{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.916000, -0.144000, -0.468041 ], "estimate": [ 0.916000, -0.144000, -0.468041 ], "true_pose": [ 0.916000, -0.144000, -0.468041 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.660000, 6.860000, 7.160000, 7.460000, 7.810000, 8.160000, 9.840000, 10.060000, 10.610000, 11.210000, 12.660000, 12.710000, 12.910000, 12.910000, 12.860000, 13.110000, 13.660000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 50.000000, 9.710000, 7.860000, 6.660000, 5.810000, 5.060000, 4.510000, 4.160000, 3.760000, 3.460000, 3.210000, 3.010000, 2.760000, 2.610000, 2.460000, 2.360000, 2.210000, 2.110000, 2.010000, 1.910000, 1.840000, 1.790000, 1.690000, 1.640000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.140000, 1.140000, 1.110000, 1.110000, 1.060000, 1.040000, 1.060000, 1.110000, 1.110000, 1.140000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.690000, 1.790000, 1.840000, 1.890000, 1.960000, 2.060000, 2.110000, 2.260000, 2.360000, 2.460000, 2.610000, 2.710000, 2.910000, 3.110000, 3.360000, 3.610000, 3.960000, 4.360000, 4.560000, 4.910000, 4.910000, 4.910000, 4.960000, 5.010000, 5.060000, 5.010000, 5.060000, 5.110000, 5.110000, 5.160000, 5.210000, 5.260000, 5.260000, 5.310000, 5.360000, 5.360000, 5.460000, 5.560000, 5.560000, 5.610000, 4.960000, 4.510000, 4.110000, 3.860000, 3.610000, 3.510000, 3.560000, 3.560000, 3.910000, 3.960000, 3.960000, 4.060000, 50.000000, 50.000000, 50.000000, 50.000000, 4.310000, 4.260000, 2.040000, 1.990000, 1.940000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.540000, 1.490000, 1.540000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 91, 199600 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.822000, -0.205000, -1.015149 ], "estimate": [ 0.822000, -0.205000, -1.015149 ], "true_pose": [ 0.822000, -0.205000, -1.015149 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.240000, 3.290000, 3.340000, 3.390000, 3.390000, 3.490000, 3.490000, 3.560000, 3.610000, 3.660000, 3.760000, 3.810000, 3.860000, 3.910000, 4.010000, 4.110000, 4.160000, 4.260000, 4.310000, 4.410000, 4.560000, 4.660000, 4.760000, 4.910000, 5.060000, 5.210000, 5.310000, 5.460000, 5.710000, 5.860000, 6.060000, 6.260000, 6.560000, 6.810000, 7.010000, 7.310000, 7.660000, 8.060000, 9.810000, 9.810000, 10.460000, 11.110000, 12.670000, 12.610000, 12.910000, 13.110000, 12.910000, 13.110000, 13.460000, 21.910000, 21.910000, 21.910000, 50.000000, 39.660000, 50.000000, 43.460000, 12.260000, 12.210000, 12.010000, 12.010000, 12.060000, 10.460000, 8.560000, 7.260000, 6.260000, 5.510000, 4.960000, 4.460000, 4.060000, 3.760000, 3.460000, 3.210000, 3.010000, 2.860000, 2.660000, 2.510000, 2.360000, 2.260000, 2.160000, 2.060000, 1.990000, 1.940000, 1.890000, 1.790000, 1.740000, 1.690000, 1.640000, 1.540000, 1.540000, 1.490000, 1.440000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.170000, 1.150000, 1.100000, 1.120000, 1.150000, 1.150000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.640000, 1.740000, 1.790000, 1.890000, 1.910000, 1.960000, 2.110000, 2.210000, 2.310000, 2.410000, 2.560000, 2.660000, 2.910000, 3.060000, 3.310000, 3.560000, 3.860000, 4.160000, 4.660000, 5.210000, 5.810000, 6.660000, 7.660000, 9.360000, 11.860000, 18.710000, 23.760000, 23.810000, 29.460000, 29.410000, 29.460000, 16.060000, 13.010000, 10.660000, 9.260000, 8.110000, 7.060000, 6.310000, 5.710000, 5.260000, 4.860000, 4.460000, 4.160000, 3.910000, 3.660000, 3.590000, 3.590000, 3.960000, 3.960000, 3.960000, 4.010000, 4.260000, 50.000000, 50.000000, 50.000000, 4.510000, 4.360000, 2.090000, 2.040000, 1.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 92, 159898 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.796000, -0.235000, -1.538711 ], "estimate": [ 0.796000, -0.235000, -1.538711 ], "true_pose": [ 0.796000, -0.235000, -1.538711 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 11.810000, 9.460000, 7.710000, 6.760000, 6.360000, 5.160000, 4.610000, 4.210000, 3.860000, 3.560000, 3.310000, 1.860000, 1.840000, 1.840000, 1.890000, 2.090000, 1.860000, 1.890000, 1.890000, 1.890000, 2.340000, 2.940000, 2.940000, 3.040000, 2.990000, 3.090000, 3.090000, 3.090000, 3.140000, 3.160000, 3.240000, 3.210000, 3.260000, 3.310000, 3.360000, 3.410000, 3.460000, 3.510000, 3.560000, 3.610000, 3.710000, 3.760000, 3.810000, 3.910000, 3.960000, 4.060000, 4.110000, 4.210000, 4.310000, 4.360000, 4.510000, 4.610000, 4.710000, 4.860000, 5.010000, 5.110000, 5.260000, 5.460000, 5.610000, 5.810000, 5.960000, 6.210000, 6.460000, 6.660000, 7.010000, 7.210000, 7.560000, 7.960000, 9.860000, 9.810000, 10.360000, 11.010000, 12.660000, 12.660000, 12.860000, 13.010000, 13.010000, 13.110000, 13.360000, 21.910000, 21.910000, 21.910000, 50.000000, 39.860000, 50.000000, 43.360000, 12.510000, 12.260000, 12.060000, 11.960000, 12.060000, 10.910000, 8.910000, 7.510000, 6.510000, 5.710000, 5.160000, 4.610000, 4.260000, 3.910000, 3.610000, 3.360000, 3.110000, 2.960000, 2.760000, 2.660000, 2.510000, 2.360000, 2.260000, 2.160000, 2.060000, 1.960000, 1.910000, 1.810000, 1.790000, 1.740000, 1.690000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.190000, 1.140000, 1.150000, 1.150000, 1.100000, 1.100000, 1.150000, 1.150000, 1.120000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.940000, 2.010000, 2.110000, 2.210000, 2.310000, 2.410000, 2.510000, 2.710000, 2.860000, 3.060000, 3.260000, 3.510000, 3.810000, 4.210000, 4.660000, 5.210000, 5.810000, 6.760000, 8.510000, 9.560000, 12.310000, 17.860000, 23.810000, 29.460000, 29.460000, 29.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 92, 919700 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.693000, -0.377000, -2.317058 ], "estimate": [ 0.693000, -0.377000, -2.317058 ], "true_pose": [ 0.693000, -0.377000, -2.317058 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.060000, 3.060000, 2.960000, 2.910000, 3.140000, 3.090000, 3.090000, 3.040000, 3.040000, 2.990000, 2.940000, 2.260000, 2.160000, 2.140000, 2.160000, 2.860000, 2.110000, 2.060000, 2.090000, 2.060000, 6.960000, 6.910000, 6.910000, 4.510000, 6.860000, 6.810000, 5.710000, 5.610000, 6.460000, 6.610000, 7.610000, 7.760000, 10.310000, 10.260000, 12.910000, 14.010000, 17.610000, 50.000000, 27.010000, 26.910000, 21.210000, 21.210000, 13.710000, 9.960000, 7.660000, 6.410000, 5.310000, 4.760000, 4.210000, 3.760000, 1.760000, 1.690000, 1.690000, 1.690000, 1.710000, 2.640000, 1.710000, 1.690000, 1.740000, 1.690000, 1.940000, 2.790000, 2.740000, 2.840000, 2.840000, 2.840000, 2.890000, 2.890000, 2.890000, 2.940000, 2.990000, 2.990000, 3.040000, 3.090000, 3.090000, 3.140000, 3.190000, 3.240000, 3.260000, 3.340000, 3.360000, 3.360000, 3.460000, 3.510000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.910000, 3.960000, 4.060000, 4.110000, 4.260000, 4.360000, 4.410000, 4.560000, 4.710000, 4.860000, 4.960000, 5.110000, 5.310000, 5.410000, 5.610000, 5.810000, 6.060000, 6.260000, 6.510000, 6.860000, 7.160000, 7.360000, 7.760000, 9.610000, 9.610000, 10.210000, 10.910000, 12.460000, 12.460000, 12.710000, 12.960000, 12.660000, 12.610000, 13.260000, 21.760000, 21.760000, 21.710000, 50.000000, 50.000000, 50.000000, 50.000000, 46.860000, 12.210000, 12.160000, 11.860000, 12.060000, 11.410000, 9.410000, 8.060000, 7.060000, 6.260000, 5.610000, 5.110000, 4.710000, 4.310000, 4.010000, 3.760000, 3.510000, 3.310000, 3.110000, 2.960000, 2.810000, 2.660000, 2.510000, 2.460000, 2.360000, 2.260000, 2.140000, 2.060000, 2.040000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 94, 39598 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.045000, -1.091000, -2.153981 ], "estimate": [ 0.045000, -1.091000, -2.153981 ], "true_pose": [ 0.045000, -1.091000, -2.153981 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.910000, 6.860000, 6.760000, 6.710000, 6.660000, 6.610000, 6.560000, 5.660000, 5.360000, 5.310000, 1.060000, 1.090000, 1.040000, 1.090000, 1.090000, 1.060000, 1.110000, 1.160000, 1.040000, 1.060000, 0.990000, 0.990000, 1.040000, 1.060000, 1.110000, 18.160000, 50.000000, 1.910000, 1.970000, 1.970000, 1.970000, 1.920000, 1.920000, 1.970000, 1.970000, 1.970000, 1.940000, 1.970000, 1.940000, 1.940000, 1.940000, 2.020000, 2.020000, 1.940000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 2.040000, 2.040000, 2.040000, 2.090000, 2.040000, 2.140000, 2.090000, 2.140000, 2.140000, 2.140000, 2.190000, 2.190000, 2.240000, 2.240000, 2.290000, 2.290000, 2.340000, 2.390000, 2.390000, 2.390000, 2.490000, 2.490000, 2.540000, 2.590000, 2.590000, 2.640000, 2.740000, 2.740000, 2.790000, 2.810000, 2.940000, 2.960000, 2.960000, 3.060000, 3.110000, 3.210000, 3.260000, 3.360000, 3.460000, 3.560000, 3.660000, 3.710000, 3.860000, 4.010000, 4.110000, 4.260000, 4.410000, 4.560000, 4.760000, 4.960000, 5.210000, 5.410000, 5.710000, 6.010000, 6.310000, 6.610000, 7.060000, 8.710000, 9.310000, 10.010000, 11.540000, 11.610000, 11.760000, 11.910000, 11.810000, 12.060000, 12.460000, 21.010000, 20.960000, 23.210000, 39.860000, 42.560000, 46.060000, 50.000000, 