monovins

A monocular visual-inertial estimator.

monovins uses gRPC as an API for input/output of the estimator. All datasets will simply convert to the gRPC data types and interface that way.

running

running the application:

bazel run monovins/app -- --output_photo_dir /home/murt/murt/open_source/monovins/data-out/frames

running a dataset

From another terminal, you can load and process a dataset. See each dataset folder for download/extraction instructions.

kmav dataset

bazel run datasets/kmav_dataset -- --data_folder /home/murt/murt/open_source/monovins/data-in/V1_01_easy

debugging

Debugging output frames can be accomplished via Natron. I recommend installing via flatpak:

flatpak install flathub fr.natron.Natron

Additional Information

why cpp?

I need to practice c++.

TODO

• Solve highgui build using bazel. QT? moc_window_QT.h/cpp?