PCL projection point cloud

Projection to XOY In the plane

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace std;
using namespace pcl;

void visualize(PointCloud<PointXYZ>::Ptr source, PointCloud<PointXYZ>::Ptr target)
{
    
	visualization::PCLVisualizer viewer("Point Cloud Viewer");

	//  Create two display windows 
	int v1, v2;
	viewer.createViewPort(0, 0.0, 0.5, 1.0, v1);
	viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
	//  Set the background color 
	viewer.setBackgroundColor(255, 255, 255, v1);
	viewer.setBackgroundColor(255, 255, 255, v2);

	//  Add color to point clouds 
	visualization::PointCloudColorHandlerCustom<PointXYZ> source_color(source, 0, 0, 255);  // blue

	visualization::PointCloudColorHandlerCustom<PointXYZ> target_color(target, 255, 0, 0);  // red


	//  Add a point cloud to the display window 
	viewer.addPointCloud(source, source_color, "source cloud", v1);
	viewer.addPointCloud(target, target_color, "target cloud", v2);


	while (!viewer.wasStopped())
	{
    
		viewer.spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

}


int main(int argc, char** argv)
{
    
	PointCloud<PointXYZ>::Ptr cloud(new pcl::PointCloud<PointXYZ>);
	PointCloud<PointXYZ>::Ptr filtered_cloud(new pcl::PointCloud<PointXYZ>);

	io::loadPCDFile("D:\\Data\\rabbit.pcd", *cloud);
	//  Output the number of points before filtering 
	cout << " Before filtering ：" << cloud->points.size() << " A little bit " << endl;

	//  Set the coefficient of model parameters 
	ModelCoefficients::Ptr coefficients(new ModelCoefficients());
	coefficients->values.resize(4);
	coefficients->values[0] = 0;
	coefficients->values[1] = 0;
	coefficients->values[2] = 1.0;
	coefficients->values[3] = 0;

	//  Instantiate the filter object 
	ProjectInliers<PointXYZ> proj;
	proj.setModelType(SACMODEL_PLANE);
	proj.setInputCloud(cloud);
	proj.setModelCoefficients(coefficients);
	proj.filter(*filtered_cloud);

	cout << " Yes after filtering ：" << filtered_cloud->points.size() << " A little bit " << endl;

	visualize(cloud, filtered_cloud);

	return 0;
}

Other models that can be projected

The projection models that can be used are as follows ：
Plane model ：SACMODEL_PLANE
Line model ：SACMODEL_LINE
A two-dimensional circle on a plane ：SACMODEL_CIRCLE2D
A three-dimensional circle on a plane ：SACMODEL_CIRCLE3D
Sphere model ：SACMODEL_SPHERE
Cylinder model ：SACMODEL_CYLINDER
Conical model ：SACMODEL_CONE
Torus model ：SACMODEL_TORUS
A line model parallel to a given axis ：SACMODEL_PARALLEL_LINE
Plane model perpendicular to the specified axis ：SACMODEL_PERPENDICULAR_PLANE
3D bar segmentation model ：SACMODEL_STICK