Pycparser requires types to be defined before declarations are properly parsed, so it will have to be a very simple header with only standard C types. While theoretically it could work, I'm not sure it would be very useful.
Note that the pypi package for autopxd includes a set of stub headers from standard C libraries(provided by pycparser itself) and these are used instead of the standard headers, so there's a good chance it will work even on complicated headers. I have successfully converted libuv headers, for example(though I didn't examine the result to see if it was correct)
What would be the use case for using autopxd without C preprocessor being available? There's a pure python implementation of cpp:
https://github.com/dabeaz/ply/blob/master/ply/cpp.py , in theory it could be used as a fallback if a real cpp is not available on PATH.