fov_trimming.hpp

Go to the documentation of this file.

#pragma once
 
#include <cmath>
#include <cstring>
#include <utils/lidar_point.hpp>
#include <utils/trimming_parameters.hpp>
 
#include "sensor_msgs/msg/point_cloud2.hpp"
 
class FovTrimming {
public:
  virtual void fov_trimming(const sensor_msgs::msg::PointCloud2::SharedPtr& point_cloud,
                            sensor_msgs::msg::PointCloud2::SharedPtr& trimmed_cloud) const = 0;
 
  bool within_limits(float x, float y, float z, float intensity, const TrimmingParameters& params,
                     const double max_range) const;
 
protected:
  TrimmingParameters params_;
};