50.000000, 11.410000, 11.410000, 11.160000, 11.110000, 11.210000, 10.910000, 9.860000, 8.860000, 8.110000, 7.460000, 6.910000, 6.410000, 6.010000, 5.660000, 5.360000, 5.060000, 4.810000, 4.560000, 4.360000, 4.160000, 4.010000, 3.810000, 3.710000, 3.560000, 3.460000, 3.310000, 3.210000, 3.110000, 3.010000, 2.910000, 2.860000, 2.810000, 2.710000, 2.640000, 2.590000, 2.540000, 2.490000, 2.440000, 2.390000, 2.340000, 2.290000, 2.240000, 2.190000, 2.140000, 2.190000, 2.090000, 2.090000, 2.040000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.890000, 1.870000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 95, 589600 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.281000, -1.967000, -1.493476 ], "estimate": [ -0.281000, -1.967000, -1.493476 ], "true_pose": [ -0.281000, -1.967000, -1.493476 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.670000, 1.670000, 1.720000, 1.670000, 1.720000, 1.670000, 1.720000, 1.720000, 1.720000, 1.720000, 1.720000, 1.770000, 1.690000, 1.740000, 1.770000, 1.740000, 1.820000, 1.820000, 1.790000, 1.790000, 1.840000, 1.840000, 1.840000, 1.890000, 1.940000, 1.940000, 1.940000, 1.990000, 1.990000, 1.990000, 2.090000, 2.040000, 2.090000, 2.090000, 2.140000, 2.190000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.440000, 2.490000, 2.490000, 2.590000, 2.640000, 2.690000, 2.740000, 2.760000, 2.860000, 2.910000, 3.010000, 3.110000, 3.210000, 3.260000, 3.410000, 3.510000, 3.610000, 3.810000, 3.910000, 4.010000, 4.210000, 4.360000, 4.610000, 4.810000, 5.060000, 5.360000, 5.660000, 6.010000, 7.760000, 8.060000, 8.660000, 9.310000, 10.690000, 11.010000, 10.910000, 11.210000, 11.110000, 11.210000, 11.360000, 20.110000, 20.110000, 38.910000, 41.560000, 45.260000, 45.210000, 50.000000, 50.000000, 20.110000, 10.560000, 10.560000, 10.410000, 10.260000, 10.360000, 10.510000, 9.610000, 8.860000, 8.210000, 7.610000, 7.110000, 6.660000, 6.310000, 6.010000, 5.710000, 5.360000, 5.160000, 4.960000, 4.710000, 4.510000, 4.360000, 4.210000, 4.010000, 3.910000, 3.760000, 3.660000, 3.560000, 3.460000, 3.360000, 3.310000, 3.210000, 3.110000, 3.010000, 2.960000, 2.910000, 2.890000, 2.760000, 2.740000, 2.690000, 2.640000, 2.640000, 2.540000, 2.540000, 2.490000, 2.390000, 2.390000, 2.340000, 2.340000, 2.290000, 2.240000, 2.190000, 2.240000, 2.240000, 2.140000, 2.090000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 1.990000, 1.990000, 1.990000, 1.990000, 1.940000, 1.940000, 1.940000, 1.890000, 1.890000, 1.890000, 1.840000, 1.870000, 1.870000, 1.920000, 1.840000, 1.870000, 1.920000, 1.870000, 1.870000, 1.820000, 1.870000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.870000, 1.820000, 1.870000, 1.870000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 105, 900000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.203000, -1.930000, -0.883978 ], "estimate": [ -0.203000, -1.930000, -0.883978 ], "true_pose": [ -0.203000, -1.931000, -0.883978 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.240000, 2.290000, 2.290000, 2.340000, 2.390000, 2.440000, 2.490000, 2.490000, 2.590000, 2.640000, 2.690000, 2.740000, 2.840000, 2.860000, 2.910000, 3.010000, 3.060000, 3.160000, 3.310000, 3.360000, 3.510000, 3.610000, 3.710000, 3.860000, 4.010000, 4.210000, 4.360000, 4.510000, 4.760000, 4.960000, 5.210000, 5.510000, 5.860000, 6.110000, 7.840000, 8.310000, 8.910000, 10.690000, 10.690000, 11.010000, 10.960000, 11.060000, 10.910000, 11.210000, 12.160000, 20.060000, 20.060000, 22.560000, 41.610000, 45.260000, 45.160000, 50.000000, 20.660000, 10.960000, 10.560000, 10.560000, 10.310000, 10.260000, 10.410000, 10.160000, 9.260000, 8.560000, 7.910000, 7.360000, 6.910000, 6.460000, 6.110000, 5.810000, 5.460000, 5.210000, 4.960000, 4.710000, 4.610000, 4.410000, 4.260000, 4.060000, 3.960000, 3.810000, 3.660000, 3.560000, 3.460000, 3.360000, 3.260000, 3.210000, 3.110000, 3.060000, 2.960000, 2.940000, 2.840000, 2.840000, 2.740000, 2.690000, 2.690000, 2.590000, 2.540000, 2.490000, 2.440000, 2.440000, 2.390000, 2.340000, 2.290000, 2.290000, 2.240000, 2.190000, 2.190000, 2.140000, 2.190000, 2.090000, 2.090000, 2.090000, 2.040000, 1.990000, 2.040000, 2.040000, 1.990000, 1.990000, 1.940000, 1.940000, 1.890000, 1.890000, 1.890000, 1.890000, 1.890000, 1.840000, 1.840000, 1.840000, 1.840000, 1.790000, 1.790000, 1.840000, 1.840000, 1.790000, 1.790000, 1.790000, 1.790000, 1.820000, 1.820000, 1.820000, 1.820000, 1.790000, 1.820000, 1.820000, 1.820000, 1.820000, 1.840000, 1.820000, 1.820000, 1.870000, 1.820000, 1.870000, 1.790000, 1.840000, 1.840000, 1.840000, 1.840000, 1.890000, 1.840000, 1.890000, 1.890000, 1.890000, 1.890000, 1.940000, 1.940000, 1.990000, 1.990000, 2.000000, 2.050000, 2.010000, 5.660000, 5.560000, 5.360000, 5.260000, 5.360000, 5.760000, 5.910000, 50.000000, 50.000000, 6.160000, 6.160000, 6.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 106, 900000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.187000, -1.909000, -0.396353 ], "estimate": [ -0.187000, -1.909000, -0.396353 ], "true_pose": [ -0.187000, -1.910000, -0.396353 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.710000, 4.960000, 5.210000, 5.510000, 5.860000, 6.160000, 7.860000, 8.210000, 8.910000, 9.510000, 10.710000, 11.010000, 11.010000, 10.960000, 10.910000, 11.310000, 11.610000, 20.110000, 20.110000, 22.360000, 44.360000, 45.260000, 44.660000, 50.000000, 50.000000, 20.110000, 10.560000, 10.560000, 10.260000, 10.260000, 10.360000, 10.260000, 9.360000, 8.560000, 7.910000, 7.410000, 6.910000, 6.460000, 6.060000, 5.810000, 5.460000, 5.260000, 5.010000, 4.760000, 4.560000, 4.410000, 4.210000, 4.060000, 3.910000, 3.810000, 3.660000, 3.560000, 3.460000, 3.360000, 3.260000, 3.210000, 3.110000, 2.960000, 2.910000, 2.860000, 2.790000, 2.790000, 2.690000, 2.690000, 2.590000, 2.540000, 2.540000, 2.440000, 2.440000, 2.390000, 2.340000, 2.290000, 2.290000, 2.240000, 2.190000, 2.190000, 2.190000, 2.140000, 2.140000, 2.090000, 2.090000, 2.090000, 2.040000, 1.990000, 1.990000, 1.990000, 1.940000, 1.890000, 1.890000, 1.890000, 1.890000, 1.890000, 1.890000, 1.890000, 1.840000, 1.840000, 1.840000, 1.840000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.740000, 1.790000, 1.790000, 1.770000, 1.740000, 1.790000, 1.740000, 1.740000, 1.740000, 1.770000, 1.740000, 1.790000, 1.740000, 1.790000, 1.740000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.840000, 1.840000, 1.790000, 1.840000, 1.840000, 1.890000, 1.890000, 1.890000, 1.940000, 1.890000, 1.940000, 1.940000, 1.970000, 2.020000, 2.020000, 5.710000, 5.510000, 5.360000, 5.260000, 5.260000, 5.710000, 5.860000, 50.000000, 50.000000, 6.160000, 6.160000, 6.010000, 5.910000, 5.860000, 5.710000, 3.960000, 3.910000, 3.810000, 3.760000, 3.660000, 3.610000, 3.610000, 3.560000, 3.460000, 3.460000, 3.410000, 3.390000, 3.340000, 3.260000, 3.410000, 3.460000, 3.560000, 3.710000, 3.860000, 3.960000, 4.110000, 4.310000, 4.060000, 4.060000, 4.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 107, 489998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.237000, -1.899000, 0.188986 ], "estimate": [ -0.237000, -1.899000, 0.188986 ], "true_pose": [ -0.237000, -1.899000, 0.188986 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.510000, 7.860000, 7.260000, 6.810000, 6.460000, 6.060000, 5.760000, 5.460000, 5.210000, 5.010000, 4.710000, 4.510000, 4.360000, 4.210000, 4.060000, 3.960000, 3.760000, 3.660000, 3.560000, 3.410000, 3.360000, 3.260000, 3.160000, 3.060000, 3.010000, 2.960000, 2.860000, 2.840000, 2.790000, 2.690000, 2.640000, 2.590000, 2.540000, 2.490000, 2.490000, 2.440000, 2.390000, 2.340000, 2.340000, 2.290000, 2.240000, 2.190000, 2.190000, 2.190000, 2.140000, 2.090000, 2.090000, 2.040000, 2.040000, 1.990000, 2.040000, 1.940000, 1.990000, 1.940000, 1.940000, 1.890000, 1.890000, 1.890000, 1.840000, 1.890000, 1.890000, 1.840000, 1.840000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.840000, 1.820000, 1.790000, 1.820000, 1.820000, 1.820000, 1.820000, 1.770000, 1.790000, 1.820000, 1.790000, 1.770000, 1.790000, 1.820000, 1.770000, 1.770000, 1.790000, 1.790000, 1.790000, 1.820000, 1.790000, 1.790000, 1.790000, 1.840000, 1.790000, 1.840000, 1.840000, 1.840000, 1.840000, 1.890000, 1.890000, 1.890000, 1.940000, 1.940000, 1.890000, 1.970000, 1.970000, 2.020000, 5.760000, 5.660000, 5.410000, 5.310000, 5.210000, 5.310000, 5.710000, 5.960000, 50.000000, 6.210000, 6.110000, 6.110000, 5.960000, 5.910000, 5.710000, 5.710000, 3.910000, 3.810000, 3.760000, 3.710000, 3.660000, 3.610000, 3.560000, 3.460000, 3.410000, 3.410000, 3.360000, 3.310000, 3.290000, 3.260000, 3.410000, 3.460000, 3.610000, 3.660000, 3.810000, 4.010000, 4.110000, 4.110000, 4.060000, 4.060000, 4.160000, 4.210000, 7.960000, 7.910000, 7.810000, 7.760000, 7.860000, 7.710000, 7.660000, 7.610000, 7.610000, 7.610000, 7.460000, 5.460000, 7.410000, 7.410000, 7.460000, 5.360000, 50.000000, 8.260000, 8.210000, 5.060000, 8.190000, 7.260000, 7.160000, 7.160000, 5.760000, 7.160000, 7.210000, 7.210000, 10.360000, 5.610000, 6.160000, 10.