49 bool Proc(
const std::shared_ptr<PointCloud>& point_cloud)
override;
53 std::shared_ptr<PointCloud> target,
54 std::shared_ptr<PointCloud> source);
56 const std::shared_ptr<PointCloud>& target,
57 const std::shared_ptr<PointCloud>& source);
59 const std::string& target_frame_id,
60 const std::string& source_frame_id,
61 Eigen::Affine3d* pose);
62 void AppendPointCloud(
63 std::shared_ptr<PointCloud> point_cloud,
64 std::shared_ptr<PointCloud> point_cloud_add,
65 const Eigen::Affine3d& pose);
69 std::shared_ptr<Writer<PointCloud>> fusion_writer_;
70 std::vector<std::shared_ptr<Reader<PointCloud>>> readers_;