gripper_points_publisher.h

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#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

class GripperPointsPublisher
{
public:

        GripperPointsPublisher();

        void sendGripperPoints(PointCloud Gripper, PointCloud scene);
        void callback(const PointCloud::ConstPtr& object, const PointCloud::ConstPtr& scene, tf::TransformListener *listener);

        ros::Publisher pubGripper;
        ros::Publisher pubGripper_single;
};

void filterPointCloud(const PointCloud& stuhl_object, PointCloud& reduzierteKpt, tf::TransformListener *listener);