22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
25 #include "pcl_db_merge_pipeline.h"
27 #include <aspect/blackboard.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <aspect/pointcloud.h>
32 #include <aspect/tf.h>
33 #include <core/threading/thread.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
36 #include <plugins/mongodb/aspect/mongodb.h>
39 class PclDatabaseMergeInterface;
40 class BlackBoardOnMessageWaker;
41 #ifdef USE_TIMETRACKER
72 fawkes::PclDatabaseMergeInterface *merge_if_;
78 std::string cfg_database_;
79 std::string cfg_output_id_;