PointCloud.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUD_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUD_H_

#include <dw/core/base/Types.h>
#include <dw/sensors/lidar/Lidar.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum {
    DW_POINTCLOUD_FORMAT_XYZI = 0, 
    DW_POINTCLOUD_FORMAT_RTHI = 1  
} dwPointCloudFormat;

typedef struct
{
    dwMemoryType type;         
    dwPointCloudFormat format; 
    bool organized;            
    dwTime_t timestamp;        
    void* points;              
    uint32_t capacity;         
    uint32_t size;             

} dwPointCloud;

DW_API_PUBLIC
dwStatus dwPointCloud_createBuffer(dwPointCloud* buffer);

DW_API_PUBLIC
dwStatus dwPointCloud_destroyBuffer(dwPointCloud* buffer);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUD_H_