feat:实现两种体素滤波

PclPointCloud.cs

@@ -19,6 +19,25 @@ public class PclPointCloudXYZ : IDisposable {
     [DllImport("./pcl/libpclwrapper.dylib")] private static extern int save_pcd_xyz(string path,IntPtr ptr);
 }
 
+
+public class PclPointCloudXYZI : IDisposable {
+    private IntPtr handle;
+
+    public PclPointCloudXYZI() => handle = create_pointcloud_xyzi();
+    // 构造函数用于内部封装 handle 对象
+    public PclPointCloudXYZI(IntPtr handle) => this.handle = handle;
+    public void Dispose() { delete_pointcloud(handle); handle = IntPtr.Zero; }
+
+    public bool Load(string path) => load_pcd_xyzi( path,handle);
+    public int Save(string path) => save_pcd_xyzi(path,handle);
+    public IntPtr Handle => handle;
+
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_pointcloud_xyzi();
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void delete_pointcloud(IntPtr ptr);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern bool load_pcd_xyzi(string path,IntPtr ptr);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern int save_pcd_xyzi(string path,IntPtr ptr);
+}
+
 public class PclVoxelGridXYZ : IDisposable {
     private IntPtr handle;
 
@@ -36,4 +55,24 @@ public class PclVoxelGridXYZ : IDisposable {
     [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr apply_voxel_filter_xyz(IntPtr filterPtr);
 
     
+}
+
+
+public class PclVoxelGridXYZI : IDisposable {
+    private IntPtr handle;
+
+    public PclVoxelGridXYZI() => handle = create_voxel_filter_xyzi();
+    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(PclPointCloudXYZI cloud) => set_voxel_input_cloud(handle, cloud.Handle);
+    public PclPointCloudXYZI Filter() => new PclPointCloudXYZI(apply_voxel_filter_xyzi(handle));
+
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_voxel_filter_xyzi();
+    [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_xyzi(IntPtr filterPtr);
+
+    
 }