Vital is the core of KWIVER and is designed to provide data and algorithm abstractions with minimal library dependencies. Vital only depends on the C++ standard library and the header-only Eigen library. Vital defines the core data types and abstract interfaces for core vision algorithms using these types. Vital also provides various system utility functions like logging, plugin management, and configuration file handling. Vital does not provide implementations of the abstract algorithms. Implementations are found in the KWIVER Arrows and are loaded dynamically by vital at run-time via plugins.
The design of KWIVER allows end-user applications to link only against the Vital libraries and have minimal hard dependencies. One can then dynamically add algorithmic capabilities, with new dependencies, via plugins without needing to recompile Vital or the application code. Only Vital is built by default when building KWIVER without enabling any options in CMake. You will need to enable various Arrows in order for vital to instantiate those various implementations.
The Vital API is all that applications need to control the execute any KWIVER algorithm arrow. In the following sections we will breakdown the various the algorithms and data types provided in vital based on their functionality.