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feat: 支持两种数据格式的体素滤波

main
邱棚 2025-04-12 17:21:27 +08:00
parent 9e2e286251
commit 6e858135ce
12 changed files with 193 additions and 246 deletions
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12
CMakeLists.txt
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@ -3,6 +3,8 @@ project(pcl_wrapper)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
# 获取 libomp 安装路径 # 获取 libomp 安装路径
execute_process( execute_process(
COMMAND brew --prefix libomp COMMAND brew --prefix libomp
@ -21,14 +23,10 @@ add_definitions(${PCL_DEFINITIONS})
# 添加库 # 添加库
add_library(pclwrapper SHARED wrapper.cpp add_library(pclwrapper SHARED wrapper.cpp
include/pcl_wrapper/point_types.hpp
include/pcl_wrapper/filter.hpp
include/pcl_wrapper/kdtree.hpp
include/pcl_wrapper/io.hpp
include/pcl_wrapper/pcl_wrapper_api.hpp include/pcl_wrapper/pcl_wrapper_api.hpp
src/filter.cpp include/pcl_wrapper/cloud_handle.hpp
src/kdtree.cpp include/pcl_wrapper/voxel_filter.hpp
src/io.cpp include/pcl_wrapper/io.hpp
) )
# 指定 OpenMP 和 PCL 库 # 指定 OpenMP 和 PCL 库

25
include/pcl_wrapper/cloud_handle.hpp Normal file
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@ -0,0 +1,25 @@
//
// Created by QP on 2025/4/12.
//
#ifndef PCL_WRAPPER_CLOUD_HANDLE_HPP
#define PCL_WRAPPER_CLOUD_HANDLE_HPP
#pragma once
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
namespace pcl_wrapper {
template<typename PointT>
struct PclPointCloud {
using CloudPtr = typename pcl::PointCloud<PointT>::Ptr;
CloudPtr cloud;
PclPointCloud() : cloud(new pcl::PointCloud<PointT>()) {}
};
using PointCloudXYZ = PclPointCloud<pcl::PointXYZ>;
using PointCloudXYZI = PclPointCloud<pcl::PointXYZI>;
} // namespace pcl_wrapper
#endif //PCL_WRAPPER_CLOUD_HANDLE_HPP

33
include/pcl_wrapper/filter.hpp
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@ -1,33 +0,0 @@
#ifndef PCL_WRAPPER_FILTER_HPP
#define PCL_WRAPPER_FILTER_HPP
// filter.hpp
#pragma once
#include <pcl/point_cloud.h>
#include "point_types.hpp"
namespace pcl_wrapper {
template<typename PointT>
class FilterBase {
public:
virtual ~FilterBase() = default;
virtual void setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud) = 0;
virtual typename pcl::PointCloud<PointT>::Ptr getFilteredCloud() = 0;
};
// filter.hpp 中追加声明（不要写实现体）
template<typename PointT>
class VoxelGridFilterImpl : public FilterBase<PointT> {
public:
void setLeafSize(float ls);
void setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud) override;
typename pcl::PointCloud<PointT>::Ptr getFilteredCloud() override;
private:
typename pcl::PointCloud<PointT>::Ptr inputCloud;
float leafSize = 0.1f;
};
} // namespace pcl_wrapper
#endif //PCL_WRAPPER_FILTER_HPP

23
include/pcl_wrapper/io.hpp
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@ -4,22 +4,27 @@
#ifndef PCL_WRAPPER_IO_HPP #ifndef PCL_WRAPPER_IO_HPP
#define PCL_WRAPPER_IO_HPP #define PCL_WRAPPER_IO_HPP
// io.hpp
#pragma once #pragma once
#include <string> #include <string>
#include "cloud_handle.hpp"
#include <pcl/io/pcd_io.h> #include <pcl/io/pcd_io.h>
#include "point_types.hpp"
namespace pcl_wrapper { namespace pcl_wrapper {
template<typename PointT> bool loadPCD_XYZ(const std::string& filename, PointCloudXYZ& out) {
typename pcl::PointCloud<PointT>::Ptr loadPCD(const std::string& filename); return pcl::io::loadPCDFile<pcl::PointXYZ>(filename, *out.cloud) == 0;
}
template<typename PointT> bool loadPCD_XYZI(const std::string& filename, PointCloudXYZI& out) {
void savePCD(const std::string& filename, const typename pcl::PointCloud<PointT>::Ptr& cloud); return pcl::io::loadPCDFile<pcl::PointXYZI>(filename, *out.cloud) == 0;
}
bool savePCD_XYZ(const std::string& filename, const PointCloudXYZ& cloud) {
return pcl::io::savePCDFileBinary(filename, *cloud.cloud) == 0;
}
bool savePCD_XYZI(const std::string& filename, const PointCloudXYZI& cloud) {
return pcl::io::savePCDFileBinary(filename, *cloud.cloud) == 0;
}
} }
#endif //PCL_WRAPPER_IO_HPP #endif //PCL_WRAPPER_IO_HPP

