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 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2011, Willow Garage, Inc.
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 * $Id: example_ExtractIndices.cpp 4117 2012-01-31 17:56:02Z aichim $
 *
 */

#include <iostream>

#include <pcl/filters/extract_indices.h>

int
main (int, char**)
{
  using PointType = pcl::PointXYZ;
  using CloudType = pcl::PointCloud<PointType>;
  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->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 (pcl::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->size () << " points." << std::endl;
  return (0);
}
