Write a C++/CLI wrapper for existing C++ code to be used in C#

I have a C++ DLL that I need to call from C# code. I also need to make some changes to the C++ code to change the parameters of some methods and add some events. The source code for the DLL can be found here: [login to view URL] The new DLL needs to have the following features: 1. Must be usable from C# code to create a CSF object and call its methods and parameters. 2. The setPointCloud(double *points, int rows) method needs to be changed to accept a pointer to a buffer of CloudPoint structs instead of doubles. The CloudPoint struct is described as follows: [StructLayout([login to view URL])] public struct CloudPoint { public float X; public float Y; public float Z; public int Color; public CloudPoint(float x, float y, float z, int color) { this.X = x; this.Y = y; this.Z = z; [login to view URL] = color; } } 3. The CSF object must raise an event for a progress call back that will be used after calling the setPointCloud method to report the progress of loading in the CloudPoint structs and after calling the do_filtering method to report the progress of the filtering calculation. 4. The use of the wrapper DLL must have about the same performance and memory usage as the native C++ DLL.