37
include/pcl_wrapper/kdtree.hpp
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@ -1,37 +0,0 @@
//
// Created by QP on 2025/4/12.
//
#ifndef PCL_WRAPPER_KDTREE_HPP
#define PCL_WRAPPER_KDTREE_HPP
// kdtree.hpp
#pragma once
#include <pcl/kdtree/kdtree_flann.h>
#include "point_types.hpp"
namespace pcl_wrapper {
template<typename PointT>
class KdTree {
public:
virtual ~KdTree() = default;
virtual void setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud) = 0;
virtual std::vector<int> radiusSearch(const PointT& pt, float radius) = 0;
};
template<typename PointT>
class KdTreeFLANNWrapperImpl : public KdTree<PointT> {
public:
void setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud);
std::vector<int> radiusSearch(const PointT& pt, float radius);
private:
pcl::KdTreeFLANN<PointT> kdtree;
typename pcl::PointCloud<PointT>::Ptr inputCloud;
};
}
#endif //PCL_WRAPPER_KDTREE_HPP

29
include/pcl_wrapper/pcl_wrapper_api.hpp
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@ -4,21 +4,38 @@
#ifndef PCL_WRAPPER_PCL_WRAPPER_API_HPP #ifndef PCL_WRAPPER_PCL_WRAPPER_API_HPP
#define PCL_WRAPPER_PCL_WRAPPER_API_HPP #define PCL_WRAPPER_PCL_WRAPPER_API_HPP
// pcl_wrapper/include/pcl_wrapper/pcl_wrapper_api.hpp
#pragma once #pragma once
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
// 创建滤波器实例 // ========== Cloud ==========
void* CreateVoxelGridXYZ(float leaf);
void SetInputCloudXYZ(void* filter, const float* points, int numPoints);
void ApplyVoxelGridXYZ(void* filter, float** outPoints, int* outCount);
void FreeVoxelGridXYZ(void* filter);
void* create_pointcloud_xyz();
void* create_pointcloud_xyzi();
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);
// ========== Voxel Filter ==========
void* create_voxel_filter_xyz();
void* create_voxel_filter_xyzi();
void set_voxel_leaf_size(void* filter, float lx, float ly, float lz);
void set_voxel_input_cloud(void* filter, void* cloud);
void* apply_voxel_filter_xyz(void* filter);
void* apply_voxel_filter_xyzi(void* filter);
void delete_voxel_filter(void* filter);
// ========= IO ==========
bool load_pcd_xyz(const char* filename, void* out);
bool load_pcd_xyzi(const char* filename, void* out);
bool save_pcd_xyz(const char* filename, void* cloud);
bool save_pcd_xyzi(const char* filename, void* cloud);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
#endif //PCL_WRAPPER_PCL_WRAPPER_API_HPP #endif //PCL_WRAPPER_PCL_WRAPPER_API_HPP

19
include/pcl_wrapper/point_types.hpp
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@ -1,19 +0,0 @@
//
// Created by QP on 2025/4/12.
//
#ifndef PCL_WRAPPER_POINT_TYPES_HPP
#define PCL_WRAPPER_POINT_TYPES_HPP
#pragma once
#include <pcl/point_types.h>
namespace pcl_wrapper {
using PointXYZ = pcl::PointXYZ;
using PointXYZI = pcl::PointXYZI;
}
#endif //PCL_WRAPPER_POINT_TYPES_HPP

36
include/pcl_wrapper/voxel_filter.hpp Normal file
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@ -0,0 +1,36 @@
//
// Created by QP on 2025/4/12.
//
#ifndef PCL_WRAPPER_VOXEL_FILTER_HPP
#define PCL_WRAPPER_VOXEL_FILTER_HPP
#pragma once
#include <pcl/filters/voxel_grid.h>
namespace pcl_wrapper {
template<typename PointT>
struct VoxelGridWrapper {
pcl::VoxelGrid<PointT> filter;
void setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud) {
filter.setInputCloud(cloud);
}
void setLeafSize(float lx, float ly, float lz) {
filter.setLeafSize(lx, ly, lz);
}
typename pcl::PointCloud<PointT>::Ptr filterCloud() {
typename pcl::PointCloud<PointT>::Ptr result(new pcl::PointCloud<PointT>());
filter.filter(*result);
return result;
}
};
using VoxelGridXYZ = VoxelGridWrapper<pcl::PointXYZ>;
using VoxelGridXYZI = VoxelGridWrapper<pcl::PointXYZI>;
} // namespace pcl_wrapper
#endif //PCL_WRAPPER_VOXEL_FILTER_HPP

