rko_lio package

Subpackages

• rko_lio.dataloaders package
  • Subpackages
    • rko_lio.dataloaders.utils package
      • Submodules
      • Module contents
  • Submodules
    • rko_lio.dataloaders.get_dataloader module
      • available_dataloaders()
      • dataloader_factory()
      • guess_dataloader()
    • rko_lio.dataloaders.helipr module
      • HeLiPR Dataloader
      • HeliprDataLoader
      • parse_extrinsic_txt()
      • parse_lidar_extrinsic()
    • rko_lio.dataloaders.raw module
      • Raw Dataloader
      • RawDataLoader
    • rko_lio.dataloaders.rosbag module
      • Rosbag Dataloader
      • RosbagDataLoader
    • rko_lio.dataloaders.sequencer module
      • LidarIMUSequencer
  • Module contents

Submodules

• rko_lio.cli module
  • cli()
  • dataloader_name_callback()
  • dump_config_callback()
  • version_callback()
• rko_lio.config module
  • Example (default configuration)
  • Description of parameters
  • LIOConfig
    • LIOConfig.convergence_criterion
    • LIOConfig.deskew
    • LIOConfig.double_downsample
    • LIOConfig.initialization_phase
    • LIOConfig.max_correspondance_distance
    • LIOConfig.max_expected_jerk
    • LIOConfig.max_iterations
    • LIOConfig.max_num_threads
    • LIOConfig.max_points_per_voxel
    • LIOConfig.max_range
    • LIOConfig.min_beta
    • LIOConfig.min_range
    • LIOConfig.to_dict()
    • LIOConfig.to_pybind()
    • LIOConfig.voxel_size
  • PipelineConfig
    • PipelineConfig.dump_deskewed_scans
    • PipelineConfig.extrinsic_imu2base_quat_xyzw_xyz
    • PipelineConfig.extrinsic_lidar2base_quat_xyzw_xyz
    • PipelineConfig.from_dict()
    • PipelineConfig.lio
    • PipelineConfig.log_dir
    • PipelineConfig.run_name
    • PipelineConfig.timestamps
    • PipelineConfig.to_dict()
    • PipelineConfig.viz
    • PipelineConfig.viz_every_n_frames
  • TimestampConfig
    • TimestampConfig.force_absolute
    • TimestampConfig.force_relative
    • TimestampConfig.multiplier_to_seconds
    • TimestampConfig.to_dict()
    • TimestampConfig.to_pybind()
• rko_lio.lio module
  • IntervalStats
    • IntervalStats.accel_mag_stddev()
    • IntervalStats.accel_mag_variance()
    • IntervalStats.angular_velocity_sum
    • IntervalStats.avg_ang_vel()
    • IntervalStats.avg_body_accel()
    • IntervalStats.avg_imu_accel()
    • IntervalStats.body_acceleration_sum
    • IntervalStats.imu_accel_mag_mean
    • IntervalStats.imu_acceleration_sum
    • IntervalStats.imu_count
    • IntervalStats.welford_sum_of_squares
  • LIO
    • LIO.add_imu_measurement()
    • LIO.add_imu_measurement_with_extrinsic()
    • LIO.interval_stats()
    • LIO.map_point_cloud()
    • LIO.pose()
    • LIO.poses_with_timestamps()
    • LIO.register_scan()
    • LIO.register_scan_with_extrinsic()
• rko_lio.lio_pipeline module
  • LIOPipeline
    • LIOPipeline.add_imu()
    • LIOPipeline.dump_results_to_disk()
    • LIOPipeline.output_dir
    • LIOPipeline.register_scan()
• rko_lio.scoped_profiler module
  • ScopedProfiler
    • ScopedProfiler.print_results()
  • profile_func()
• rko_lio.util module
  • error()
  • error_and_exit()
  • height_colors_from_points()
  • info()
  • log_vector()
  • log_vector_columns()
  • quat_xyzw_xyz_to_transform()
  • save_scan_as_ply()
  • transform_to_quat_xyzw_xyz()
  • warning()

Module contents