22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_MERGE_MONGODB_TF_TRANSFORMER_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_MERGE_MONGODB_TF_TRANSFORMER_H_
25 #include <tf/transformer.h>
28 #include <bsoncxx/document/view.hpp>
29 #include <mongocxx/client.hpp>
39 const std::string &database_name,
40 bool ensure_index =
true);
51 restore(start, end, no_new_start);
55 void restore(
long start_msec,
long end_msec,
long new_start_msec = 0);
58 void restore_tf_doc(
const bsoncxx::document::view &doc,
60 long long new_start_msec);
63 mongocxx::client *mongodb_client_;
64 std::string database_;