Hinson_SE_ROS1_driver
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File size: 26.3KB
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1. Anti-tailing filter function
Method: Modify the corresponding parameters in the launch file: "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: Maximum value of the screening angle
2) shadows_filter_min_angle: Minimum value of the screening 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 filter function
3. When shadows_filter_level is 1, the filtering speed is faster, and the screening angle is larger
4. When shadows_filter_level is 2, the filtering speed is slower, and the screening angle is larger
5. When shadows_filter_level is 3, the filtering speed is slower, and the screening angle is smaller
6. If the above parameters are not set in the launch file, the defaults are as follows:
1) shadows_filter_level: -1 # Configure the anti-tailing filter according to the specific parameters
2) shadows_filter_max_angle: 175 # The maximum value of the screening angle is 175 degrees
3) shadows_filter_min_angle: 5 # The minimum value of the screening angle is 5 degrees
4) shadows_filter_traverse_step: 1 # Traverse each point
5) shadows_filter_window: 2 # Search the next 2 points of the traversed point to check for tailing
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