Skip to main content
Version: Next

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.

Paired 3D Point Error

Description

Paired 3D point error metrics contain the following fields:

Field
TypeDescription
fromUUIDThe "from" component that these point misalignments were computed in reference to.
toUUIDThe "to" component tha these point misalignments were computed in reference to.
from_pointsAn array of arrays of 3 floatsA collection of the XYZ coordinates of points in the "from" coordinate frame being matched against the to_points.
to_pointsAn array of arrays of 3 floatsA collection of the XYZ coordinates of points in the "to" coordinate frame being matched against the from_points.
misalignmentsAn array of arrays of 3 floatsThe transformed distance misalignment (spilt up according to the Cartesian / XYZ axes) between the to and from points.
rmseFloatThe root-mean-square-error of all the misalignments.