1. Run the following commands to compile the executable file
cmake .
make

2. Anti-tailing filtering function
Method: Trailing filter algorithm parameters: "shadows_filter_max_angle", "shadows_filter_min_angle", "shadows_filter_traverse_step", "shadows_filter_window", "shadows_filter_level"
Description: Traverse the radar data with shadows_filter_traverse_step as the step size. For each traversed point, search the next shadows_filter_window points. If the vertical angle between the two points is less than shadows_filter_min_angle or greater than shadows_filter_max_angle, set the longer point to 60.001m
1. When shadows_filter_level is -1, the filtering algorithm is configured according to the specific parameters
1) shadows_filter_max_angle: The maximum value of the filtered angle
2) shadows_filter_min_angle: The minimum value of the filtered angle
3) shadows_filter_traverse_step: Step size of the number of points traversed (check every n points)
4) shadows_filter_window: Search window size (check the next n values of the traversed point)
2. When shadows_filter_level is 0, ignore the parameter settings and do not add the anti-tailing filtering function
3. When shadows_filter_level is 1, the filtering speed is faster, and the filtering angle is larger
4. When shadows_filter_level is 2, the filtering speed is slower, and the filtering angle is larger
5. When shadows_filter_level is 3, the filtering speed is slower, and the filtering angle is smaller
6. If the above parameters are not set, the default settings are as follows:
1) shadows_filter_level: -1 # Configure the anti-tailing filter according to specific parameters
2) shadows_filter_max_angle: 175 # The maximum value of the filtered angle is 175 degrees
3) shadows_filter_min_angle: 5 # The minimum value of the filtered angle is 5 degrees
4) shadows_filter_traverse_step: 1 # Traverse each point
5) shadows_filter_window: 2 # Check if there is a tailing phenomenon in the next 2 points of the traversed point