32
src/filter.cpp
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@ -1,32 +0,0 @@
// pcl_wrapper/src/filter.cpp
#include "filter.hpp"
#include <pcl/filters/voxel_grid.h>
namespace pcl_wrapper {
template<typename PointT>
void VoxelGridFilterImpl<PointT>::setLeafSize(float ls) {
leafSize = ls;
}
template<typename PointT>
void VoxelGridFilterImpl<PointT>::setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud) {
inputCloud = cloud;
}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr VoxelGridFilterImpl<PointT>::getFilteredCloud() {
pcl::VoxelGrid<PointT> voxel;
voxel.setInputCloud(inputCloud);
voxel.setLeafSize(leafSize, leafSize, leafSize);
typename pcl::PointCloud<PointT>::Ptr filtered(new pcl::PointCloud<PointT>());
voxel.filter(*filtered);
return filtered;
}
// 显式实例化
template class VoxelGridFilterImpl<pcl::PointXYZ>;
template class VoxelGridFilterImpl<pcl::PointXYZI>;
} // namespace pcl_wrapper

29
src/io.cpp
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@ -1,29 +0,0 @@
// pcl_wrapper/src/io.cpp
#include "io.hpp"
namespace pcl_wrapper {
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr loadPCD(const std::string& filename) {
typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
if (pcl::io::loadPCDFile<PointT>(filename, *cloud) == -1) {
throw std::runtime_error("Failed to load PCD file: " + filename);
}
return cloud;
}
template<typename PointT>
void savePCD(const std::string& filename, const typename pcl::PointCloud<PointT>::Ptr& cloud) {
if (pcl::io::savePCDFileBinary(filename, *cloud) == -1) {
throw std::runtime_error("Failed to save PCD file: " + filename);
}
}
// 显式实例化
template pcl::PointCloud<pcl::PointXYZ>::Ptr loadPCD<pcl::PointXYZ>(const std::string&);
template pcl::PointCloud<pcl::PointXYZI>::Ptr loadPCD<pcl::PointXYZI>(const std::string&);
template void savePCD<pcl::PointXYZ>(const std::string&, const pcl::PointCloud<pcl::PointXYZ>::Ptr&);
template void savePCD<pcl::PointXYZI>(const std::string&, const pcl::PointCloud<pcl::PointXYZI>::Ptr&);
} // namespace pcl_wrapper

24
src/kdtree.cpp
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@ -1,24 +0,0 @@
// pcl_wrapper/src/kdtree.cpp
#include "kdtree.hpp"
namespace pcl_wrapper {
template<typename PointT>
void KdTreeFLANNWrapperImpl<PointT>::setInputCloud(typename pcl::PointCloud<PointT>::Ptr cloud) {
inputCloud = cloud;
kdtree.setInputCloud(cloud);
}
template<typename PointT>
std::vector<int> KdTreeFLANNWrapperImpl<PointT>::radiusSearch(const PointT& pt, float radius) {
std::vector<int> indices;
std::vector<float> sqrDistances;
kdtree.radiusSearch(pt, radius, indices, sqrDistances);
return indices;
}
// 显式模板实例化
template class KdTreeFLANNWrapperImpl<pcl::PointXYZ>;
template class KdTreeFLANNWrapperImpl<pcl::PointXYZI>;
// namespace pcl_wrapper

