , Also do you know any better ways to calibrate the equirectangular image?

[varunkudan]

@rtarun1 so like I was saying, I used the pinhole equidistant model in kalibr and that gave me good results and works well with my applications. I recorded the video with manual settings, and extracted the frames and processed them offline.

I did not personally did not calibrate the equirectangular message as is.

Something that may give you a lead:
https://discourse.openrobotics.org/t/image-projection-library-open-source-release/19134/13