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Maybe you want to use LaserScanAngularBoundsFilter instead of ScanShadowFilter. ScanShadowFilter removes laser data points which satisfies the following conditions : for all p1, if exists point p2 in (p1 -window, p1 + window), so that (∠O P1 P2) < minAngular, or (∠O P1 P2) > maxAngular, then, all datapoint in (p1 - neigbor, p1 + neigbor) will be removed. Where O means the origin of the laser.

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