feat: 测试点云大小的接口和根据索引的访问接口

PclPointCloud.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Drawing;
 using System.Runtime.InteropServices;
 
 public class PclPointCloudXYZ : IDisposable {
@@ -13,10 +14,15 @@ public class PclPointCloudXYZ : IDisposable {
     public int Save(string path) => save_pcd_xyz(path,handle);
     public IntPtr Handle => handle;
     
+    public int Size => get_pointcloud_size(handle);
+    public bool GetPoint(int index, out float x, out float y, out float z) => get_point_xyz(handle, index, out x, out y, out z);
+
     [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_pointcloud_xyz();
     [DllImport("./pcl/libpclwrapper.dylib")] private static extern void delete_pointcloud(IntPtr ptr);
     [DllImport("./pcl/libpclwrapper.dylib")] private static extern bool load_pcd_xyz(string path,IntPtr ptr);
     [DllImport("./pcl/libpclwrapper.dylib")] private static extern int save_pcd_xyz(string path,IntPtr ptr);
+    [DllImport("./pcl/libpclwrapper.dylib")] static extern int get_pointcloud_size(IntPtr cloud);
+    [DllImport("./pcl/libpclwrapper.dylib")] static extern bool get_point_xyz(IntPtr cloud, int index, out float x, out float y, out float z);
 }
 
 
@@ -31,11 +37,15 @@ public class PclPointCloudXYZI : IDisposable {
     public bool Load(string path) => load_pcd_xyzi( path,handle);
     public int Save(string path) => save_pcd_xyzi(path,handle);
     public IntPtr Handle => handle;
+    public int Size => get_pointcloud_size(handle);
+    public bool GetPoint(int index, out float x, out float y, out float z, out float intensity) => get_point_xyzi(handle, index, out x, out y, out z, out intensity);
 
     [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);
+    [DllImport("./pcl/libpclwrapper.dylib")] static extern int get_pointcloud_size(IntPtr cloud);
+    [DllImport("./pcl/libpclwrapper.dylib")] static extern bool get_point_xyzi(IntPtr cloud, int index, out float x, out float y, out float z, out float intensity);
 }
 
 public class PclVoxelGridXYZ : IDisposable {

Program.cs

@@ -7,12 +7,14 @@ class Program
     {
         using var cloud = new PclPointCloudXYZ();
         cloud.Load("./dataset/0.pcd");
+        Console.WriteLine("加载点云大小为：" + cloud.Size);
 
         using var voxel = new PclVoxelGridXYZ();
         voxel.SetLeafSize(0.1f, 0.1f, 0.1f);
         voxel.SetInputCloud(cloud);
 
         using var filtered = voxel.Filter();
+        Console.WriteLine("体素滤波后点云大小为：" + filtered.Size);
         filtered.Save("output.pcd");
     }
 }