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 108, 489998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.151000, -1.781000, 0.763203 ], "estimate": [ -0.151000, -1.781000, 0.763203 ], "true_pose": [ -0.151000, -1.780000, 0.763203 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.490000, 2.490000, 2.390000, 2.340000, 2.290000, 2.290000, 2.240000, 2.240000, 2.190000, 2.140000, 2.140000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 1.990000, 1.940000, 1.940000, 1.940000, 1.940000, 1.890000, 1.890000, 1.890000, 1.890000, 1.840000, 1.840000, 1.870000, 1.820000, 1.840000, 1.820000, 1.820000, 1.790000, 1.820000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.720000, 1.770000, 1.770000, 1.770000, 1.770000, 1.720000, 1.720000, 1.770000, 1.740000, 1.770000, 1.770000, 1.740000, 1.740000, 1.770000, 1.790000, 1.770000, 1.790000, 1.790000, 1.790000, 1.790000, 1.840000, 1.790000, 1.840000, 1.890000, 1.840000, 1.840000, 1.890000, 1.920000, 1.920000, 1.910000, 5.860000, 5.610000, 5.460000, 5.310000, 5.160000, 5.210000, 5.610000, 5.710000, 50.000000, 50.000000, 6.060000, 6.060000, 5.960000, 5.860000, 5.810000, 5.610000, 3.910000, 3.760000, 3.710000, 3.660000, 3.610000, 3.560000, 3.460000, 3.410000, 3.390000, 3.310000, 3.310000, 3.290000, 3.240000, 3.160000, 3.210000, 3.310000, 3.410000, 3.510000, 3.660000, 3.760000, 3.860000, 4.060000, 4.160000, 3.960000, 3.910000, 4.010000, 4.210000, 7.860000, 7.810000, 7.760000, 7.660000, 7.760000, 7.610000, 7.560000, 7.560000, 7.560000, 7.510000, 7.410000, 7.360000, 5.410000, 4.960000, 5.060000, 4.760000, 5.760000, 5.760000, 6.010000, 8.160000, 8.160000, 6.060000, 7.060000, 7.060000, 5.310000, 5.710000, 7.160000, 5.060000, 5.210000, 5.210000, 5.210000, 5.610000, 10.410000, 6.060000, 5.810000, 5.660000, 7.210000, 6.860000, 6.510000, 6.210000, 5.910000, 4.760000, 3.860000, 3.760000, 2.710000, 2.660000, 2.560000, 2.460000, 2.510000, 2.560000, 3.410000, 3.360000, 3.260000, 3.160000, 3.240000, 3.290000, 3.310000, 3.340000, 3.360000, 3.410000, 3.560000, 3.960000, 4.010000, 4.060000, 8.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 109, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.273000, -1.031000, 1.128446 ], "estimate": [ 0.273000, -1.031000, 1.128446 ], "true_pose": [ 0.273000, -1.030000, 1.128446 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.420000, 1.370000, 1.370000, 1.400000, 1.400000, 1.400000, 1.370000, 16.210000, 14.410000, 12.760000, 11.510000, 10.460000, 10.010000, 8.860000, 8.610000, 7.710000, 7.160000, 6.760000, 2.160000, 2.010000, 2.010000, 2.010000, 1.910000, 1.890000, 1.840000, 1.790000, 1.860000, 4.510000, 4.560000, 4.960000, 4.910000, 1.810000, 50.000000, 50.000000, 5.310000, 5.360000, 5.210000, 5.160000, 5.060000, 3.110000, 3.060000, 2.960000, 2.940000, 2.890000, 2.840000, 2.740000, 2.690000, 2.690000, 2.640000, 2.540000, 2.540000, 2.490000, 2.490000, 2.390000, 2.390000, 2.390000, 2.390000, 2.540000, 2.560000, 2.610000, 2.710000, 2.810000, 2.910000, 3.010000, 3.110000, 3.210000, 3.360000, 3.360000, 3.160000, 3.060000, 3.110000, 3.310000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.810000, 6.810000, 6.760000, 6.710000, 6.710000, 6.760000, 6.610000, 6.560000, 6.560000, 6.610000, 4.310000, 4.110000, 4.010000, 4.010000, 3.960000, 3.960000, 4.560000, 5.060000, 4.160000, 5.310000, 6.460000, 6.460000, 6.460000, 5.010000, 5.010000, 5.660000, 4.660000, 4.360000, 4.360000, 4.460000, 4.510000, 4.560000, 4.570000, 5.210000, 5.110000, 5.460000, 6.360000, 6.110000, 5.860000, 5.710000, 5.460000, 5.260000, 5.060000, 4.260000, 4.160000, 4.060000, 3.610000, 3.360000, 3.410000, 3.310000, 3.160000, 3.160000, 3.410000, 3.310000, 2.260000, 2.290000, 2.290000, 2.360000, 2.160000, 2.140000, 2.110000, 2.510000, 2.940000, 2.960000, 3.060000, 3.110000, 3.160000, 3.260000, 3.860000, 3.960000, 7.310000, 7.260000, 7.160000, 7.060000, 7.010000, 6.960000, 4.460000, 6.860000, 6.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 110, 769998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.348000, -0.928000, 1.235339 ], "estimate": [ 0.348000, -0.928000, 1.235339 ], "true_pose": [ 0.348000, -0.928000, 1.235339 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.370000, 1.370000, 1.320000, 1.420000, 1.370000, 1.320000, 1.370000, 1.320000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.300000, 1.320000, 1.320000, 1.320000, 1.290000, 30.010000, 1.310000, 1.110000, 1.140000, 1.140000, 1.140000, 1.010000, 0.960000, 0.940000, 0.940000, 0.960000, 1.010000, 7.460000, 6.960000, 6.560000, 6.160000, 5.860000, 5.510000, 5.310000, 1.310000, 4.860000, 4.610000, 4.410000, 4.360000, 4.460000, 4.810000, 4.860000, 4.910000, 50.000000, 50.000000, 5.460000, 5.210000, 5.160000, 5.060000, 5.010000, 3.060000, 2.960000, 2.860000, 2.810000, 2.790000, 2.690000, 2.640000, 2.590000, 2.540000, 2.490000, 2.490000, 2.440000, 2.390000, 2.340000, 2.340000, 2.290000, 2.240000, 2.240000, 2.290000, 2.390000, 2.440000, 2.540000, 2.510000, 2.610000, 2.710000, 2.860000, 2.910000, 3.010000, 3.160000, 3.260000, 3.010000, 3.010000, 2.960000, 3.060000, 3.210000, 6.860000, 6.760000, 6.810000, 6.760000, 6.760000, 6.660000, 6.660000, 6.610000, 6.610000, 6.560000, 6.610000, 6.460000, 6.460000, 6.460000, 4.110000, 4.310000, 4.110000, 3.960000, 3.910000, 3.860000, 3.910000, 4.960000, 5.010000, 6.910000, 6.260000, 6.260000, 6.260000, 6.310000, 4.960000, 4.910000, 5.610000, 5.710000, 4.310000, 4.260000, 4.310000, 4.360000, 4.460000, 4.440000, 4.510000, 5.110000, 5.060000, 6.360000, 6.110000, 5.910000, 5.710000, 5.510000, 5.260000, 5.110000, 4.310000, 4.210000, 4.110000, 3.960000, 3.860000, 3.310000, 3.310000, 3.260000, 3.110000, 3.110000, 3.310000, 3.260000, 3.260000, 2.260000, 2.190000, 2.240000, 2.260000, 2.160000, 2.110000, 2.110000, 2.160000, 2.860000, 3.010000, 3.060000, 3.110000, 3.210000, 3.360000, 3.910000, 7.210000, 7.160000, 7.110000, 7.060000, 7.010000, 6.910000, 4.410000, 6.810000, 6.760000, 6.710000, 6.660000, 5.460000, 5.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 111, 719999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.325000, -0.921000, 1.675719 ], "estimate": [ 0.325000, -0.921000, 1.675719 ], "true_pose": [ 0.325000, -0.925000, 1.675719 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 16.310000, 14.260000, 12.560000, 11.210000, 10.210000, 9.810000, 8.810000, 7.860000, 7.410000, 6.910000, 6.510000, 6.160000, 5.860000, 5.510000, 5.310000, 5.060000, 4.810000, 4.560000, 4.410000, 4.410000, 4.460000, 4.810000, 4.860000, 5.010000, 50.000000, 50.000000, 5.260000, 5.210000, 5.260000, 5.060000, 5.010000, 2.910000, 2.910000, 2.860000, 2.790000, 2.690000, 2.690000, 2.640000, 2.640000, 2.540000, 2.490000, 2.490000, 2.390000, 2.390000, 2.340000, 2.290000, 2.290000, 2.290000, 2.290000, 2.340000, 2.440000, 2.460000, 2.560000, 2.610000, 2.710000, 2.810000, 2.860000, 3.010000, 3.060000, 3.160000, 3.010000, 2.960000, 3.060000, 3.060000, 3.210000, 6.910000, 6.860000, 6.810000, 6.760000, 6.810000, 6.660000, 6.660000, 6.660000, 6.610000, 6.610000, 6.610000, 6.610000, 6.460000, 6.460000, 6.410000, 4.510000, 6.460000, 6.460000, 6.510000, 4.410000, 3.910000, 7.310000, 7.410000, 7.460000, 4.010000, 5.210000, 6.260000, 6.310000, 6.310000, 4.910000, 4.910000, 6.410000, 9.560000, 5.510000, 7.560000, 7.010000, 5.410000, 4.860000, 7.510000, 4.710000, 5.710000, 6.610000, 6.310000, 6.110000, 5.860000, 5.660000, 5.460000, 5.260000, 5.110000, 4.310000, 4.160000, 4.060000, 3.960000, 3.660000, 3.260000, 3.310000, 3.160000, 3.110000, 3.010000, 3.310000, 3.260000, 3.210000, 2.210000, 2.240000, 2.190000, 2.260000, 2.160000, 2.040000, 2.060000, 2.110000, 2.860000, 2.860000, 3.010000, 3.060000, 3.160000, 3.310000, 3.860000, 7.260000, 7.210000, 7.110000, 7.010000, 7.010000, 6.910000, 4.310000, 6.810000, 6.760000, 6.710000, 5.760000, 5.510000, 5.410000, 6.460000, 6.210000, 6.360000, 6.560000, 7.410000, 7.460000, 50.000000, 1.990000, 1.990000, 1.990000, 1.960000, 13.560000, 1.910000, 1.860000, 1.890000, 1.890000, 1.960000, 26.460000, 2.410000, 2.170000, 2.170000, 2.170000, 2.170000, 2.170000, 2.