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
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
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