This repository is a utility library for using cwipc objects to represent pointclouds. It is part of the cwipc suite, https://github.com/cwi-dis/cwipc, and should generally be installed or built as part of that suite.
See the cwipc readme file for details.
The idea behind a cwipc pointcloud object is that it represents a pointcloud (with x/y/z coordinates, r/g/b values and possibly information on which camera angle the point was captured from) without having to include the whole PCL Point Cloud Library API if you do not need it.
the idea is that you can pass a cwipc object around without knowing what is inside it, and if the receiving end also has PCL knowledge it can access the pointcloud data without it having been copied. And if a receiver does need access to the individual point data it will only be copied when it arrives there (so a receiver can allocate buffers in the right type of memory, etc).
The current design document is in pointcloud-api.md.