From f11b3491b725be9b6a96bc9144dbd75ade04e291 Mon Sep 17 00:00:00 2001
From: 12345qiupeng <qpeng0504@163.com>
Date: Sat, 12 Apr 2025 00:02:19 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E7=AC=AC=E4=B8=80=E6=AC=A1=E6=8F=90?=
 =?UTF-8?q?=E4=BA=A4?=
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---
 .gitignore      |  2 ++
 CMakeLists.txt  | 33 +++++++++++++++++++++++++++++++++
 pcl_wrapper.cpp | 24 ++++++++++++++++++++++++
 3 files changed, 59 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 CMakeLists.txt
 create mode 100644 pcl_wrapper.cpp

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..7db5920
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+/build/
+/cmake-build-debug/
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..6b12698
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.10)
+project(pcl_wrapper)
+
+set(CMAKE_CXX_STANDARD 17)
+
+# 自动获取 libomp 安装路径
+execute_process(
+        COMMAND brew --prefix libomp
+        OUTPUT_VARIABLE LIBOMP_PREFIX
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+# 设置头文件和库路径
+include_directories("${LIBOMP_PREFIX}/include")
+link_directories("${LIBOMP_PREFIX}/lib")
+
+# 查找包
+find_package(PCL REQUIRED)
+
+# 设置编译选项
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Xpreprocessor -fopenmp -I${LIBOMP_PREFIX}/include")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${LIBOMP_PREFIX}/lib -lomp")
+
+# 设置 PCL
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+# 生成动态库
+add_library(pclwrapper SHARED pcl_wrapper.cpp)
+
+# 统一风格链接
+target_link_libraries(pclwrapper PUBLIC ${PCL_LIBRARIES} -lomp)
\ No newline at end of file
diff --git a/pcl_wrapper.cpp b/pcl_wrapper.cpp
new file mode 100644
index 0000000..7f5883a
--- /dev/null
+++ b/pcl_wrapper.cpp
@@ -0,0 +1,24 @@
+// pcl_wrapper.cpp
+#include <pcl/io/pcd_io.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/point_types.h>
+
+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;
+}
+
+}
\ No newline at end of file