WIP: C and C# bindings for ouster-sdk

[Samahu]

Related Issues & PRs

Summary of Changes

Minimal C and C# bindings for ouster-sdk to get the sensor accessible in these languages

Validation

Clone the repository with this branch:

Building the C wrapper library

Run the following build command, note the BUILD_C_WRAPPER flag:

cmake -DCMAKE_TOOLCHAIN_FILE=<PATH/TO/VCPKG> \
    -DVCPKG_MANIFEST_MODE=ON  \
    -DBUILD_C_WRAPPER=ON      \
    -DBUILD_EXAMPLES=ON       \
    -DBUILD_PCAP=ON           \
    -DBUILD_OSF=ON            \
    -DBUILD_VIZ=ON            \
    -DBUILD_SHARED_LIBRARY=ON \
    -DCMAKE_CXX_STANDARD=14   \
    -Bbuild ./ouster-sdk

This should build the ouster_c library and the two provided examples.
You can run any of the two examples as follows:

• c_client_example

./build/examples/c_client_example <sensor_url> <lidar_port> <imu_port>

• c_scan_source_example
  ``bash
  ./build/examples/c_client_example <sensor_url>

### Building the C# wrapper library and examples
Make sure you have a dotnet already installed:
```bash
dotnet build ouster-sdk/c_sharp

This should be the library and the included example, to execute the example simply execute the command:

dotnet run --project ouster-sdk/c_sharp -- <sensor_url>

[matthew-lidar]

Overall seems like a reasonable first pass, just need to sort out some questions about how we document/maintain things like this (including WASM).

Main issues I see that one would need to resolve before integration is this should probably utilize open_source to support multiple source types and we should be using packet sources instead of the older client API.

[Samahu]

Overall seems like a reasonable first pass, just need to sort out some questions about how we document/maintain things like this (including WASM).

Main issues I see that one would need to resolve before integration is this should probably utilize open_source to support multiple source types and we should be using packet sources instead of the older client API.

Yeah this is a work in progress I needed the live sensor for the most part and that' why I had in focus .. but many of the remaining API (like the XYZLut and LidarScan) are source type agnostic.