Template Function multisensor_calibration::utils::calculateRootMeanSquaredError(const typename pcl::PointCloud<SrcPointT>::Ptr&, const typename pcl::PointCloud<RefPointT>::Ptr&, const lib3d::Extrinsics&, const typename pcl::IndicesPtr&, const typename pcl::IndicesPtr&)

Function Documentation

template<typename SrcPointT, typename RefPointT>
inline double multisensor_calibration::utils::calculateRootMeanSquaredError(const typename pcl::PointCloud<SrcPointT>::Ptr &ipSrcCloud, const typename pcl::PointCloud<RefPointT>::Ptr &ipRefCloud, const lib3d::Extrinsics &iExtrinsicTransform, const typename pcl::IndicesPtr &ipSrcIndices = nullptr, const typename pcl::IndicesPtr &ipRefIndices = nullptr)

Function to calculate the root mean squared error (RMSE) between two point clouds. In this, the source point cloud is first transformed by iSrcTransform before the RMSE is calculated.

Template Parameters:

  • SrcPointT – Point type of the source input point cloud

  • RefPointT – Point type of the reference input point cloud

Parameters:

  • ipSrcCloud – [in] Source point cloud.

  • ipRefCloud – [in] Reference point cloud.

  • iExtrinsicTransform – [in] lib3d::Extrinsic with which to transform the source point cloud prior to calculation.

  • ipSrcIndices – [in] Pointer to list of point indices in ipSrcCloud which are to be used to compute RMSE. Pass nullptr to use all points.

  • ipRefIndices – [in] Pointer to list of point indices in ipRefCloud which are to be used to compute RMSE. Pass nullptr to use all points.

Returns:

Root mean squared error in the units of the point cloud.