Python - UsageΒΆ

You can pass a number of options to rko_lio. For all possible CLI flags, run:

rko_lio --help

The -v flag enables visualization.

There are three dataloaders available: rosbag (ROS1 or ROS2), raw, and HeLiPR (deprecated). For most usages, the system will automatically detect which dataloader to use from your data path, but you can choose explicitly with -d.

A config file can be passed with --config or -c. Dump a config file with all default options using

rko_lio --dump_config

Extrinsic transformations must be specified with the following keys in the config:

  • extrinsic_imu2base_quat_xyzw_xyz

  • extrinsic_lidar2base_quat_xyzw_xyz

These are required parameters. But if the dataloader can provide the extrinsics automatically, then they are not required.

Warning

If your dataloader provides extrinsics, but you specify them in a config, the config values will take priority.