diff --git a/.gitignore b/.gitignore
index 7db5920..05cadb2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
+.idea/
 /build/
 /cmake-build-debug/
diff --git a/pcl_wrapper.cpp b/pcl_wrapper.cpp
index 7f5883a..80623dd 100644
--- a/pcl_wrapper.cpp
+++ b/pcl_wrapper.cpp
@@ -1,24 +1,65 @@
-// pcl_wrapper.cpp
 #include <pcl/io/pcd_io.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/point_types.h>
 
+using PointType = pcl::PointXYZ;
+
+class PclPointCloud {
+public:
+    pcl::PointCloud<PointType>::Ptr cloud;
+
+    PclPointCloud() : cloud(new pcl::PointCloud<PointType>) {}
+};
+
+class PclVoxelGrid {
+public:
+    pcl::VoxelGrid<PointType> filter;
+};
+
 extern "C" {
 
-int filter_pcd(const char* input_path, const char* output_path, float leaf_size) {
-    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
-    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
-
-    if (pcl::io::loadPCDFile<pcl::PointXYZ>(input_path, *cloud) == -1)
-        return -1;
-
-    pcl::VoxelGrid<pcl::PointXYZ> sor;
-    sor.setInputCloud(cloud);
-    sor.setLeafSize(leaf_size, leaf_size, leaf_size);
-    sor.filter(*cloud_filtered);
-
-    pcl::io::savePCDFile(output_path, *cloud_filtered);
-    return 0;
+void* create_point_cloud() {
+    return new PclPointCloud();
 }
 
-}
\ No newline at end of file
+void delete_point_cloud(void* ptr) {
+    delete static_cast<PclPointCloud*>(ptr);
+}
+
+int load_point_cloud(void* ptr, const char* path) {
+    auto* cloud = static_cast<PclPointCloud*>(ptr);
+    return pcl::io::loadPCDFile<PointType>(path, *cloud->cloud);
+}
+
+int save_point_cloud(void* ptr, const char* path) {
+    auto* cloud = static_cast<PclPointCloud*>(ptr);
+    return pcl::io::savePCDFileBinary(path, *cloud->cloud);
+}
+
+void* create_voxel_filter() {
+    return new PclVoxelGrid();
+}
+
+void delete_voxel_filter(void* ptr) {
+    delete static_cast<PclVoxelGrid*>(ptr);
+}
+
+void set_voxel_leaf_size(void* ptr, float lx, float ly, float lz) {
+    auto* vf = static_cast<PclVoxelGrid*>(ptr);
+    vf->filter.setLeafSize(lx, ly, lz);
+}
+
+void set_voxel_input_cloud(void* vf_ptr, void* cloud_ptr) {
+    auto* vf = static_cast<PclVoxelGrid*>(vf_ptr);
+    auto* cloud = static_cast<PclPointCloud*>(cloud_ptr);
+    vf->filter.setInputCloud(cloud->cloud);
+}
+
+void* apply_voxel_filter(void* vf_ptr) {
+    auto* vf = static_cast<PclVoxelGrid*>(vf_ptr);
+    auto* result = new PclPointCloud();
+    vf->filter.filter(*result->cloud);
+    return result;
+}
+
+}