From 44a47e6541c20f665f701221015aecdf31246dbe Mon Sep 17 00:00:00 2001
From: 12345qiupeng <qpeng0504@163.com>
Date: Sat, 12 Apr 2025 17:34:25 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0=E7=82=B9=E4=BA=91?=
 =?UTF-8?q?=E5=A4=A7=E5=B0=8F=E7=9A=84=E6=8E=A5=E5=8F=A3=E5=92=8C=E6=A0=B9?=
 =?UTF-8?q?=E6=8D=AE=E7=B4=A2=E5=BC=95=E7=9A=84=E8=AE=BF=E9=97=AE=E6=8E=A5?=
 =?UTF-8?q?=E5=8F=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 include/pcl_wrapper/pcl_wrapper_api.hpp |  6 ++++++
 wrapper.cpp                             | 26 +++++++++++++++++++++++++
 2 files changed, 32 insertions(+)

diff --git a/include/pcl_wrapper/pcl_wrapper_api.hpp b/include/pcl_wrapper/pcl_wrapper_api.hpp
index 9274551..5593658 100644
--- a/include/pcl_wrapper/pcl_wrapper_api.hpp
+++ b/include/pcl_wrapper/pcl_wrapper_api.hpp
@@ -17,6 +17,12 @@ void  reserve_pointcloud_xyz(void* cloud, int count);
 void  set_point_xyz(void* cloud, int index, float x, float y, float z);
 void  set_point_xyzi(void* cloud, int index, float x, float y, float z, float intensity);
 void  delete_pointcloud(void* cloud);
+// 统一接口：获取点数量
+int get_pointcloud_size(void* cloud);
+// 读取 PointXYZ
+bool get_point_xyz(void* cloud, int index, float* x, float* y, float* z);
+// 读取 PointXYZI
+bool get_point_xyzi(void* cloud, int index, float* x, float* y, float* z, float* intensity);
 
 // ========== Voxel Filter ==========
 
diff --git a/wrapper.cpp b/wrapper.cpp
index 229c866..4f03a5b 100644
--- a/wrapper.cpp
+++ b/wrapper.cpp
@@ -40,6 +40,32 @@ void delete_pointcloud(void* cloud) {
     delete static_cast<PointCloudXYZ*>(cloud); // 可根据类型再区分
 }
 
+int get_pointcloud_size(void* cloud) {
+    auto* pc = static_cast<PointCloudXYZ*>(cloud);
+    return static_cast<int>(pc->cloud->size());
+}
+
+bool get_point_xyz(void* cloud, int index, float* x, float* y, float* z) {
+    auto* pc = static_cast<PointCloudXYZ*>(cloud);
+    if (index < 0 || index >= pc->cloud->size()) return false;
+    const auto& pt = (*pc->cloud)[index];
+    *x = pt.x;
+    *y = pt.y;
+    *z = pt.z;
+    return true;
+}
+
+bool get_point_xyzi(void* cloud, int index, float* x, float* y, float* z, float* intensity) {
+    auto* pc = static_cast<PointCloudXYZI*>(cloud);
+    if (index < 0 || index >= pc->cloud->size()) return false;
+    const auto& pt = (*pc->cloud)[index];
+    *x = pt.x;
+    *y = pt.y;
+    *z = pt.z;
+    *intensity = pt.intensity;
+    return true;
+}
+
 // === 滤波器相关 ===
 
 void* create_voxel_filter_xyz() {