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 112, 602000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.175000, -0.859000, 2.278390 ], "estimate": [ 0.175000, -0.859000, 2.278390 ], "true_pose": [ 0.163000, -0.849000, 2.276827 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.640000, 2.590000, 2.540000, 2.490000, 2.440000, 2.390000, 2.340000, 2.290000, 2.290000, 2.240000, 2.290000, 2.340000, 2.390000, 2.440000, 2.540000, 2.590000, 2.660000, 2.660000, 2.810000, 2.860000, 2.910000, 3.010000, 3.160000, 3.010000, 2.960000, 3.010000, 3.060000, 3.160000, 6.860000, 6.860000, 6.760000, 6.760000, 6.710000, 6.660000, 6.660000, 6.610000, 6.560000, 6.560000, 6.510000, 6.510000, 6.510000, 6.360000, 6.410000, 4.210000, 6.360000, 6.360000, 6.410000, 6.360000, 4.310000, 7.160000, 7.210000, 5.260000, 7.260000, 4.060000, 5.110000, 6.160000, 6.160000, 6.210000, 4.810000, 4.810000, 6.210000, 9.460000, 4.260000, 9.660000, 9.610000, 4.510000, 4.460000, 4.510000, 4.610000, 5.010000, 4.960000, 4.860000, 6.010000, 5.810000, 5.560000, 5.410000, 5.210000, 5.060000, 4.860000, 4.060000, 3.960000, 3.860000, 3.760000, 3.240000, 3.140000, 3.160000, 3.110000, 2.960000, 2.910000, 3.160000, 3.140000, 3.010000, 2.060000, 2.090000, 2.060000, 2.060000, 1.960000, 1.940000, 1.910000, 1.960000, 2.710000, 2.760000, 2.860000, 2.910000, 2.960000, 3.060000, 3.660000, 3.760000, 7.060000, 6.960000, 6.910000, 6.810000, 6.810000, 6.760000, 4.260000, 6.610000, 6.610000, 6.560000, 5.510000, 5.310000, 5.360000, 6.110000, 6.210000, 6.310000, 7.260000, 7.310000, 50.000000, 50.000000, 2.210000, 1.840000, 1.840000, 1.890000, 1.910000, 17.160000, 1.760000, 1.790000, 1.740000, 1.710000, 2.060000, 7.060000, 3.310000, 2.050000, 2.070000, 2.070000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.090000, 2.090000, 2.090000, 2.140000, 2.090000, 2.090000, 2.140000, 2.140000, 2.140000, 2.190000, 2.240000, 2.190000, 2.190000, 2.190000, 2.240000, 2.290000, 2.290000, 2.290000, 2.340000, 2.340000, 2.390000, 2.440000, 2.440000, 2.440000, 2.490000, 2.490000, 2.540000, 2.640000, 2.640000, 2.690000, 2.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 113, 560000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.631000, -0.182000, 2.576398 ], "estimate": [ -0.631000, -0.182000, 2.576398 ], "true_pose": [ -0.659000, -0.181000, 2.573273 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.510000, 50.000000, 6.710000, 6.610000, 6.560000, 6.460000, 6.410000, 6.360000, 6.410000, 6.260000, 6.210000, 6.210000, 3.510000, 6.110000, 6.060000, 5.960000, 5.910000, 5.860000, 3.860000, 5.810000, 5.810000, 5.810000, 5.810000, 3.260000, 50.000000, 3.910000, 6.710000, 6.660000, 6.610000, 5.510000, 5.460000, 3.910000, 4.010000, 4.560000, 3.460000, 5.460000, 5.460000, 6.810000, 3.860000, 8.610000, 8.610000, 3.860000, 3.560000, 8.660000, 8.710000, 7.010000, 4.610000, 4.210000, 5.710000, 5.410000, 5.160000, 4.910000, 4.660000, 4.360000, 4.210000, 3.210000, 3.060000, 2.910000, 2.310000, 2.190000, 2.140000, 2.110000, 2.010000, 2.010000, 1.810000, 1.890000, 2.240000, 2.190000, 1.010000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 1.060000, 1.890000, 0.960000, 0.910000, 0.910000, 0.860000, 0.840000, 0.890000, 0.890000, 0.910000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 2.110000, 2.660000, 5.910000, 5.860000, 5.810000, 5.760000, 5.710000, 5.710000, 5.660000, 5.660000, 3.260000, 5.560000, 5.560000, 5.510000, 4.510000, 4.310000, 4.310000, 5.160000, 5.210000, 5.410000, 6.410000, 6.460000, 20.310000, 8.910000, 11.610000, 11.560000, 16.310000, 19.860000, 25.710000, 25.660000, 25.560000, 19.910000, 19.910000, 13.710000, 10.360000, 8.410000, 7.160000, 6.340000, 5.360000, 4.960000, 4.910000, 3.960000, 3.660000, 3.410000, 3.160000, 2.960000, 2.760000, 1.160000, 1.110000, 1.090000, 1.140000, 1.140000, 1.190000, 1.210000, 1.890000, 1.790000, 1.210000, 1.110000, 1.140000, 1.090000, 1.140000, 1.090000, 1.160000, 1.470000, 1.520000, 1.540000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.890000, 1.890000, 1.940000, 1.990000, 2.040000, 2.040000, 2.140000, 2.190000, 2.290000, 2.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 115, 400000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.038000, -0.004000, 2.504939 ], "estimate": [ -1.038000, -0.004000, 2.504939 ], "true_pose": [ -1.047000, 0.007000, 2.511189 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.560000, 11.010000, 6.660000, 6.660000, 6.560000, 6.460000, 6.410000, 6.360000, 6.410000, 3.560000, 6.110000, 6.160000, 3.060000, 6.010000, 6.010000, 5.860000, 3.660000, 5.810000, 4.510000, 3.210000, 5.710000, 5.710000, 5.710000, 3.810000, 50.000000, 50.000000, 50.000000, 4.460000, 3.760000, 5.310000, 3.910000, 3.960000, 4.910000, 5.310000, 5.260000, 5.260000, 5.260000, 6.360000, 6.460000, 6.460000, 4.190000, 6.510000, 6.010000, 8.460000, 8.460000, 4.310000, 3.760000, 6.060000, 5.610000, 5.260000, 4.910000, 4.610000, 4.360000, 4.060000, 2.860000, 1.910000, 1.840000, 0.960000, 0.710000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.710000, 0.760000, 0.710000, 0.560000, 0.560000, 0.510000, 0.510000, 0.540000, 0.540000, 0.490000, 0.510000, 0.560000, 0.560000, 0.560000, 0.890000, 1.290000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.610000, 2.160000, 2.310000, 5.610000, 5.510000, 5.460000, 5.460000, 5.360000, 5.310000, 5.310000, 5.260000, 5.210000, 2.810000, 5.160000, 5.160000, 5.110000, 4.060000, 4.060000, 3.960000, 3.960000, 4.760000, 4.910000, 5.160000, 6.010000, 19.860000, 8.560000, 8.760000, 11.160000, 13.310000, 19.510000, 25.460000, 25.310000, 25.310000, 19.610000, 19.610000, 14.760000, 11.260000, 9.460000, 8.110000, 7.060000, 6.260000, 6.010000, 5.060000, 4.660000, 4.610000, 4.510000, 3.660000, 3.460000, 3.310000, 3.060000, 2.960000, 2.760000, 2.660000, 2.510000, 2.410000, 2.360000, 2.210000, 2.160000, 2.110000, 2.040000, 1.990000, 1.890000, 1.840000, 1.790000, 0.910000, 0.910000, 0.910000, 0.890000, 0.890000, 0.890000, 0.910000, 0.910000, 1.440000, 1.390000, 1.340000, 0.960000, 0.990000, 0.940000, 0.990000, 0.990000, 0.940000, 0.960000, 1.060000, 1.490000, 1.490000, 1.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 117, 109999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.922000, 0.056000, 1.663196 ], "estimate": [ -0.922000, 0.056000, 1.663196 ], "true_pose": [ -0.937000, 0.091000, 1.647571 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.910000, 6.060000, 5.410000, 5.260000, 5.310000, 5.610000, 5.660000, 3.560000, 3.260000, 3.110000, 2.910000, 2.710000, 2.690000, 2.640000, 2.740000, 2.740000, 2.790000, 2.790000, 2.740000, 2.840000, 2.890000, 2.890000, 2.890000, 2.940000, 2.990000, 2.990000, 3.040000, 3.040000, 3.060000, 3.060000, 2.910000, 2.910000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.510000, 3.560000, 3.610000, 3.710000, 3.860000, 4.260000, 7.310000, 7.160000, 5.060000, 7.060000, 7.260000, 7.410000, 7.560000, 11.110000, 6.660000, 6.560000, 6.510000, 6.410000, 6.310000, 6.260000, 6.210000, 3.460000, 6.060000, 6.060000, 3.010000, 6.010000, 6.010000, 5.810000, 3.610000, 5.710000, 4.360000, 3.060000, 5.710000, 5.660000, 4.710000, 3.810000, 50.000000, 6.610000, 50.000000, 4.260000, 6.610000, 3.810000, 3.860000, 3.060000, 4.960000, 5.260000, 5.210000, 5.210000, 5.210000, 4.010000, 6.410000, 6.460000, 4.170000, 3.540000, 6.410000, 5.860000, 8.410000, 8.410000, 4.260000, 3.710000, 5.810000, 5.410000, 5.110000, 4.810000, 4.510000, 4.260000, 4.060000, 2.860000, 2.310000, 1.890000, 1.790000, 1.890000, 1.660000, 1.710000, 0.860000, 0.710000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.710000, 0.710000, 0.810000, 1.590000, 1.590000, 0.760000, 0.710000, 0.710000, 0.660000, 0.660000, 0.710000, 0.710000, 0.710000, 0.860000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.640000, 1.760000, 2.310000, 5.560000, 5.510000, 5.460000, 5.410000, 5.410000, 5.360000, 5.310000, 5.310000, 5.260000, 2.910000, 5.210000, 3.660000, 3.810000, 4.010000, 3.990000, 3.960000, 4.760000, 4.910000, 5.110000, 6.060000, 19.810000, 8.610000, 8.610000, 11.210000, 13.410000, 19.510000, 50.000000, 25.310000, 25.360000, 19.660000, 19.660000, 13.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 118, 989998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.896000, -0.006000, 1.136021 ], "estimate": [ -0.896000, -0.006000, 1.136021 ], "true_pose": [ -0.816000, 0.021000, 1.151646 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.740000, 2.740000, 2.700000, 2.720000, 2.810000, 2.960000, 3.160000, 3.310000, 3.510000, 3.760000, 4.010000, 4.360000, 4.660000, 5.110000, 5.610000, 6.210000, 7.010000, 7.960000, 9.060000, 11.110000, 14.010000, 19.660000, 25.510000, 31.210000, 31.210000, 31.210000, 31.260000, 14.310000, 11.010000, 8.910000, 7.660000, 6.660000, 5.860000, 5.260000, 5.260000, 5.510000, 5.560000, 3.710000, 3.410000, 3.210000, 3.010000, 2.810000, 2.660000, 2.690000, 2.640000, 2.690000, 2.690000, 2.740000, 2.740000, 2.790000, 2.790000, 2.840000, 2.840000, 2.890000, 2.890000, 2.990000, 2.990000, 3.040000, 3.040000, 3.060000, 3.010000, 2.910000, 2.910000, 3.010000, 3.010000, 3.060000, 3.110000, 3.110000, 3.510000, 3.560000, 3.610000, 3.660000, 4.210000, 7.360000, 7.260000, 7.110000, 4.760000, 7.160000, 7.310000, 7.460000, 10.960000, 6.660000, 6.560000, 6.560000, 6.410000, 6.410000, 6.310000, 6.360000, 6.160000, 3.510000, 6.060000, 6.060000, 2.910000, 6.010000, 5.810000, 5.810000, 5.760000, 4.160000, 5.710000, 3.360000, 5.660000, 5.710000, 4.560000, 3.910000, 50.000000, 50.000000, 4.310000, 50.000000, 5.460000, 5.260000, 3.810000, 3.060000, 5.210000, 5.210000, 5.210000, 5.260000, 4.610000, 3.810000, 6.460000, 6.560000, 3.560000, 6.410000, 5.760000, 8.410000, 8.460000, 4.310000, 6.410000, 5.910000, 5.510000, 5.160000, 4.860000, 4.560000, 4.360000, 4.110000, 2.960000, 2.810000, 2.010000, 1.940000, 1.840000, 1.840000, 1.710000, 1.710000, 1.560000, 1.590000, 0.810000, 0.760000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.760000, 0.810000, 0.960000, 0.960000, 0.960000, 0.940000, 0.940000, 0.940000, 0.960000, 1.010000, 1.340000, 1.340000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.640000, 1.640000, 1.740000, 2.210000, 2.360000, 5.560000, 5.