feat: 第一次提交

.gitignore

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+/bin/
+/obj/

PclPointCloud.cs

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+using System;
+using System.Runtime.InteropServices;
+
+public class PclPointCloud : IDisposable {
+    private IntPtr handle;
+
+    public PclPointCloud() => handle = create_point_cloud();
+    // 构造函数用于内部封装 handle 对象
+    public PclPointCloud(IntPtr handle) => this.handle = handle;
+    public void Dispose() { delete_point_cloud(handle); handle = IntPtr.Zero; }
+
+    public int Load(string path) => load_point_cloud(handle, path);
+    public int Save(string path) => save_point_cloud(handle, path);
+    public IntPtr Handle => handle;
+
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_point_cloud();
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void delete_point_cloud(IntPtr ptr);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern int load_point_cloud(IntPtr ptr, string path);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern int save_point_cloud(IntPtr ptr, string path);
+}
+
+public class PclVoxelGrid : IDisposable {
+    private IntPtr handle;
+
+    public PclVoxelGrid() => handle = create_voxel_filter();
+    public void Dispose() { delete_voxel_filter(handle); handle = IntPtr.Zero; }
+
+    public void SetLeafSize(float x, float y, float z) => set_voxel_leaf_size(handle, x, y, z);
+    public void SetInputCloud(PclPointCloud cloud) => set_voxel_input_cloud(handle, cloud.Handle);
+    public PclPointCloud Filter() => new PclPointCloud(apply_voxel_filter(handle));
+
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_voxel_filter();
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void delete_voxel_filter(IntPtr ptr);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void set_voxel_leaf_size(IntPtr ptr, float x, float y, float z);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void set_voxel_input_cloud(IntPtr filterPtr, IntPtr cloudPtr);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr apply_voxel_filter(IntPtr filterPtr);
+
+    
+}

PclWrapperTest.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+    <PropertyGroup>
+        <OutputType>Exe</OutputType>
+        <TargetFramework>net8.0</TargetFramework>
+        <ImplicitUsings>enable</ImplicitUsings>
+        <Nullable>enable</Nullable>
+    </PropertyGroup>
+
+    <ItemGroup>
+      <None Include="bin\Debug\net8.0\image_0000.pcd" />
+      <None Update="pcl\libpclwrapper.dylib">
+        <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+      </None>
+    </ItemGroup>
+
+    <ItemGroup>
+      <Content Include="bin\Debug\net8.0\libpclwrapper.dylib" />
+    </ItemGroup>
+
+    <ItemGroup>
+      <Folder Include="pcl\" />
+    </ItemGroup>
+
+</Project>

Program.cs

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+using System;
+using System.Runtime.InteropServices;
+
+class Program
+{
+    static void Main()
+    {
+        using var cloud = new PclPointCloud();
+        cloud.Load("image_0000.pcd");
+
+        using var voxel = new PclVoxelGrid();
+        voxel.SetLeafSize(0.2f, 0.2f, 0.2f);
+        voxel.SetInputCloud(cloud);
+
+        using var filtered = voxel.Filter();
+        filtered.Save("output.pcd");
+    }
+}