Open-VINS Mask File Location

jakkkkobo

Dear All,

Regarding the previous post of @Jeremy-Frederick I'm still being unable to find the Open-VINS mask file location to apply different masks to each camera.

Can you comment on that?

Thank you in advance.

Best Regards,
Jacob

zauberflote1

@jakkkkobo

Hello,
We currently do not ship any mask files with our airframes, as they are normally not required. In addition, you should be able to use a mask with minor modifications on the server side, namely VoxlCam directory inside voxl-open-vins-server repo. (The mono camera case should be a good starting point, as we already have the masking logic for occluded cams during takeoff.)

Furthermore, as we use a custom interface/backend for OV, loading the mask as done in the traditional OV-ROS format won’t work as intended, i.e., via Yaml.

All the best,
ZBFT