Pipelines
evalio comes with a variety of pipelines that can be used for evaluation. Below is a table of all pipelines that are included and their parameters, which mirrors the output of evalio ls pipelines.
| Name | Version | Params | Default | Info |
|---|---|---|---|---|
| liosam | 0.1.0 | downsampleRate edgeFeatureMinValidNum edgeThreshold globalMapVisualizationLeafSize globalMapVisualizationPoseDensity globalMapVisualizationSearchRadius mappingCornerLeafSize mappingProcessInterval mappingSurfLeafSize numberOfCores odometrySurfLeafSize rotation_tolerance surfFeatureMinValidNum surfThreshold surroundingKeyframeDensity surroundingKeyframeSearchRadius surroundingkeyframeAddingAngleThreshold surroundingkeyframeAddingDistThreshold z_tolerance |
1 10 1.0 1.0 10.0 1000.0 0.2 0.15 0.4 4 0.4 1000.0 100 0.1 2.0 50.0 0.2 1.0 1000.0 |
link |
| mad | 0.0.10 | b_max b_min b_ratio deskew num_keyframes num_threads p_th realtime rho_ker |
0.2 0.1 0.02 False 8 0 0.8 True 0.1 |
link |
| loam | 1.0.0 | edge_feat_threshold max_avg_point_plane_dist max_edge_feats_per_sector max_edge_neighbor_dist max_icf_iterations max_planar_feats_per_sector max_plane_neighbor_dist min_line_condition_number min_line_fit_points min_plane_fit_points neighbor_points num_edge_neighbors num_local_map_scans num_plane_neighbors number_sectors occlusion_thresh parallel_thresh planar_feat_threshold position_convergence_thresh rotation_convergence_thresh |
100.0 0.2 5 2.0 20 50 4.0 5.0 3 4 3 5 3 5 6 0.5 1.0 1.0 0.001 0.0001 |
link |
| genz | 0.2.0 | convergence_criterion desired_num_voxelized_points deskew initial_threshold max_num_iterations max_points_per_voxel min_motion_th planarity_threshold voxel_size |
0.0001 2000 False 2.0 100 1 0.1 0.2 0.3 |
link |
| kiss | 1.2.2 | convergence_criterion deskew initial_threshold max_num_iterations max_num_threads max_points_per_voxel min_motion_th voxel_size |
0.0001 False 2.0 500 0 20 0.1 1.0 |
link |
| ct | 0.0.1 | beta_constant_velocity beta_location_consistency beta_orientation_consistency beta_small_velocity ct_init_num_frames distance distance_error_threshold estimate_normal_from_neighborhood init_num_frames init_sample_voxel_size init_voxel_size initialization loss_function ls_max_num_iters ls_num_threads ls_sigma ls_tolerant_min_threshold max_dist_to_plane_ct_icp max_num_points_in_voxel max_num_residuals max_number_neighbors min_distance_points min_num_residuals min_number_neighbors motion_compensation num_closest_neighbors num_iters_icp point_to_plane_with_distortion power_planarity sample_voxel_size size_voxel_map solver threshold_orientation_norm threshold_translation_norm threshold_voxel_occupancy voxel_neighborhood voxel_size weight_alpha weight_neighborhood weighting_scheme |
0.001 0.001 0.0 0.0 20 CT_POINT_TO_PLANE 5.0 True 20 1.0 0.2 INIT_CONSTANT_VELOCITY CAUCHY 10 8 0.1 0.05 0.5 20 ‑1 20 0.1 100 20 CONTINUOUS 1 30 True 2.0 1.5 1.0 CERES 0.0001 0.001 1 1 0.5 0.9 0.1 ALL |
link |