49 bool Proc(
const std::shared_ptr<PointCloud>& point_cloud)
override;
52 bool Fusion(std::shared_ptr<PointCloud> target,
53 std::shared_ptr<PointCloud> source);
54 bool IsExpired(
const std::shared_ptr<PointCloud>& target,
55 const std::shared_ptr<PointCloud>& source);
56 bool QueryPoseAffine(
const std::string& target_frame_id,
57 const std::string& source_frame_id,
58 Eigen::Affine3d* pose);
59 void AppendPointCloud(std::shared_ptr<PointCloud> point_cloud,
60 std::shared_ptr<PointCloud> point_cloud_add,
61 const Eigen::Affine3d& pose);
65 std::shared_ptr<Writer<PointCloud>> fusion_writer_;
66 std::vector<std::shared_ptr<Reader<PointCloud>>> readers_;