evalio 0.0.1

Evaluate Lidar-Inertial Odometry on public datasets

Evalio

evalio is a tool for Evaluating Lidar-Inertial Odometry.

Specifically, it provides a common interface for connecting LIO datasets and LIO pipelines. This allows for easy addition of new datasets and pipelines, as well as a common location to evaluate them.

Building

While we recommend simply installing the python package using your preferred python package manager, we've attempted to make building from source as easy as possible.

You'll need,

• vcpkg installed and the VCPKG_ROOT environment variable set to the root of your vcpkg installation. vcpkg handles all of the C++ dependencies.
• uv installed and on your $PATH

Building the C++ portion can be done as follows,

cmake -B build -DCMAKE_TOOLCHAIN_FILE="${VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
cmake --build build 

Alternatively, you can set CMAKE_TOOLCHAIN_FILE as an env variable, which I usually do using .envrc and direnv.

To build the python portion, simply set the CMAKE_TOOLCHAIN_FILE environment variable and run

uv sync

which will build evalio from scratch and install it into the uv virtual env. Evalio can then be run with uv run evalio <command>. uv will not automatically notice changes and recompile, but will if you run touch pyproject.toml.

If you'd prefer an editable (aka incremental) build, you can run

uv run pip install --no-build-isolation --config-settings=editable.rebuild=true -Cbuild-dir=build_pip -ve .

to install it in the current uv virtual env. If this is done, before each time you run evalio, cmake --build build_pip will be ran to compile any changes that may have occurred. See scikit-build-core for more info.