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 119, 439999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.739000, -0.008000, 0.440139 ], "estimate": [ -0.739000, -0.008000, 0.440139 ], "true_pose": [ -0.746000, 0.078000, 0.443264 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.260000, 5.160000, 4.960000, 4.810000, 4.710000, 4.560000, 4.410000, 4.260000, 4.210000, 4.110000, 4.010000, 3.860000, 3.810000, 3.760000, 3.660000, 3.560000, 3.560000, 3.460000, 3.410000, 3.360000, 3.260000, 3.260000, 3.210000, 3.160000, 3.060000, 3.090000, 2.990000, 2.990000, 2.940000, 2.940000, 2.940000, 2.840000, 2.790000, 2.790000, 2.740000, 2.740000, 2.740000, 2.690000, 2.690000, 2.640000, 2.670000, 2.620000, 2.670000, 2.810000, 2.910000, 3.110000, 3.260000, 3.460000, 3.660000, 3.960000, 4.260000, 4.510000, 4.960000, 5.360000, 5.910000, 6.560000, 7.410000, 8.510000, 10.160000, 12.160000, 15.010000, 20.360000, 25.410000, 31.110000, 31.110000, 31.110000, 17.110000, 13.010000, 10.360000, 8.510000, 7.210000, 6.310000, 5.560000, 5.110000, 5.160000, 5.460000, 5.510000, 3.560000, 3.310000, 3.110000, 2.910000, 2.710000, 2.610000, 2.540000, 2.590000, 2.590000, 2.640000, 2.640000, 2.640000, 2.640000, 2.690000, 2.740000, 2.690000, 2.790000, 2.790000, 2.790000, 2.840000, 2.890000, 2.940000, 2.940000, 2.990000, 3.040000, 2.860000, 2.860000, 2.810000, 2.860000, 2.910000, 2.960000, 2.960000, 3.410000, 3.410000, 3.510000, 3.610000, 4.260000, 6.060000, 7.060000, 6.960000, 4.660000, 7.110000, 7.310000, 7.460000, 10.860000, 6.560000, 6.510000, 6.410000, 6.360000, 6.260000, 6.210000, 6.260000, 6.110000, 6.060000, 3.410000, 6.010000, 3.310000, 3.110000, 3.060000, 5.760000, 3.560000, 5.660000, 5.660000, 5.660000, 3.160000, 4.410000, 4.260000, 3.760000, 50.000000, 6.460000, 50.000000, 6.610000, 6.460000, 3.410000, 5.210000, 3.810000, 4.160000, 3.460000, 3.310000, 5.260000, 5.010000, 4.260000, 3.360000, 4.560000, 4.160000, 3.860000, 6.710000, 5.810000, 8.410000, 3.860000, 3.910000, 4.010000, 5.660000, 5.360000, 5.060000, 4.760000, 4.510000, 4.310000, 4.110000, 3.910000, 2.910000, 2.760000, 2.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 121, 30000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.524000, 0.053000, -0.033526 ], "estimate": [ -0.524000, 0.053000, -0.033526 ], "true_pose": [ -0.544000, 0.077000, -0.028839 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 43.760000, 47.310000, 50.000000, 50.000000, 39.910000, 22.110000, 12.610000, 12.610000, 12.310000, 12.310000, 12.410000, 11.860000, 10.810000, 9.960000, 9.260000, 8.610000, 8.110000, 7.610000, 7.210000, 6.810000, 6.560000, 6.260000, 5.910000, 5.710000, 5.410000, 5.260000, 5.010000, 4.860000, 4.710000, 4.560000, 4.410000, 4.260000, 4.160000, 4.060000, 3.960000, 3.810000, 3.710000, 3.610000, 3.560000, 3.460000, 3.410000, 3.310000, 3.260000, 3.210000, 3.160000, 3.090000, 3.090000, 3.040000, 2.990000, 2.940000, 2.890000, 2.840000, 2.840000, 2.740000, 2.740000, 2.640000, 2.640000, 2.640000, 2.540000, 2.540000, 2.540000, 2.490000, 2.490000, 2.440000, 2.440000, 2.470000, 2.420000, 2.440000, 2.560000, 2.660000, 2.810000, 2.960000, 3.110000, 3.260000, 3.460000, 3.660000, 3.960000, 4.210000, 4.560000, 4.910000, 5.410000, 5.860000, 6.560000, 7.460000, 8.510000, 9.910000, 11.860000, 14.760000, 20.060000, 25.160000, 30.860000, 30.810000, 30.810000, 17.210000, 13.210000, 10.610000, 8.510000, 7.210000, 6.310000, 5.560000, 4.910000, 4.910000, 4.910000, 5.260000, 5.260000, 3.260000, 3.060000, 2.860000, 2.710000, 2.610000, 2.460000, 2.360000, 2.340000, 2.340000, 2.390000, 2.390000, 2.440000, 2.390000, 2.440000, 2.490000, 2.490000, 2.490000, 2.540000, 2.540000, 2.590000, 2.640000, 2.690000, 2.690000, 2.740000, 2.740000, 2.760000, 2.710000, 2.610000, 2.660000, 2.710000, 2.710000, 2.760000, 2.810000, 2.860000, 3.210000, 3.310000, 3.410000, 3.460000, 4.360000, 6.860000, 6.810000, 4.510000, 7.160000, 7.260000, 50.000000, 50.000000, 6.360000, 6.360000, 6.260000, 6.160000, 6.110000, 6.060000, 6.010000, 6.010000, 5.960000, 5.910000, 3.360000, 5.860000, 5.760000, 5.660000, 2.860000, 5.610000, 5.610000, 5.560000, 4.060000, 5.560000, 5.560000, 6.060000, 4.410000, 3.710000, 6.410000, 6.360000, 6.360000, 4.210000, 5.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 121, 510000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.568000, 0.051000, -0.053276 ], "estimate": [ 0.568000, 0.051000, -0.053276 ], "true_pose": [ 0.578000, 0.052000, -0.047026 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 46.410000, 47.210000, 12.560000, 22.060000, 12.160000, 12.160000, 12.210000, 11.060000, 9.410000, 8.160000, 7.210000, 6.510000, 5.910000, 5.410000, 5.010000, 4.610000, 4.360000, 4.060000, 3.810000, 3.610000, 3.410000, 3.210000, 3.010000, 2.910000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.290000, 2.290000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.550000, 1.500000, 1.450000, 1.500000, 1.500000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.790000, 1.790000, 1.890000, 1.940000, 1.990000, 2.090000, 2.140000, 2.160000, 2.260000, 2.360000, 2.460000, 2.560000, 2.660000, 2.810000, 2.960000, 3.110000, 3.310000, 3.460000, 3.660000, 3.910000, 4.210000, 4.510000, 4.910000, 5.360000, 5.810000, 6.560000, 7.410000, 8.810000, 9.860000, 11.910000, 18.060000, 21.060000, 24.060000, 29.760000, 29.710000, 29.710000, 16.910000, 13.160000, 10.310000, 8.360000, 7.260000, 6.260000, 5.560000, 5.010000, 4.560000, 4.110000, 3.760000, 3.810000, 3.860000, 4.160000, 4.160000, 4.210000, 4.210000, 4.360000, 50.000000, 2.210000, 2.110000, 2.060000, 1.960000, 1.910000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.540000, 1.540000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 2.040000, 2.090000, 2.140000, 2.110000, 1.960000, 2.010000, 2.010000, 2.010000, 2.010000, 2.060000, 2.190000, 2.190000, 5.910000, 5.860000, 5.860000, 5.810000, 5.710000, 5.710000, 5.710000, 5.660000, 5.610000, 5.610000, 5.560000, 5.560000, 5.560000, 5.560000, 5.460000, 5.460000, 5.410000, 5.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 123, 379998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.567000, -0.072000, -0.154608 ], "estimate": [ 1.567000, -0.072000, -0.154608 ], "true_pose": [ 1.576000, -0.093000, -0.153045 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.110000, 22.160000, 50.000000, 50.000000, 12.610000, 12.410000, 12.110000, 12.110000, 12.260000, 5.010000, 2.860000, 1.960000, 1.410000, 1.210000, 0.910000, 0.920000, 0.920000, 0.920000, 0.970000, 0.920000, 0.900000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.240000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.640000, 1.640000, 1.740000, 1.740000, 1.840000, 1.890000, 1.940000, 2.040000, 2.090000, 2.160000, 2.210000, 2.360000, 2.460000, 2.560000, 2.660000, 2.860000, 3.010000, 3.160000, 3.410000, 3.610000, 3.860000, 4.160000, 4.560000, 4.960000, 5.560000, 6.160000, 6.960000, 7.910000, 9.410000, 11.610000, 17.260000, 20.210000, 23.110000, 28.760000, 28.810000, 28.760000, 28.810000, 13.610000, 10.710000, 8.910000, 7.610000, 7.360000, 6.010000, 5.360000, 4.860000, 4.510000, 4.160000, 3.860000, 3.660000, 3.410000, 3.210000, 2.960000, 2.890000, 2.940000, 2.940000, 3.290000, 3.290000, 3.290000, 3.340000, 3.360000, 3.710000, 3.760000, 3.810000, 3.910000, 3.760000, 3.710000, 3.660000, 3.660000, 3.510000, 3.460000, 3.410000, 3.410000, 1.460000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 125, 140000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.293000, -0.306000, -0.067198 ], "estimate": [ 2.293000, -0.306000, -0.067198 ], "true_pose": [ 2.338000, -0.316000, -0.065635 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.640000, 0.670000, 0.640000, 0.670000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.140000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.760000, 1.810000, 1.910000, 1.960000, 2.110000, 2.210000, 2.310000, 2.510000, 2.660000, 2.860000, 3.110000, 3.310000, 3.660000, 3.840000, 4.410000, 4.960000, 5.610000, 7.040000, 7.860000, 9.710000, 13.160000, 19.360000, 22.260000, 28.010000, 28.010000, 27.960000, 27.060000, 14.260000, 11.960000, 10.060000, 8.810000, 7.810000, 6.910000, 6.660000, 5.710000, 5.310000, 4.910000, 4.510000, 4.260000, 3.960000, 3.760000, 3.560000, 3.360000, 3.210000, 3.060000, 2.910000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.360000, 2.260000, 2.240000, 2.290000, 2.340000, 2.690000, 2.740000, 2.790000, 2.760000, 3.110000, 3.160000, 3.210000, 3.260000, 3.210000, 3.210000, 3.160000, 3.110000, 3.160000, 3.010000, 2.960000, 2.960000, 2.910000, 2.910000, 2.910000, 2.810000, 2.810000, 2.960000, 3.010000, 3.010000, 2.960000, 2.910000, 2.910000, 2.860000, 2.860000, 2.810000, 2.810000, 2.760000, 2.710000, 2.410000, 2.310000, 2.310000, 2.310000, 2.260000, 1.190000, 1.170000, 