15 #include <mrpt/img/TCamera.h>
16 #include <mrpt/math/CMatrixDynamic.h>
53 void initialize(
const mrpt::containers::yaml& params)
override;
60 const mrpt::poses::CPose3D& localPose,
61 const Pairings& pairingsFromICP)
const override;
75 const mrpt::maps::CPointsMap& pts,
76 const std::optional<mrpt::poses::CPose3D>& relativePose =
79 std::vector<double>
scores(
80 const mrpt::math::CMatrixDouble& m1,
81 const mrpt::math::CMatrixDouble& m2)
const;