PCL提取索引点云

按照给出的索引提取点云，一般是对处理结果的处理，代码如下：

// STL
#include <iostream>

// PCL
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>

int
main (int, char**)
{
  typedef pcl::PointXYZ PointType;
  typedef pcl::PointCloud<PointType> CloudType;
  CloudType::Ptr cloud (new CloudType);
  cloud->is_dense = false;
  PointType p;
  for (unsigned int i = 0; i < 5; ++i)
  {
    p.x = p.y = p.z = static_cast<float> (i);
    cloud->push_back (p);
  }

  std::cout << "Cloud has " << cloud->points.size () << " points." << std::endl;

  pcl::PointIndices indices;
  indices.indices.push_back (0);
  indices.indices.push_back (2);

  pcl::ExtractIndices<PointType> extract_indices;
  extract_indices.setIndices (boost::make_shared<const pcl::PointIndices> (indices));
  extract_indices.setInputCloud (cloud);
  pcl::PointCloud<pcl::PointXYZ>::Ptr output (new pcl::PointCloud<pcl::PointXYZ>);
  extract_indices.filter (*output);

  std::cout << "Output has " << output->points.size () << " points." << std::endl;
  return (0);
}

来源：PCL官方示例