Development v2.4 - Camera classes, Masks, Formatting and Smaller Fixes

[goldbattle]

Key Changes

• Camera class objects have been added which consolidate both the distortion / undistortion / Jacobian functionality
• The frontend has been reworked to take in this new camera object and the "CameraData" message objects directly
• Support for masked areas of the image has been added to the tracking (closes mask the input image for better feature extraction and tracking #159)
• Docker use and documentation has been added (originally mentioned in Use parallel_for_ to replace multicore switch #167)
• Fix radtan norm intinsic jacob (fixes Could you sharing the detail information about online intrinsic camera calibration  #169)
• Add live alignment of groundtruth if we have it (for better dev'ing)
• Dataset support for KAIST VIO mav dataset
• Fixed bug in serial reader for stereo were dropped frames would cause de-sync of left and right timestamps
• Remove "general" camera support, for more than 1 stereo pair you will need to implement your own logic, binocular should still support arbitrary if they are all sync'ed

[assassins567]

Where can I change the path of mask picture? I don't find it.

[goldbattle]

Where can I change the path of mask picture? I don't find it.

You can see an example in this config: https://github.com/rpng/open_vins/blob/master/config/rpng_ironsides/estimator_config.yaml#L112-L115