text: #ifndef __TOFBF_H_
  #define __TOFBF_H_
  
  #include <stdint.h>
  
  #include <vector>
  
  #include "lipkg.hpp"
  
  namespace ldlidar
  {
  class Tofbf
  {
  private:
    const int CONFIDENCE_LOW = 15;     /* Low confidence threshold */
    const int CONFIDENCE_SINGLE = 220; /* Discrete points require higher confidence */
    const int SCAN_FRE = 4500;         /* Default scan frequency, to change, read according to radar protocol */
    double offset_x, offset_y;
    double curr_speed;
    Tofbf() = delete;
    Tofbf(const Tofbf &) = delete;
    Tofbf &operator=(const Tofbf &) = delete;
  
  public:
    Tofbf(int speed);
    std::vector<PointData> NearFilter(const std::vector<PointData> &tmp) const;
    ~Tofbf();
  };
  
  }  // namespace ldlidar
  
  #endif
  