Paired 3D Point Error

Created by: LiDAR-LiDAR pairs

Overview

LiDAR points can't be directly compared to each other, but their alignment can be inferred. When MetriCal calibrates two lidars to one another, it uses the detected circle centers from each LiDAR frame of reference to optimize. The difference in these circle centers is the Paired 3D Point Error.

Note that the only LiDAR points used in this calculation are those detected on the retroreflective edge of the circle target; the interior points of the board are not used.

There is a Paired 3D Point Error metric group for every pair of synced observations between LiDARs.

Description

Paired 3D point error metrics contain the following fields:

Field	Type	Description
from	UUID	The "from" component that these point misalignments were computed in reference to.
to	UUID	The "to" component tha these point misalignments were computed in reference to.
from_points	An array of arrays of 3 floats	A collection of the XYZ coordinates of points in the "from" coordinate frame being matched against the to_points.
to_points	An array of arrays of 3 floats	A collection of the XYZ coordinates of points in the "to" coordinate frame being matched against the from_points.
misalignments	An array of arrays of 3 floats	The transformed distance misalignment (spilt up according to the Cartesian / XYZ axes) between the to and from points.
rmse	Float	The root-mean-square-error of all the misalignments.