evalio.pipelines

For more information about the pipelines included in evalio, see the included pipelines section.

Pipeline

Base class for all pipelines. This class defines the interface for interacting with pipelines, and is intended to be subclassed by specific implementations.

init

__init__() -> None

Construct a new pipeline.

add_imu

add_imu(mm: ImuMeasurement) -> None

Register an IMU measurement.

add_lidar

add_lidar(mm: LidarMeasurement) -> list[Point]

Register a LiDAR measurement.

default_params `staticmethod`

default_params() -> dict[str, bool | int | float | str]

Default parameters for the pipeline.

initialize

initialize() -> None

Initialize the pipeline. Must be called after constructing the object and before setting parameters.

map

map() -> list[Point]

Map of the environment.

name `staticmethod`

name() -> str

Name of the pipeline.

pose

pose() -> SE3

Most recent pose estimate.

set_imu_T_lidar

set_imu_T_lidar(T: SE3) -> None

Set the transformation from IMU to LiDAR frame.

set_imu_params

set_imu_params(params: ImuParams) -> None

Set IMU parameters for the pipeline.

set_lidar_params

set_lidar_params(params: LidarParams) -> None

Set LiDAR parameters for the pipeline.

set_params

set_params(
    params: Mapping[str, bool | int | float | str],
) -> None

Set parameters for the pipeline. This will override any default parameters.

url `staticmethod`

url() -> str

URL for more information about the pipeline.

version `staticmethod`

version() -> str

Version of the pipeline.

KissICP

Bases: Pipeline

KissICP LiDAR-only pipeline for point cloud registration. KissICP is designed to be simple and easy to use, while still providing good performance with minimal parameter tuning required across datasets.

LioSAM