Template Function voxblox::utils::evaluateLayersRmse(const Layer<VoxelType>&, const Layer<VoxelType>&, const VoxelEvaluationMode&, VoxelEvaluationDetails *, Layer<VoxelType> *)¶
Function Documentation¶
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template <typename VoxelType>
FloatingPointvoxblox::utils
::
evaluateLayersRmse
(const Layer<VoxelType> &layer_gt, const Layer<VoxelType> &layer_test, const VoxelEvaluationMode &voxel_evaluation_mode, VoxelEvaluationDetails *evaluation_result = nullptr, Layer<VoxelType> *error_layer = nullptr) Evaluate a test layer vs a ground truth layer.
The comparison is symmetrical unless the VoxelEvaluationMode is set to ignore the voxels of one of the two layers behind the surface. The parameter ‘evaluation_result’ and ‘error_layer’ can be a nullptr.