# Visual-Inertial-Odometry

**Repository Path**: fsswl/Visual-Inertial-Odometry

## Basic Information

- **Project Name**: Visual-Inertial-Odometry
- **Description**: Visual Inertial Odometry from www.shenlanxueyuan.com
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-10-26
- **Last Updated**: 2021-10-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Docker for Visual Inertial Odometry Development

This is the Docker image for Visual Inertial Odometry development.

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## Build Images

The environments can be built with docker-compose as follows:
```bash 
docker-compose build
```

---

## Configuration

### Volume Mounting

Local directories for source code and data are configured in **docker-compose.yml**

```yaml
    volumes:
      # workspace:
      - ${PWD}/workspace/assignments:/workspace/assignments
      # data:
      - ${PWD}/workspace/data:/workspace/data
```

### Network Port Mapping

Config port mappings for supervisord monitor and VNC client access in **docker-compose.yml** 

```yaml
    ports:
      # standard vnc client:
      - 45901:5900
      # supervisord admin:
      - 49001:9001
```

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## Up and Running 

### Launch VNC Instance
```bash
# for cpu instance -- use docker-compose
docker-compose up workspace-vnc-cpu
# for gpu instance -- use docker run
./launch-visual-inertial-odometry-gpu.sh
```

### Health Check

Access supervisord monitor to make sure all processes have been started: http://[HOST_IP]:49001

![Supervisord Health Check](doc/01-supervisord-health-check.png)

### VNC Access:

You can access the desktop with standard VNC client

#### VNC Client

On the system you can use 

* Remmina on Ubuntu
* TightVNC Viewer on Windows

to create a VNC session to connect to: http://[HOST_IP]:45901

![VNC through VNC Client](doc/02-vnc-access-with-vnc-client.png)

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