140
wrapper.cpp
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@ -1,64 +1,104 @@
#include "cloud_handle.hpp"
// pcl_wrapper/src/wrapper.cpp #include "voxel_filter.hpp"
#include "filter.hpp" #include "io.hpp"
#include "point_types.hpp"
#include "pcl_wrapper_api.hpp" #include "pcl_wrapper_api.hpp"
#include <vector>
#include <cstring>
using namespace pcl_wrapper; using namespace pcl_wrapper;
using CloudPtr = pcl::PointCloud<PointXYZ>::Ptr; // === 点云相关 ===
class VoxelGridXYZBridge {
public:
VoxelGridXYZBridge(float leaf) {
filter.setLeafSize(leaf);
}
void setInput(const float* points, int count) {
CloudPtr cloud(new pcl::PointCloud<PointXYZ>());
cloud->resize(count);
for (int i = 0; i < count; ++i) {
(*cloud)[i].x = points[3 * i];
(*cloud)[i].y = points[3 * i + 1];
(*cloud)[i].z = points[3 * i + 2];
}
filter.setInputCloud(cloud);
}
void getFiltered(float** outPts, int* outCount) {
auto cloud = filter.getFilteredCloud();
*outCount = cloud->size();
*outPts = new float[*outCount * 3];
for (int i = 0; i < *outCount; ++i) {
(*outPts)[3 * i + 0] = (*cloud)[i].x;
(*outPts)[3 * i + 1] = (*cloud)[i].y;
(*outPts)[3 * i + 2] = (*cloud)[i].z;
}
}
private:
VoxelGridFilterImpl<PointXYZ> filter;
};
extern "C" { extern "C" {
void* CreateVoxelGridXYZ(float leaf) { void* create_pointcloud_xyz() {
return new VoxelGridXYZBridge(leaf); return new PointCloudXYZ();
} }
void SetInputCloudXYZ(void* obj, const float* points, int count) { void* create_pointcloud_xyzi() {
static_cast<VoxelGridXYZBridge*>(obj)->setInput(points, count); return new PointCloudXYZI();
} }
void ApplyVoxelGridXYZ(void* obj, float** outPoints, int* outCount) { void reserve_pointcloud_xyz(void* cloud, int count) {
static_cast<VoxelGridXYZBridge*>(obj)->getFiltered(outPoints, outCount); auto* pc = static_cast<PointCloudXYZ*>(cloud);
pc->cloud->resize(count);
} }
void FreeVoxelGridXYZ(void* obj) { void set_point_xyz(void* cloud, int index, float x, float y, float z) {
delete static_cast<VoxelGridXYZBridge*>(obj); auto* pc = static_cast<PointCloudXYZ*>(cloud);
(*pc->cloud)[index].x = x;
(*pc->cloud)[index].y = y;
(*pc->cloud)[index].z = z;
} }
} // extern C void set_point_xyzi(void* cloud, int index, float x, float y, float z, float intensity) {
auto* pc = static_cast<PointCloudXYZI*>(cloud);
(*pc->cloud)[index].x = x;
(*pc->cloud)[index].y = y;
(*pc->cloud)[index].z = z;
(*pc->cloud)[index].intensity = intensity;
}
void delete_pointcloud(void* cloud) {
delete static_cast<PointCloudXYZ*>(cloud); // 可根据类型再区分
}
// === 滤波器相关 ===
void* create_voxel_filter_xyz() {
return new VoxelGridXYZ();
}
void* create_voxel_filter_xyzi() {
return new VoxelGridXYZI();
}
void set_voxel_leaf_size(void* filter, float lx, float ly, float lz) {
auto* vf_xyz = static_cast<VoxelGridXYZ*>(filter);
vf_xyz->setLeafSize(lx, ly, lz); // 默认按XYZ处理
}
void set_voxel_input_cloud(void* filter, void* cloud) {
auto* vf = static_cast<VoxelGridXYZ*>(filter);
auto* pc = static_cast<PointCloudXYZ*>(cloud);
vf->setInputCloud(pc->cloud);
}
void* apply_voxel_filter_xyz(void* filter) {
auto* vf = static_cast<VoxelGridXYZ*>(filter);
auto* out = new PointCloudXYZ();
out->cloud = vf->filterCloud();
return out;
}
void* apply_voxel_filter_xyzi(void* filter) {
auto* vf = static_cast<VoxelGridXYZI*>(filter);
auto* out = new PointCloudXYZI();
out->cloud = vf->filterCloud();
return out;
}
void delete_voxel_filter(void* ptr) {
delete static_cast<VoxelGridXYZ*>(ptr); // 可再细分
}
// === IO相关 ===
bool load_pcd_xyz(const char* filename, void* out) {
auto* pc = static_cast<PointCloudXYZ*>(out);
return loadPCD_XYZ(filename, *pc);
}
bool load_pcd_xyzi(const char* filename, void* out) {
auto* pc = static_cast<PointCloudXYZI*>(out);
return loadPCD_XYZI(filename, *pc);
}
bool save_pcd_xyz(const char* filename, void* cloud) {
auto* pc = static_cast<PointCloudXYZ*>(cloud);
return savePCD_XYZ(filename, *pc);
}
bool save_pcd_xyzi(const char* filename, void* cloud) {
auto* pc = static_cast<PointCloudXYZI*>(cloud);
return savePCD_XYZI(filename, *pc);
}
}