WoodAlgo/Algo/DetectHole/PointCloudUtils/include/PointCloudLoader.h

#ifndef POINT_CLOUD_LOADER_H
#define POINT_CLOUD_LOADER_H

#include "VZNL_Types.h"
#include "ErrorCodes.h"

/**
 * @brief Load point cloud from TXT file
 *
 * @param [in] filename Path to TXT file
 * @param [out] outPoints Output point array (allocated by function)
 * @param [out] outRows Output row count
 * @param [out] outCols Output column count
 * @param [out] errCode Error code output
 * @return 0 on success, non-zero on error
 *
 * @pre filename != nullptr
 * @pre outPoints != nullptr
 * @pre outRows != nullptr
 * @pre outCols != nullptr
 * @pre errCode != nullptr
 *
 * @post If return value is 0, outPoints contains allocated array
 * @post Caller must free outPoints using delete[]
 */
int LoadTxtFile(
    const char* filename,
    SVzNLPointXYZ** outPoints,
    int* outRows,
    int* outCols,
    int* errCode
);

/**
 * @brief Load point cloud from PCD file
 *
 * @param [in] filename Path to PCD file
 * @param [out] outPoints Output point array (allocated by function)
 * @param [out] outRows Output row count
 * @param [out] outCols Output column count
 * @param [out] errCode Error code output
 * @return 0 on success, non-zero on error
 *
 * @pre filename != nullptr
 * @pre outPoints != nullptr
 * @pre outRows != nullptr
 * @pre outCols != nullptr
 * @pre errCode != nullptr
 *
 * @post If return value is 0, outPoints contains allocated array
 * @post Caller must free outPoints using delete[]
 */
int LoadPcdFile(
    const char* filename,
    SVzNLPointXYZ** outPoints,
    int* outRows,
    int* outCols,
    int* errCode
);

/**
 * @brief Save point cloud to TXT file
 *
 * @param [in] filename Path to output TXT file
 * @param [in] points Input point array
 * @param [in] rows Row count
 * @param [in] cols Column count
 * @param [out] errCode Error code output
 * @return 0 on success, non-zero on error
 */
int SaveTxtFile(
    const char* filename,
    const SVzNLPointXYZ* points,
    int rows,
    int cols,
    int* errCode
);

#endif // POINT_CLOUD_LOADER_H