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feat: 添加点云大小的接口和根据索引的访问接口

main
邱棚 2025-04-12 17:34:25 +08:00
parent 6e858135ce
commit 44a47e6541
2 changed files with 32 additions and 0 deletions
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6
include/pcl_wrapper/pcl_wrapper_api.hpp
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@ -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_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 set_point_xyzi(void* cloud, int index, float x, float y, float z, float intensity);
void delete_pointcloud(void* cloud); 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 ========== // ========== Voxel Filter ==========

26
wrapper.cpp
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@ -40,6 +40,32 @@ void delete_pointcloud(void* cloud) {
delete static_cast<PointCloudXYZ*>(cloud); // 可根据类型再区分 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 === // === 滤波器相关 ===
void* create_voxel_filter_xyz() { void* create_voxel_filter_xyz() {