rko_lio.lio module

Public interface classes for the pybind.

class rko_lio.lio.IntervalStats(raw_stats: rko_lio.rko_lio_pybind._IntervalStats)

Bases: object

Convenience class to compute the interval actual averages

accel_mag_stddev()

accel_mag_variance()

property angular_velocity_sum

avg_ang_vel()

avg_body_accel()

avg_imu_accel()

property body_acceleration_sum

property imu_accel_mag_mean

property imu_acceleration_sum

property imu_count

property welford_sum_of_squares

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)

interval_stats()

Can be useful for introspecting some IMU details.

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

poses_with_timestamps()

register_scan(scan: numpy.ndarray, timestamps: numpy.ndarray)

register_scan_with_extrinsic(extrinsic_lidar2base: numpy.ndarray, scan: numpy.ndarray, timestamps: numpy.ndarray)