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

I have a C++ DLL that I need to call from C# code. The project needs to be delivered as source code that can be compiled in Visual Studio 2015. I also need to make some changes to the C++ code to change the parameters of some methods. The source code for the DLL can be found here: [login to view URL] The new DLL needs to have the following features: 1. The source code must be able to be compiled with Visual Studio 2015. 2. The resulting DLL must be usable from C# code to create a CSF object and call its methods and parameters. The inputs to the parameters and return types must be compatible C# types. 3. The use of the resulting C# DLL must have nearly the same performance and memory usage as the native C++ DLL and perform the same function. 4. The setPointCloud(double *points, int rows) method needs to be changed to setPointCloud(CloudPoint *points, int rows) and 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; } } 5. The do_filtering(std::vector<int>& groundIndexes, std::vector<int>& offGroundIndexes,bool exportCloth=false) method needs to be changed to do_filtering(out int[] groundIndexes, out int[] offGroundIndexes, bool exportCloth=false) or do_filtering(out List<int> groundIndexes, out List<int> offGroundIndexes, bool exportCloth=false), which ever is most appropriate for use in C# without greatly affecting memory usage and performance. If another way of providing output from this method is more appropriate for use in C# and gives better performance and memory usage, it can be suggested by the freelancer.