rko_lio.lio module

Public interface classes for the pybind.

class rko_lio.lio.LIO(config: LIOConfig)

Bases: object

add_imu_measurement(acceleration: numpy.ndarray, angular_velocity: numpy.ndarray, time: float)
add_imu_measurement_with_extrinsic(extrinsic_imu2base: numpy.ndarray, acceleration: numpy.ndarray, angular_velocity: numpy.ndarray, time: float)
dump_results_to_disk(results_dir: Path, run_name: str)
map_point_cloud() numpy.ndarray

return the local map point cloud in world/odometry frame

pose() numpy.ndarray

return the 4x4 transform from the base frame to the world/odometry frame

register_scan(scan: numpy.ndarray, timestamps: numpy.ndarray)
register_scan_with_extrinsic(extrinsic_lidar2base: numpy.ndarray, scan: numpy.ndarray, timestamps: numpy.ndarray)
class rko_lio.lio.LIOConfig(*args: Any, **kwargs: Any)

Bases: _Config

LIO configuration options.

Parameters:
  • deskew (bool, default True) – If True, perform scan deskewing.

  • max_iterations (int, default 100) – Maximum optimization iterations for scan matching.

  • voxel_size (float, default 1.0) – Size of map voxels (meters).

  • max_points_per_voxel (int, default 20) – Maximum points stored per voxel.

  • max_range (float, default 100.0) – Max usable range of lidar (meters).

  • min_range (float, default 1.0) – Minimum usable range of lidar (meters).

  • convergence_criterion (float, default 1e-5) – Convergence threshold for optimization.

  • max_correspondance_distance (float, default 0.5) – Max distance for associating points (meters).

  • max_num_threads (int, default 0) – Max thread count (0 = autodetect).

  • initialization_phase (bool, default False) – Whether to initialize on the first two lidar message.

  • max_expected_jerk (float, default 3.0) – Max expected IMU jerk (m/s^3).

  • double_downsample (bool, default True) – Double downsamples the incoming scan before registering. Disabling for sparse LiDARs may improve results.

  • min_beta (float, default 200.0) – Minimum scaling on the orientation regularisation weight. Set to -1 to disable the cost.