22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_STORE_PCL_DB_STORE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_STORE_PCL_DB_STORE_THREAD_H_
25 #include <aspect/blackboard.h>
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <aspect/pointcloud.h>
30 #include <core/threading/thread.h>
31 #include <pcl/point_cloud.h>
32 #include <pcl/point_types.h>
33 #include <plugins/mongodb/aspect/mongodb.h>
36 class PclDatabaseStoreInterface;
37 class BlackBoardOnMessageWaker;
58 bool store_pointcloud(std::string pcl_id,
60 std::string collection,
72 fawkes::PclDatabaseStoreInterface *store_if_;
76 std::string cfg_input_id_;
77 std::string cfg_database_;