Save cs example into an actual project

examples/csharp/Demo.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <Target Name="PreBuild" BeforeTargets="PreBuildEvent">
+    <Exec Command="COPY /Y ..\..\bin\* $(OutDir)" />
+  </Target>
+
+</Project>

examples/csharp/Demo.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.14.36429.23 d17.14
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Demo", "Demo.csproj", "{EBDDE3D7-AF12-4A1F-B099-0D046C271859}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{EBDDE3D7-AF12-4A1F-B099-0D046C271859}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {1E4249FD-1F82-4EE1-AF0B-68CAB69466C7}
+	EndGlobalSection
+EndGlobal

examples/csharp/LivePlotter.cs

@@ -1,10 +1,10 @@
 using System;
 using System.Numerics;
 using System.Runtime.InteropServices;
-using Common.Data;
-using pointid = System.UInt64;
 
-namespace TysonPalletScanner
+using PointID = System.UInt64;
+
+namespace Demo
 {
     public class LivePlotter
     {
@@ -15,22 +15,22 @@ namespace TysonPalletScanner
         public static extern bool stop();
 
         [DllImport("LivePlotter.dll")]
-        public static extern pointid create_point(float x, float y, float z);
+        public static extern PointID create_point(float x, float y, float z);
 
         [DllImport("LivePlotter.dll")]
-        public static extern void set_color(pointid id, float r, float g, float b);
+        public static extern void set_color(PointID id, float r, float g, float b);
 
         [DllImport("LivePlotter.dll")]
-        public static extern void set_scale(pointid id, float scale);
+        public static extern void set_scale(PointID id, float scale);
 
         [DllImport("LivePlotter.dll")]
-        public static extern void update_point(pointid id, float x, float y, float z);
+        public static extern void update_point(PointID id, float x, float y, float z);
 
         [DllImport("LivePlotter.dll")]
-        public static extern void set_lifetime(pointid id, float new_lifetime_s);
+        public static extern void set_lifetime(PointID id, float new_lifetime_s);
 
         [DllImport("LivePlotter.dll")]
-        public static extern void clear_point(pointid id);
+        public static extern void clear_point(PointID id);
 
         public static void PlotCameraPoses()
         {
@@ -54,7 +54,7 @@ namespace TysonPalletScanner
                         Vector3 local = new(0);
                         local[m] = n * 10.0f;
                         Vector3 global = pose * local;
-                        pointid id = create_point(global.X, global.Y, global.Z);
+                        PointID id = create_point(global.X, global.Y, global.Z);
 
                         Vector3 color = new(0);
                         color[m] = 1.0f;

examples/csharp/Pose.cs

@@ -0,0 +1,40 @@
+using System.Numerics;
+
+namespace Demo
+{
+    /// <summary>
+    /// <para>
+    /// Represents a rigid transformation from one coordinate system to another. <b>NOTE: By default, unless otherwise
+    /// stated, the <c>Pose</c> of an object transforms its local space to the ambient world space. </b>
+    /// </para>
+    /// <para>
+    /// Given two <c>Pose</c>s <c>p1</c> and <c>p2</c> which transform from space A to B and from B to C respectively,
+    /// the pose <c>p2 * p1</c> transforms from A to C, and <c>p1 * v</c> transforms a vector <c>v</c> from space A to
+    /// B. A <c>Pose</c> has a rotation and a translation. The rotation is always applied first, followed by the
+    /// translation.
+    /// </para>
+    /// </summary>
+    /// <param name="rotation">The rotation of this pose.</param>
+    /// <param name="translation">The translation of this pose.</param>
+    public struct Pose(Quaternion rotation, Vector3 translation)
+    {
+        public Vector3 Translation { readonly get; set; } = translation;
+        public Quaternion Rotation { readonly get; set; } = rotation;
+
+        public static Pose Identity => new(Quaternion.Identity, Vector3.Zero);
+
+        public Pose(Vector3 translation) : this(Quaternion.Identity, translation) { }
+        public Pose(Quaternion rotation) : this(rotation, Vector3.Zero) { }
+
+        public static Vector3 operator *(Pose p, Vector3 v) => Vector3.Transform(v, p.Rotation) + p.Translation;
+        public static Pose operator *(Pose a, Pose b) => new(a.Rotation * b.Rotation, a * b.Translation);
+        public readonly Pose Inverse
+        {
+            get
+            {
+                var rotInv = Quaternion.Conjugate(Rotation);
+                return new(rotInv, -Vector3.Transform(Translation, rotInv));
+            }
+        }
+    }
+}

examples/csharp/Program.cs

@@ -0,0 +1,6 @@
+using Demo;
+
+LivePlotter.start(800, 800);
+LivePlotter.PlotCameraPoses();
+
+while (true) ;