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ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"
http://arxiv.org/abs/1705.09785
GNU General Public License v3.0
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Difference between "Average RMSE" and "RMSE on average transformation"? #49

Closed villanuevab closed 6 years ago

villanuevab commented 6 years ago

What is the difference between the two reported RMSE values? And which one is plotted in https://github.com/ankitdhall/lidar_camera_calibration/issues/22 ?

Average RMSE is: 0.02554
RMSE on average transformation is: 0.078944

Thanks for your time!

karnikram commented 6 years ago

Average RMSE is the average of the RMSEs from all the iterations. The RMSE at each iteration is calculated using that iteration's estimate of the transformation, and they're all added up together to calculate the "Average RMSE".

The second value is the RMSE calculated using the average transformation, and this is what is shown on the plot as well.

Hope this helps!