1.140000, 1.190000, 1.170000, 1.140000, 1.090000, 1.140000, 1.120000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 127, 659998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.816000, -0.139000, 0.407097 ], "estimate": [ 2.816000, -0.139000, 0.407097 ], "true_pose": [ 2.875000, -0.148000, 0.414910 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.890000, 1.940000, 2.010000, 2.110000, 2.160000, 2.310000, 2.360000, 2.460000, 2.660000, 2.710000, 2.910000, 3.160000, 3.360000, 3.610000, 3.860000, 4.260000, 4.610000, 5.060000, 5.660000, 6.590000, 7.260000, 8.560000, 10.410000, 13.410000, 18.760000, 21.810000, 27.510000, 27.460000, 27.510000, 27.460000, 14.660000, 11.810000, 9.710000, 8.410000, 7.310000, 6.460000, 6.110000, 5.210000, 4.860000, 4.510000, 4.110000, 3.860000, 3.610000, 3.360000, 3.210000, 3.060000, 2.910000, 2.810000, 2.610000, 2.460000, 2.360000, 2.310000, 2.260000, 2.140000, 2.090000, 1.990000, 1.990000, 1.890000, 1.840000, 1.790000, 1.790000, 1.790000, 1.790000, 1.890000, 2.240000, 2.290000, 2.340000, 2.360000, 2.610000, 2.660000, 2.710000, 2.710000, 2.810000, 2.760000, 2.760000, 2.760000, 2.790000, 2.660000, 2.610000, 2.560000, 2.560000, 2.560000, 2.510000, 2.560000, 2.510000, 2.460000, 2.460000, 2.510000, 2.510000, 2.610000, 2.610000, 2.560000, 2.560000, 2.560000, 2.560000, 2.510000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.360000, 2.410000, 2.060000, 2.010000, 2.010000, 2.010000, 2.010000, 2.010000, 2.010000, 1.990000, 2.040000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 2.040000, 1.990000, 1.110000, 0.940000, 0.940000, 0.940000, 0.970000, 0.990000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 1.020000, 0.990000, 1.040000, 0.990000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 129, 131000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.848000, 0.086000, -0.033844 ], "estimate": [ 3.848000, 0.086000, -0.033844 ], "true_pose": [ 3.854000, 0.076000, -0.032281 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.120000, 1.040000, 1.090000, 1.090000, 1.040000, 1.090000, 1.040000, 1.040000, 1.090000, 1.120000, 1.120000, 1.090000, 1.090000, 1.140000, 1.140000, 1.090000, 1.140000, 1.170000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.840000, 1.940000, 1.990000, 2.040000, 2.140000, 2.190000, 2.210000, 2.310000, 2.360000, 2.460000, 2.540000, 2.660000, 2.760000, 2.910000, 3.010000, 3.210000, 3.360000, 3.560000, 3.760000, 4.010000, 4.210000, 4.610000, 5.310000, 5.610000, 5.760000, 6.360000, 7.110000, 8.010000, 9.160000, 10.610000, 13.160000, 18.710000, 20.810000, 20.860000, 26.460000, 26.460000, 26.510000, 26.510000, 11.560000, 9.260000, 7.660000, 6.410000, 6.260000, 5.190000, 5.110000, 4.110000, 3.760000, 3.510000, 3.210000, 3.010000, 2.810000, 2.610000, 2.460000, 2.360000, 2.210000, 2.110000, 2.010000, 1.960000, 1.860000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.960000, 2.060000, 2.010000, 1.910000, 2.010000, 1.960000, 2.010000, 2.010000, 2.110000, 2.010000, 1.890000, 1.890000, 1.890000, 1.940000, 1.940000, 1.890000, 1.890000, 1.940000, 1.890000, 1.940000, 1.990000, 2.440000, 1.790000, 1.910000, 2.090000, 2.090000, 2.140000, 2.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 131, 610998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.832000, -0.077000, -0.097525 ], "estimate": [ 4.832000, -0.077000, -0.097525 ], "true_pose": [ 4.836000, -0.076000, -0.095962 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.890000, 0.870000, 0.920000, 0.890000, 0.920000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.690000, 1.790000, 1.840000, 1.940000, 1.960000, 2.010000, 2.060000, 2.160000, 2.260000, 2.390000, 2.460000, 2.560000, 2.710000, 2.860000, 3.010000, 3.210000, 3.360000, 3.610000, 4.310000, 4.560000, 4.640000, 4.960000, 5.410000, 6.010000, 6.810000, 7.810000, 9.360000, 11.010000, 13.910000, 17.960000, 19.710000, 25.510000, 25.460000, 25.460000, 25.510000, 14.410000, 11.460000, 9.260000, 7.910000, 6.910000, 6.110000, 5.460000, 5.260000, 4.960000, 4.160000, 4.140000, 4.010000, 3.760000, 3.160000, 2.960000, 2.810000, 2.710000, 2.560000, 2.460000, 2.360000, 2.210000, 2.160000, 2.110000, 2.010000, 1.990000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.590000, 1.590000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.290000, 1.340000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 134, 240000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.797000, -0.075000, 0.133465 ], "estimate": [ 5.797000, -0.075000, 0.133465 ], "true_pose": [ 5.790000, -0.047000, 0.133465 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.920000, 0.940000, 0.970000, 0.940000, 0.920000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.790000, 1.890000, 1.960000, 2.010000, 2.010000, 2.110000, 2.260000, 2.290000, 2.410000, 2.560000, 2.660000, 3.060000, 3.210000, 3.460000, 3.610000, 3.640000, 3.710000, 4.060000, 4.360000, 4.760000, 5.110000, 5.710000, 6.410000, 7.210000, 8.360000, 9.860000, 12.060000, 15.710000, 18.810000, 18.810000, 24.510000, 24.460000, 24.410000, 24.510000, 12.810000, 10.410000, 8.610000, 7.410000, 6.460000, 5.810000, 5.210000, 4.760000, 4.310000, 4.260000, 4.110000, 3.860000, 3.310000, 3.160000, 3.160000, 3.060000, 2.910000, 2.760000, 2.610000, 2.310000, 2.210000, 2.110000, 2.040000, 1.990000, 1.940000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.840000, 0.870000, 0.840000, 0.840000, 0.870000, 0.840000, 0.840000, 0.870000, 0.890000, 0.890000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 136, 879998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.855000, -0.074000, -0.055878 ], "estimate": [ 6.855000, -0.074000, -0.055878 ], "true_pose": [ 6.818000, -0.053000, -0.052753 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.890000, 0.940000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.950000, 0.910000, 0.940000, 0.990000, 0.890000, 0.990000, 0.940000, 0.990000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.020000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.540000, 1.490000, 1.590000, 1.640000, 1.640000, 1.690000, 1.790000, 1.790000, 1.860000, 2.060000, 2.160000, 2.210000, 2.260000, 2.360000, 2.510000, 2.610000, 2.660000, 2.690000, 2.660000, 2.810000, 3.010000, 3.110000, 3.310000, 3.560000, 3.810000, 4.110000, 4.410000, 4.860000, 5.260000, 5.810000, 6.460000, 7.360000, 8.610000, 10.260000, 12.710000, 15.760000, 17.760000, 23.460000, 23.460000, 23.510000, 23.460000, 23.510000, 12.160000, 9.710000, 8.360000, 7.210000, 6.310000, 5.660000, 5.160000, 4.660000, 4.310000, 4.010000, 3.660000, 3.460000, 3.340000, 3.310000, 3.210000, 3.010000, 2.860000, 2.610000, 2.360000, 2.310000, 2.210000, 2.240000, 2.210000, 2.110000, 2.060000, 2.010000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.460000, 1.410000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.140000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.920000, 0.870000, 0.840000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 139, 550998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.882000, -0.079000, -0.003755 ], "estimate": [ 7.882000, -0.079000, -0.003755 ], "true_pose": [ 7.799000, -0.046000, -0.014692 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.870000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.870000, 0.920000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.040000, 1.040000, 1.060000, 1.060000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.340000, 1.390000, 1.440000, 1.490000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.810000, 1.760000, 1.760000, 1.810000, 1.840000, 1.940000, 1.990000, 2.040000, 2.090000, 2.210000, 2.260000, 2.410000, 2.510000, 2.560000, 2.760000, 2.860000, 3.010000, 3.210000, 3.410000, 3.610000, 3.960000, 4.210000, 4.560000, 4.960000, 5.410000, 6.360000, 6.910000, 7.910000, 9.310000, 11.210000, 13.860000, 16.760000, 16.810000, 22.460000, 22.510000, 22.460000, 22.510000, 21.560000, 10.910000, 9.610000, 7.760000, 6.810000, 6.060000, 5.410000, 4.910000, 4.460000, 4.160000, 3.860000, 3.610000, 3.410000, 3.160000, 3.010000, 2.860000, 2.660000, 2.560000, 2.460000, 2.410000, 2.440000, 2.360000, 2.310000, 2.210000, 2.110000, 2.060000, 1.990000, 1.990000, 1.890000, 1.890000, 1.790000, 1.610000, 1.540000, 1.540000, 1.490000, 1.440000, 1.410000, 1.410000, 1.360000, 1.410000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.290000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 0.970000, 0.990000, 0.900000, 0.920000, 0.920000, 0.890000, 0.840000, 0.870000, 0.920000, 0.870000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 142, 69998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.889000, -0.076000, -0.034428 ], "estimate": [ 8.889000, -0.076000, -0.034428 ], "true_pose": [ 8.832000, -0.066000, -0.026615 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 1.020000, 0.970000, 0.970000, 0.990000, 0.990000, 0.990000, 0.940000, 0.990000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.010000, 1.090000, 1.010000, 1.010000, 