pcl::ExtracIndices的使用

pcl::ExtractIndices<PointType> eifilter (true); // Initializing with true will allow us to extract the removed indices
eifilter.setInputCloud (cloud_in);
eifilter.setIndices (indices_in);
eifilter.filter (*cloud_out);
// The resulting cloud_out contains all points of cloud_in that are indexed by indices_in
indices_rem = eifilter.getRemovedIndices ();
// The indices_rem array indexes all points of cloud_in that are not indexed by indices_in
eifilter.setNegative (true);
eifilter.filter (*indices_out);
// Alternatively: the indices_out array is identical to indices_rem
eifilter.setNegative (false);
eifilter.setUserFilterValue (1337.0);
eifilter.filterDirectly (cloud_in);
// This will directly modify cloud_in instead of creating a copy of the cloud
// It will overwrite all fields of the filtered points by the user value: 1337

上面是官网文档里面的demo。
简单来讲，设置输入点云，设置提取索引，若setNegative（false），filter(*cloud_out)就输出我们最常用的保留索引点。
反之，若setNegative(true)，filter输出 不在索引里面的点。
也可以用getRemoveIndices取得索引的补集。
默认值为false。因为false是正常的滤波逻辑。