00001 00002 #include <ros/ros.h> 00003 #include <pcl_ros/point_cloud.h> 00004 #include <pcl/point_types.h> 00005 #include <tf/tf.h> 00006 #include <tf/transform_listener.h> 00007 00008 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; 00010 00017 class GripperPointsPublisher 00018 { 00019 public: 00020 00021 GripperPointsPublisher(); 00022 00024 void sendGripperPoints(PointCloud Gripper, PointCloud scene); 00026 void callback(const PointCloud::ConstPtr& object, const PointCloud::ConstPtr& scene, tf::TransformListener *listener); 00027 00028 ros::Publisher pubGripper; 00029 ros::Publisher pubGripper_single; 00030 }; 00031 00032 void filterPointCloud(const PointCloud& stuhl_object, PointCloud& reduzierteKpt, tf::TransformListener *listener);