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
{
    uint32_t layerIdx;  
    uint32_t size;      
    const void* points; 

} dwPointCloudLayer;

typedef struct
{
    uint32_t elementSize; 
    uint32_t channelIdx;  
    uint32_t size;        

    void* data;

} dwPointCloudAuxChannel;

#define DW_POINT_CLOUD_MAX_LAYERS 16U
#define DW_POINT_CLOUD_MAX_AUX_CHANNELS 16U

typedef struct
{
    dwMemoryType type;         
    dwPointCloudFormat format; 
    bool organized;            

    dwTime_t timestamp; 

    void* points;      
    uint32_t capacity; 
    uint32_t size;     

    dwTime_t hostStartTimestamp; 
    dwTime_t hostEndTimestamp;   

    uint32_t maxPointsPerLayer; 
    uint32_t numLayers;         
    dwPointCloudLayer layers[DW_POINT_CLOUD_MAX_LAYERS];

    uint32_t numAuxChannels; 
    dwPointCloudAuxChannel auxChannels[DW_POINT_CLOUD_MAX_AUX_CHANNELS];

} dwPointCloud;

DW_API_PUBLIC
dwStatus dwPointCloud_createBuffer(dwPointCloud* buffer);

DW_API_PUBLIC
dwStatus dwPointCloud_destroyBuffer(dwPointCloud* buffer);

DW_API_PUBLIC
dwStatus dwPointCloud_create(dwPointCloud* pointCloud,
                             dwPointCloudFormat const format,
                             dwMemoryType const memoryType,
                             uint32_t const maxPointsPerLayer,
                             uint32_t const numRequestedLayers,
                             uint32_t const* auxChannelsElemSize,
                             uint32_t const numRequestedAuxChannels);

DW_API_PUBLIC
dwStatus dwPointCloud_destroy(dwPointCloud* pointCloud);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUD_H_