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 |
|---|---|---|---|---|
| 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 |
| form | 0.1.0 | disable_smoothing keyscan_match_ratio max_dist_matching max_num_keyscans max_num_recent_scans max_num_rematches max_steps_unused_keyscan min_dist_map min_points neighbor_points new_pose_threshold num_sectors num_threads planar_feats_per_sector planar_threshold point_feats_per_sector radius |
False 0.1 0.8 50 10 30 10 0.1 5 5 0.0001 6 0 50 1.0 3 1.0 |
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 |
| 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 |
| 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 |
| 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 |
| 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 |
| dlio | 1.1.1 | adaptive_params calibrate_accel calibrate_gyro crop_size densemap_filtered deskew geo_Kab geo_Kgb geo_Kp geo_Kq geo_Kv geo_abias_max geo_gbias_max gicp_init_lambda_factor gicp_k_correspondences gicp_max_corr_dist gicp_max_iter gicp_min_num_points gicp_rotation_ep gicp_transformation_ep gravity gravity_align imu_buffer_size imu_calib_time imu_calibrate keyframe_thresh_dist keyframe_thresh_rot submap_kcc submap_kcv submap_knn time_offset verbose vf_res vf_use wait_until_move |
True True True 1.0 False True 2.25 1.0 4.5 4.0 11.25 5.0 0.5 1e‑09 16 0.5 32 64 0.01 0.01 9.80665 True 5000 3.0 True 1.0 45.0 10 10 10 True False 0.25 True True |
link |