Extract x,y points from DWG file with a C++ library

I'm developing a path following application for my robot in order to make it move towards some x,y points in a map.
The points are contained in a DWG file, so I need to find out a way to extract them and use them as navigation waypoints.

I'm using libopencad in C++ since I would like to export the coordinates about the shapes contained in a standard DWG file.

Let's say that I have a DWG file which contains two rectangles:


By using the cadinfo.cpp sample file, I'm successfully able to open the DWG file and extract the coordinates of each line that belongs both rectangles.

Layers count: 1
1. Layer 0 contains 8 geometries
|---------Line---------|
Start Position:     62.5852 -36.5942    0
End Position:   -62.5852    -36.5942    0

Entity color: #ffffffff
|---------Line---------|
Start Position:     62.5852 -36.5942    0
End Position:   62.5852 36.5942 0

Entity color: #ffffffff
|---------Line---------|
Start Position:     62.5852 36.5942 0
End Position:   -62.5852    36.5942 0

Entity color: #ffffffff
|---------Line---------|
Start Position:     -62.5852    -36.5942    0
End Position:   -62.5852    36.5942 0

Entity color: #ffffffff
|---------Line---------|
Start Position:     62.5852 -76.4212    0
End Position:   -62.5852    -76.4212    0

Entity color: #ffffffff
|---------Line---------|
Start Position:     62.5852 -76.4212    0
End Position:   62.5852 -61.4214    0

Entity color: #ffffffff
|---------Line---------|
Start Position:     62.5852 -61.4214    0
End Position:   -62.5852    -61.4214    0

Entity color: #ffffffff
|---------Line---------|
Start Position:     -62.5852    -76.4212    0
End Position:   -62.5852    -61.4214    0

Entity color: #ffffffff

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The problem is: how can I understand what are the coordinates that belong to the first rectangle and the coordinates that belong to the second one?
Moreover, there can be more than two rectangles in each DWG file.