feat!(pl): Create pose estimate buffer #54
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Pull Request Overview
This PR refactors the pipeline API to support asynchronous pose estimation by replacing the synchronous pose() method with recent_estimates() that returns stamped pose estimates. This enables pipelines to output poses that may not correspond to the most recent scan timestamp.
Key changes:
- Replaced
Pipeline::pose()withPipeline::recent_estimates()to return buffered stamped pose estimates - Split visualization logging into separate
log_pose()andlog_scan()methods - Updated all pipeline implementations to use the new buffering mechanism via
push_back_estimate()
Reviewed Changes
Copilot reviewed 10 out of 10 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| cpp/evalio/pipeline.h | Added recent_estimates() method and push_back_estimate() helper to base Pipeline class |
| cpp/bindings/pipeline.h | Updated Python bindings to expose recent_estimates() instead of pose() |
| cpp/bindings/pipelines/*.h | Updated all pipeline implementations to call push_back_estimate() instead of implementing pose() |
| python/evalio/rerun.py | Split visualization into log_pose() and log_scan(), updated new_pipe() signature |
| python/evalio/cli/run.py | Updated to iterate over recent_estimates() and call separate logging methods |
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Co-authored-by: Copilot <[email protected]>
contagon
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Nov 12, 2025
BREAKING CHANGE: The Pipeline class interface has changed slightly. `add_lidar` now has no return, and `pose` method has been removed. In place of these is a new `save` method for saving poses and features asynchronously with no overhead.
This was referenced Nov 12, 2025
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Rather than always reporting a pose at a fixed timestamp after a call to
add_lidar, this PR adds in a pose "buffer" to allow pipelines to push back a pose estimate at any time (ie not exactly when a scan is received, inadd_imu, etc) allowing a lot more flexibility and proper handling of timestamped data.Ran a few small tests over all pipelines to verify, they all had identical results to before.
Still todo: