Circle Misalignment Metrics

Definition

Circle misalignment metrics contain the following fields:

Field	Type	Description
metadata	A common metadata object	The metadata associated with the point cloud this circle target was measured in.
object_space_id	UUID	The UUID of the object space that was being observed.
measured_circle_center	An array of 3 float values	The X/Y/Z coordinate of the center of the circle target.
plane_inliers_x	An array of floats	All X-coordinates of points contained within the circle target.
plane_inliers_y	An array of floats	All Y-coordinates of points contained within the circle target.
plane_inliers_z	An array of floats	All Z-coordinates of points contained within the circle target.
world_extrinsics_component_ids	An array of UUIDs	The component IDs for each world extrinsic in world_extrinsics
world_extrinsics	An array of world extrinsics objects	The world pose (component from object space) that correspond to each circle_center_misalignment
circle_center_misalignment	An array of circle center coordinates	The errors between the circle centre location estimated from the composition of a component's world extrinsic with the point-cloud data from a LiDAR.
plane_inliers_distances	An array of arrays of floats	The point-to-plane distances between the plane inlier points and the plane observed at a given world extrinsic.
plane_distance_rmse_per_we	An array of floats	Similar to plane_inliers_distances but represents the RMSE of all plane inlier distances.
circle_center_rmse	Float	The circle center misalignment RMSE over all world extrinsics.
plane_distance_rmse	Float	The plane inlier distance RMSE over all world extrinsics.

Analysis

Coming soon!

We're still building out the best visualizations and interpertations of these metrics. Check back later for more information on how to analyze this data.