https://docs.modalai.com/mpa/

look for a process called voxl-qvio-server in the diagram. It receives camera images (from voxl-camera-server) and IMU data (from voxl-imu-server)

You can create your own process that subscribes to camera and imu data similarly to voxl-qvio-server and implement your own algorithm.

You will probably benefit from using a logging / playback feature as well (to record and play back images and imu data). Then you can play back data and compare output from voxl-qvio-server and your implementation.

Resources:

• https://docs.modalai.com/mpa/
• https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/
• https://docs.modalai.com/voxl-logger/
• https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-logger