1.010000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.590000, 1.690000, 1.740000, 1.740000, 1.840000, 1.840000, 1.990000, 2.040000, 2.090000, 2.160000, 2.210000, 2.310000, 2.460000, 2.560000, 2.660000, 2.810000, 2.960000, 3.160000, 3.360000, 3.560000, 3.860000, 4.110000, 4.460000, 5.360000, 5.360000, 6.060000, 6.810000, 7.760000, 9.060000, 10.760000, 13.710000, 15.760000, 15.810000, 21.460000, 21.460000, 21.460000, 21.460000, 20.860000, 11.110000, 9.210000, 7.760000, 7.460000, 6.110000, 5.510000, 5.010000, 4.610000, 4.260000, 3.910000, 3.610000, 3.410000, 3.210000, 3.010000, 2.860000, 2.760000, 2.610000, 2.510000, 2.360000, 2.260000, 2.160000, 2.110000, 2.090000, 1.990000, 1.940000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.590000, 1.590000, 1.560000, 1.510000, 1.510000, 1.510000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.170000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.070000, 1.040000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.920000, 0.890000, 0.900000, 0.950000, 0.900000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 144, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.889000, 0.025000, 0.043209 ], "estimate": [ 9.889000, 0.025000, 0.043209 ], "true_pose": [ 9.841000, 0.043000, 0.040084 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 0.980000, 1.030000, 0.980000, 1.000000, 0.980000, 1.030000, 1.030000, 1.000000, 1.000000, 1.050000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.100000, 1.150000, 1.200000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.300000, 1.300000, 1.350000, 1.400000, 1.400000, 1.450000, 1.450000, 1.500000, 1.500000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.750000, 1.750000, 1.800000, 1.850000, 1.950000, 1.950000, 2.100000, 2.100000, 2.200000, 2.220000, 2.320000, 2.370000, 2.520000, 2.620000, 2.720000, 2.820000, 2.970000, 3.120000, 3.320000, 3.420000, 4.120000, 4.420000, 4.370000, 4.620000, 5.070000, 5.420000, 5.970000, 6.720000, 7.520000, 8.720000, 9.920000, 11.920000, 14.820000, 14.820000, 20.470000, 20.470000, 20.470000, 20.470000, 20.470000, 19.570000, 9.970000, 8.320000, 7.620000, 6.420000, 5.520000, 4.970000, 4.520000, 4.070000, 3.820000, 3.520000, 3.270000, 3.020000, 2.870000, 2.720000, 2.570000, 2.470000, 2.370000, 2.220000, 2.120000, 2.070000, 1.920000, 1.870000, 1.850000, 1.750000, 1.750000, 1.700000, 1.600000, 1.600000, 1.500000, 1.500000, 1.450000, 1.450000, 1.350000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.200000, 1.200000, 1.150000, 1.150000, 1.100000, 1.100000, 1.100000, 1.100000, 1.050000, 1.050000, 1.000000, 1.050000, 0.950000, 1.000000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.900000, 0.900000, 0.900000, 0.900000, 0.850000, 0.900000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.800000, 0.880000, 0.900000, 0.930000, 0.900000, 0.930000, 0.900000, 0.880000, 0.930000, 0.930000, 0.930000, 0.930000, 0.880000, 0.930000, 0.930000, 0.930000, 0.880000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 146, 740000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.974000, 0.004000, -0.033380 ], "estimate": [ 10.974000, 0.004000, -0.033380 ], "true_pose": [ 10.924000, 0.018000, -0.031817 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.990000, 0.970000, 0.940000, 0.970000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 2.090000, 2.190000, 2.210000, 2.310000, 2.410000, 2.510000, 2.860000, 3.010000, 3.160000, 3.360000, 3.360000, 3.310000, 3.560000, 3.760000, 4.060000, 4.360000, 4.710000, 5.160000, 5.610000, 6.260000, 7.010000, 8.060000, 9.210000, 10.760000, 13.710000, 13.710000, 13.710000, 19.360000, 19.360000, 19.360000, 19.410000, 19.410000, 18.460000, 9.010000, 7.660000, 6.560000, 6.590000, 5.360000, 5.260000, 4.360000, 4.010000, 3.710000, 3.460000, 3.210000, 3.010000, 2.810000, 2.710000, 2.560000, 2.410000, 2.310000, 2.210000, 2.110000, 2.060000, 1.960000, 1.910000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.820000, 0.790000, 0.820000, 0.870000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 149, 500000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.982000, 0.001000, -0.020134 ], "estimate": [ 11.982000, 0.001000, -0.020134 ], "true_pose": [ 11.969000, 0.002000, -0.018571 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.940000, 0.970000, 0.970000, 0.940000, 0.970000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.610000, 1.840000, 1.840000, 1.890000, 1.890000, 1.960000, 2.040000, 2.110000, 2.160000, 2.210000, 2.310000, 2.410000, 2.360000, 2.410000, 2.410000, 2.510000, 2.660000, 2.760000, 2.910000, 3.010000, 3.210000, 3.460000, 3.610000, 3.860000, 4.210000, 4.510000, 4.910000, 5.310000, 5.860000, 6.610000, 7.610000, 8.460000, 9.860000, 12.660000, 12.610000, 12.660000, 18.360000, 18.360000, 18.360000, 18.410000, 18.410000, 18.410000, 17.410000, 8.210000, 7.110000, 6.260000, 5.510000, 5.540000, 4.560000, 4.390000, 4.260000, 3.960000, 3.360000, 3.160000, 3.010000, 2.810000, 2.660000, 2.510000, 2.410000, 2.260000, 2.210000, 2.110000, 2.010000, 1.960000, 1.890000, 1.840000, 1.790000, 1.690000, 1.690000, 1.590000, 1.540000, 1.540000, 1.540000, 1.440000, 1.440000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.190000, 1.140000, 1.190000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 1.040000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.820000, 0.820000, 0.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 152, 169998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.978000, 0.009000, -0.042933 ], "estimate": [ 12.978000, 0.009000, -0.042933 ], "true_pose": [ 13.056000, 0.001000, -0.039808 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.920000, 0.970000, 0.970000, 0.970000, 0.940000, 0.970000, 0.970000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 1.020000, 0.990000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.510000, 1.540000, 1.510000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.890000, 1.990000, 2.090000, 2.140000, 2.160000, 2.260000, 2.410000, 2.460000, 2.560000, 2.660000, 2.860000, 3.010000, 3.210000, 3.310000, 3.560000, 3.760000, 4.110000, 4.410000, 4.760000, 5.210000, 5.710000, 6.610000, 7.160000, 8.110000, 9.510000, 11.710000, 11.710000, 11.660000, 15.810000, 17.360000, 17.310000, 17.360000, 17.360000, 17.360000, 16.460000, 13.710000, 7.460000, 6.510000, 5.810000, 5.110000, 4.710000, 4.540000, 4.510000, 3.610000, 3.360000, 3.390000, 3.360000, 3.160000, 2.960000, 2.860000, 2.410000, 2.360000, 2.210000, 2.110000, 2.060000, 1.990000, 1.940000, 1.890000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.870000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 154, 840000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.009000, -0.064000, 0.006463 ], "estimate": [ 14.009000, -0.064000, 0.006463 ], "true_pose": [ 14.063000, -0.069000, 0.012713 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 1.010000, 1.010000, 0.960000, 1.010000, 1.010000, 0.960000, 1.010000, 0.910000, 0.910000, 0.860000, 0.860000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.930000, 0.880000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.980000, 1.030000, 0.980000, 0.980000, 1.030000, 1.030000, 1.030000, 1.030000, 1.080000, 1.080000, 1.130000, 1.130000, 1.130000, 1.130000, 1.180000, 1.180000, 1.230000, 1.230000, 1.230000, 1.280000, 1.280000, 1.330000, 1.330000, 1.430000, 1.430000, 1.430000, 1.480000, 1.480000, 1.530000, 1.580000, 1.630000, 1.680000, 1.780000, 1.780000, 1.830000, 1.930000, 1.980000, 2.030000, 2.100000, 2.200000, 2.300000, 2.400000, 2.500000, 2.600000, 2.750000, 2.900000, 3.050000, 3.250000, 3.500000, 3.700000, 3.950000, 4.350000, 4.650000, 5.550000, 5.700000, 6.450000, 7.350000, 8.500000, 10.600000, 10.600000, 10.600000, 11.800000, 16.250000, 16.250000, 16.300000, 16.250000, 16.300000, 16.350000, 15.400000, 12.600000, 9.250000, 6.300000, 5.650000, 5.150000, 4.750000, 4.350000, 4.000000, 3.700000, 3.530000, 3.500000, 3.580000, 3.350000, 3.150000, 2.600000, 2.550000, 2.400000, 2.400000, 2.400000, 2.300000, 2.200000, 2.200000, 2.100000, 2.000000, 1.980000, 1.900000, 1.850000, 1.830000, 1.780000, 1.580000, 1.530000, 1.530000, 1.480000, 1.430000, 1.430000, 1.330000, 1.380000, 1.330000, 1.280000, 1.280000, 1.230000, 1.230000, 1.230000, 1.180000, 1.180000, 1.130000, 1.130000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.030000, 1.030000, 1.030000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.930000, 0.980000, 0.980000, 0.930000, 0.930000, 0.930000, 0.930000, 0.880000, 0.930000, 0.910000, 0.880000, 0.880000, 0.880000, 0.930000, 0.910000, 0.880000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 157, 520000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 15.083000, -0.043000, 0.000633 ], "estimate": [ 15.083000, -0.043000, 0.000633 ], "true_pose": [ 15.043000, -0.047000, 0.006883 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.920000, 0.870000, 0.870000, 0.890000, 0.920000, 0.920000, 0.920000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.890000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.740000, 