feat:测试两种类型体素滤波的库

PclPointCloud.cs

@@ -1,39 +1,39 @@
 using System;
 using System.Runtime.InteropServices;
 
-public class PclPointCloud : IDisposable {
+public class PclPointCloudXYZ : IDisposable {
     private IntPtr handle;
 
-    public PclPointCloud() => handle = create_point_cloud();
+    public PclPointCloudXYZ() => handle = create_pointcloud_xyz();
     // 构造函数用于内部封装 handle 对象
-    public PclPointCloud(IntPtr handle) => this.handle = handle;
+    public PclPointCloudXYZ(IntPtr handle) => this.handle = handle;
-    public void Dispose() { delete_point_cloud(handle); handle = IntPtr.Zero; }
+    public void Dispose() { delete_pointcloud(handle); handle = IntPtr.Zero; }
 
-    public int Load(string path) => load_point_cloud(handle, path);
+    public bool Load(string path) => load_pcd_xyz( path,handle);
-    public int Save(string path) => save_point_cloud(handle, path);
+    public int Save(string path) => save_pcd_xyz(path,handle);
     public IntPtr Handle => handle;
 
-    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_point_cloud();
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_pointcloud_xyz();
-    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void delete_point_cloud(IntPtr ptr);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern void delete_pointcloud(IntPtr ptr);
-    [DllImport("./pcl/libpclwrapper.dylib")] private static extern int load_point_cloud(IntPtr ptr, string path);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern bool load_pcd_xyz(string path,IntPtr ptr);
-    [DllImport("./pcl/libpclwrapper.dylib")] private static extern int save_point_cloud(IntPtr ptr, string path);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern int save_pcd_xyz(string path,IntPtr ptr);
 }
 
-public class PclVoxelGrid : IDisposable {
+public class PclVoxelGridXYZ : IDisposable {
     private IntPtr handle;
 
-    public PclVoxelGrid() => handle = create_voxel_filter();
+    public PclVoxelGridXYZ() => handle = create_voxel_filter_xyz();
     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 void SetInputCloud(PclPointCloudXYZ cloud) => set_voxel_input_cloud(handle, cloud.Handle);
-    public PclPointCloud Filter() => new PclPointCloud(apply_voxel_filter(handle));
+    public PclPointCloudXYZ Filter() => new PclPointCloudXYZ(apply_voxel_filter_xyz(handle));
 
-    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_voxel_filter();
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr create_voxel_filter_xyz();
     [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);
+    [DllImport("./pcl/libpclwrapper.dylib")] private static extern IntPtr apply_voxel_filter_xyz(IntPtr filterPtr);
 
     
 }

Program.cs

@@ -5,10 +5,10 @@ class Program
 {
     static void Main()
     {
-        using var cloud = new PclPointCloud();
+        using var cloud = new PclPointCloudXYZ();
         cloud.Load("./dataset/0.pcd");
 
-        using var voxel = new PclVoxelGrid();
+        using var voxel = new PclVoxelGridXYZ();
         voxel.SetLeafSize(0.1f, 0.1f, 0.1f);
         voxel.SetInputCloud(cloud);