LIO Hesai Online Evaluation

ROS Noetic workspace for running multiple LIO algorithms online on Hesai bags (lidar + IMU topics), with RViz enabled by default.

export LIO_WS=/path/to/LIO   # this workspace root
source /opt/ros/noetic/setup.bash
source $LIO_WS/devel/setup.bash

Example bag:

BAG=/path/to/your.bag

Algorithms are forced to 1 thread (MP_PROC_NUM=1, OMP/TBB_NUM_THREADS=1, taskset -c 0).

# Rebuild after thread / feeder changes
cd $LIO_WS && catkin_make -DCMAKE_BUILD_TYPE=Release -j$(nproc)

# Full offline eval (CPU%, mem%, frame ms, dense PCL ASCII clouds)
$LIO_WS/scripts/eval_hesai_1thread.sh "$BAG"

# Or one algo:
$LIO_WS/scripts/run_one.sh --algo fast_lio --bag "$BAG"

Results land in results/eval_1thread/<bag>_<window>_1t/<algo>/:

• summary.json — CPU/mem/frame timing
• cloud_merged.txt — dense published clouds (PCL ASCII, no downsample), under /path/to/lio_eval_clouds/<tag>/<algo>/ by default (C++ save_clouds_node)
• resources.csv, timing.json, run.log
• Sorted CSVs: summary_by_rss_peak.csv, summary_by_frame_max.csv, summary_by_frame_mean.csv

Sorted by mean frame time. Peak RSS = process peak memory.

Start one algorithm in a terminal (do not pass bag_path; leave it empty for topic mode). In another terminal, play the bag.

rosbag play --clock "$BAG" /lidar_topic /imu_topic

Optional:

rosparam set /use_sim_time true

Disable visualization with rviz:=false if needed.

roslaunch $LIO_WS/launch/hesai/faster_lio_online.launch
roslaunch $LIO_WS/launch/hesai/fast_lio.launch
roslaunch $LIO_WS/launch/hesai/point_lio.launch
roslaunch $LIO_WS/launch/hesai/pv_lio.launch
roslaunch $LIO_WS/launch/hesai/akf_lio.launch
roslaunch $LIO_WS/launch/hesai/voxel_map_plus.launch
roslaunch $LIO_WS/launch/hesai/rvoxelmap.launch
roslaunch $LIO_WS/launch/hesai/super_lio.launch
roslaunch $LIO_WS/launch/hesai/dlio.launch

BIEVR links against a locally built libceres.so.4. Export the library path before launching, otherwise you get error while loading shared libraries: libceres.so.4.

export LD_LIBRARY_PATH="${HOME}/.local/lib:${HOME}/.cache/ceres-build/build/lib:${LD_LIBRARY_PATH}"

# Online (subscribe topics + rosbag play)
roslaunch $LIO_WS/launch/hesai/bievr_online.launch

# Or offline (node reads the bag itself)
# roslaunch $LIO_WS/launch/hesai/bievr.launch rosbag:=$BAG

• Leave bag_path empty for online mode. A non-empty bag_path makes the node read the rosbag internally (offline) and exit when the bag ends.
• Configs live under configs/hesai/; launches under launch/hesai/.
• Headless smoke/benchmark scripts force rviz:=false via scripts/run_one.sh.