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hi, if you mean background subtraction as filtering then yes. PCL has filtering functions that you can use. But if you mean to subtract the table when u have objects of attention then there is no ready made package as such but you may go through the segmentation tutorial to get the cloud on top of the table and then process them. If you can specify what is the background in your case then we may be able to give a precise answer here.

Hope it helps!!!

Karthik