From 80c17b89f8ec23bf64fc5d8650adb0cce0bd9ae0 Mon Sep 17 00:00:00 2001
From: 12345qiupeng <qpeng0504@163.com>
Date: Sat, 12 Apr 2025 17:25:49 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E5=AE=9E=E7=8E=B0=E4=B8=A4=E7=A7=8D?=
 =?UTF-8?q?=E4=BD=93=E7=B4=A0=E6=BB=A4=E6=B3=A2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 PclPointCloud.cs | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)

diff --git a/PclPointCloud.cs b/PclPointCloud.cs
index 33e64cb..a62f5fa 100644
--- a/PclPointCloud.cs
+++ b/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);
+
+    
 }
\ No newline at end of file