About device model

[Nick-0814]

Hello, I am a novice who has just started studying visual SLAM, and I am more interested in panoramic cameras. Did you device verify this package on insta one rs? It seems that this device doesn't have dual lens mode, only usb mode. So I want to ask you this question. If it doesn't work, I will switch to the same equipment as yours.

Best regards, Nick

[Gaaaavin]

We didn't test on One Rs. But theoreticaly it should also work as Insta360 SDK also supports that model. Probably the only thing you need to change is the resolution and fps in this line.

[simbaforrest]

@Gaaaavin @Abanesjo When we have more time, we should probably make this parameter something that can be easily configured in ros startup files, so people don't need to modify the cpp codes.

[simbaforrest]

@Abanesjo is this problem solved yet?

[Abanesjo]

@simbaforrest I am a bit hesitant at the moment because Insta360 provides a different set of resolution settings for different cameras. Below is a sample of what's available.

Currently they have unique settings for the X3, X4, X5, with various further options for the recording modes. I am assuming that most of these are incompatible with livestreaming, but the issue is I cannot confirm which resolutions work and for which models.

For instance, on an Insta360 X2, I am able to get stable livestreaming at 3840 x 1920 at 30 FPS. However, 2880 x 1440 is very unstable and only publishes at around 10 FPS for me. I don't know if this is the same for the other camera models like the X3, X4 (I only have access to an X2 at the moment).

You'll also observe that the issue is not just the resolution but the FPS. For instance, there's options to publish 4K at 24 fps, 25 fps, 30 fps, 50 fps, etc. The X2 is most comfortable with 30 FPS, but I can't verify anything for the other models.

So for now, I'll do the following. I'll add the following four options (all 30 fps) as potential resolutions via the ROS parameter server. This will remove the need to recompile every time the resolution is changed.

- 3840 x 1920
- 2560 x 1280
- 2304 x 1152
- 1920 x 960

I've verified that these work on the X2 and X3 at least.

[simbaforrest]

So we can close this issue then.