LIO configuration options. Parameters ---------- deskew : bool, default True If True, perform scan deskewing. max_iterat

Minimal sequential pipeline for LIO processing.

Configuration for the LIOPipeline, wrapping both LIO- and timestamp-related configs. Parameters ---------- lio : dict or LIOConfig

Dataset loader for HeLiPR dataset. data_path: e.g. 'helipr/Bridge01' sequence: LiDAR sensor name: 'Aeva', 'Avia', 'Ouster', 'Velodyne'

Convenience class to compute the interval actual averages

Core LiDAR-inertial odometry algorithm class. */

Single-slot, latest-wins handoff between producer and one consumer. Producer never blocks.

Wraps a dataloader and yields data in processing order: LiDAR frames only when sufficient IMU coverage is available (latest IMU.time > Li

Accumulated IMU statistics over the interval between consecutive LiDAR scans. */

Sequential variant of the LIO node: IMU and LiDAR are processed inline on the rclcpp executor thread. The IMU callback feeds add_imu_measurement and p

* Scoped RAII profiler that measures elapsed time for a named code block. * * This class records the execution time between construction and destruc

data structs

Simple timing utility that prints elapsed time for a scope or code block. */

* Configuration struct for timestamp processing. * * There was an attempt to have a one-size-fits-all approach before, but that lead to increasingly