evalio

evalio is a tool for Evaluating Lidar-Inertial Odometry.

Specifically, it provides a common interface for using LIO datasets and LIO pipelines. This allows for easy addition of new datasets and pipelines as well as a common location to evaluate them. This makes benchmarks significantly easier to run and data significantly easier to access. It features,

• Download and manage datasets via the CLI interface
• Simple to use python package API for friction-free access to data
• No ROS dependency! (though it can still load rosbag datasets using the wonderful rosbags package)
• Easy to add new datasets and pipelines, see the example
• Unified representation of lidar scan, e.g. row (scan-line) major order, stamped at the start of the scan, point stamps are relative from the start of the scan.
• Run pipelines via the CLI interface and yaml config files
• Compute statistics for resulting trajectory runs

Checkout quickstart for a quick overview of the package. Additionally, evalio eases a number of common tasks, check out the examples for some common use cases.