1.740000, 1.790000, 1.840000, 1.940000, 1.990000, 2.040000, 2.140000, 2.210000, 2.260000, 2.360000, 2.510000, 2.610000, 2.760000, 2.910000, 3.010000, 3.260000, 3.460000, 3.660000, 4.310000, 4.560000, 4.560000, 5.060000, 5.510000, 6.160000, 7.460000, 8.010000, 9.610000, 9.610000, 9.560000, 9.660000, 15.260000, 15.260000, 15.260000, 15.260000, 15.260000, 15.310000, 15.360000, 14.410000, 13.810000, 8.410000, 10.010000, 5.260000, 4.860000, 4.460000, 4.060000, 3.810000, 3.560000, 3.360000, 3.160000, 2.960000, 2.810000, 2.710000, 2.560000, 2.590000, 2.510000, 2.560000, 2.510000, 2.360000, 2.310000, 2.210000, 2.110000, 2.060000, 1.960000, 1.690000, 1.690000, 1.590000, 1.590000, 1.560000, 1.560000, 1.540000, 1.560000, 1.540000, 1.540000, 1.490000, 1.440000, 1.390000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.090000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.920000, 0.890000, 0.870000, 0.870000, 0.920000, 0.890000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 160, 30000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 16.055000, -0.031000, -0.014773 ], "estimate": [ 16.055000, -0.031000, -0.014773 ], "true_pose": [ 16.049000, -0.033000, -0.003835 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.890000, 0.920000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.940000, 1.990000, 2.090000, 2.090000, 2.210000, 2.260000, 2.360000, 2.460000, 2.610000, 2.810000, 3.160000, 3.360000, 3.510000, 3.590000, 3.560000, 3.860000, 4.210000, 4.560000, 5.010000, 5.460000, 6.460000, 6.810000, 8.560000, 8.560000, 8.560000, 8.560000, 9.510000, 14.210000, 14.210000, 14.260000, 14.260000, 14.260000, 14.260000, 14.260000, 13.560000, 12.810000, 10.560000, 7.210000, 9.060000, 8.960000, 9.010000, 4.060000, 3.860000, 3.560000, 3.310000, 3.160000, 2.960000, 2.810000, 2.660000, 2.560000, 2.460000, 2.360000, 2.260000, 2.160000, 2.060000, 2.040000, 1.940000, 1.890000, 1.840000, 1.790000, 1.690000, 1.690000, 1.610000, 1.640000, 1.660000, 1.710000, 1.690000, 1.690000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 0.960000, 1.010000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.970000, 0.970000, 0.970000, 0.970000, 1.020000, 1.020000, 0.970000, 0.970000, 1.020000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 162, 479998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 17.123000, -0.028000, 0.004985 ], "estimate": [ 17.123000, -0.028000, 0.004985 ], "true_pose": [ 17.141000, 0.002000, 0.003423 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.920000, 0.920000, 0.920000, 0.890000, 0.920000, 0.920000, 0.870000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.940000, 2.040000, 2.110000, 2.210000, 2.260000, 2.360000, 2.460000, 2.560000, 2.590000, 2.560000, 2.660000, 2.810000, 2.960000, 3.160000, 3.310000, 3.510000, 3.810000, 4.110000, 4.410000, 5.260000, 5.460000, 5.860000, 7.560000, 7.510000, 7.560000, 7.510000, 7.510000, 8.510000, 13.160000, 13.210000, 13.160000, 13.160000, 13.210000, 13.160000, 13.210000, 13.210000, 12.360000, 11.760000, 9.510000, 7.010000, 6.210000, 7.960000, 7.910000, 7.960000, 8.010000, 5.460000, 3.160000, 3.010000, 2.810000, 2.660000, 2.560000, 2.510000, 2.360000, 2.260000, 2.210000, 2.110000, 2.040000, 1.990000, 1.940000, 1.890000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.040000, 1.040000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 1.040000, 0.990000, 0.990000, 0.990000, 0.960000, 0.940000, 0.940000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.040000, 1.070000, 1.040000, 1.040000, 1.070000, 1.070000, 1.020000, 1.070000, 1.070000, 1.020000, 1.020000, 1.020000, 1.070000, 1.020000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 164, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 18.119000, -0.015000, -0.006877 ], "estimate": [ 18.119000, -0.015000, -0.006877 ], "true_pose": [ 18.204000, 0.022000, -0.020939 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.960000, 1.010000, 1.040000, 1.140000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.710000, 1.660000, 1.710000, 1.690000, 1.790000, 1.790000, 1.840000, 1.940000, 1.990000, 2.090000, 2.110000, 2.210000, 2.310000, 2.410000, 2.460000, 2.660000, 2.760000, 2.910000, 3.110000, 3.260000, 3.460000, 4.110000, 4.410000, 4.410000, 4.760000, 6.560000, 6.510000, 6.510000, 6.460000, 6.460000, 6.460000, 6.460000, 8.460000, 12.160000, 12.110000, 12.110000, 12.110000, 12.160000, 12.160000, 12.160000, 12.210000, 12.210000, 11.310000, 10.710000, 8.510000, 6.560000, 5.710000, 5.160000, 6.910000, 6.960000, 6.960000, 7.010000, 7.310000, 4.710000, 4.310000, 4.010000, 4.010000, 4.060000, 4.060000, 2.160000, 2.140000, 2.040000, 1.990000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.890000, 0.920000, 0.890000, 0.890000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 167, 381000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 19.110000, 0.007000, 0.110669 ], "estimate": [ 19.110000, 0.007000, 0.110669 ], "true_pose": [ 19.212000, 0.038000, 0.099732 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 1.020000, 0.990000, 1.020000, 1.020000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 1.060000, 0.990000, 0.960000, 0.960000, 0.960000, 0.990000, 1.040000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.840000, 1.940000, 2.040000, 2.090000, 2.160000, 2.260000, 2.310000, 2.460000, 2.540000, 3.010000, 3.160000, 3.310000, 3.460000, 3.460000, 3.610000, 5.610000, 5.560000, 5.560000, 5.510000, 5.560000, 5.510000, 5.510000, 5.510000, 5.460000, 5.910000, 7.660000, 11.110000, 11.210000, 11.210000, 11.160000, 11.260000, 11.210000, 11.210000, 11.210000, 11.310000, 11.310000, 10.310000, 9.760000, 7.560000, 7.510000, 6.560000, 5.110000, 4.610000, 4.210000, 4.310000, 6.010000, 6.060000, 6.110000, 6.260000, 5.060000, 4.960000, 4.810000, 3.560000, 3.410000, 3.260000, 3.060000, 3.160000, 3.160000, 3.210000, 3.210000, 3.210000, 3.310000, 3.310000, 3.360000, 3.360000, 3.460000, 3.460000, 3.510000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 1.090000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.920000, 0.920000, 0.890000, 0.890000, 0.890000, 0.840000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 169, 819998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 20.161000, 0.120000, 0.126222 ], "estimate": [ 20.161000, 0.120000, 0.126222 ], "true_pose": [ 20.233000, 0.141000, 0.118410 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.020000, 0.970000, 1.020000, 1.020000, 0.990000, 1.040000, 1.020000, 0.990000, 1.040000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.710000, 1.890000, 1.940000, 2.040000, 2.090000, 2.140000, 2.190000, 2.210000, 2.310000, 2.360000, 2.460000, 2.510000, 2.460000, 2.560000, 2.710000, 4.710000, 4.710000, 4.610000, 4.610000, 4.560000, 4.560000, 4.560000, 4.510000, 4.460000, 4.510000, 4.460000, 4.460000, 4.460000, 4.460000, 4.760000, 5.560000, 6.760000, 8.460000, 10.160000, 10.160000, 10.160000, 10.160000, 10.160000, 10.110000, 10.160000, 10.160000, 10.160000, 10.210000, 9.410000, 9.260000, 8.660000, 6.460000, 6.510000, 6.460000, 5.560000, 4.110000, 3.810000, 3.510000, 3.310000, 3.210000, 4.960000, 5.010000, 5.060000, 5.110000, 5.210000, 4.210000, 3.960000, 3.860000, 3.810000, 3.760000, 3.710000, 2.610000, 2.610000, 2.510000, 2.410000, 2.360000, 2.310000, 2.160000, 2.110000, 2.160000, 2.210000, 2.310000, 2.310000, 2.260000, 2.310000, 2.410000, 2.410000, 2.460000, 2.510000, 2.560000, 2.560000, 2.660000, 2.710000, 2.710000, 2.760000, 2.810000, 2.910000, 3.010000, 3.110000, 3.160000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.810000, 3.960000, 4.160000, 4.260000, 4.460000, 4.610000, 4.810000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.610000, 1.610000, 1.610000, 1.610000, 1.560000, 1.610000, 1.560000, 1.640000, 1.590000, 1.590000, 1.540000, 0.790000, 0.790000, 0.790000, 0.820000, 0.790000, 0.740000, 0.790000, 0.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 172, 490000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 21.132000, 0.358000, 0.184239 ], "estimate": [ 21.132000, 0.358000, 0.184239 ], "true_pose": [ 21.197000, 0.378000, 0.173302 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.270000, 1.240000, 1.240000, 1.370000, 1.370000, 1.420000, 1.370000, 1.420000, 1.420000, 1.420000, 1.470000, 1.470000, 1.470000, 1.490000, 1.440000, 1.520000, 1.520000, 1.570000, 1.620000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.740000, 1.840000, 1.840000, 1.810000, 1.790000, 1.760000, 1.840000, 1.890000, 1.890000, 1.990000, 2.040000, 4.210000, 4.110000, 4.110000, 4.060000, 4.010000, 4.010000, 3.910000, 3.910000, 3.860000, 3.810000, 3.760000, 3.760000, 3.710000, 3.710000, 3.660000, 3.660000, 3.660000, 3.610000, 3.590000, 3.590000, 3.540000, 3.540000, 3.540000, 3.510000, 3.810000, 4.210000, 4.660000, 5.160000, 5.910000, 6.860000, 8.060000, 9.210000, 9.160000, 9.160000, 9.160000, 9.160000, 9.160000, 9.160000, 9.210000, 9.160000, 9.160000, 9.210000, 9.210000, 8.310000, 7.710000, 7.660000, 5.460000, 5.560000, 4.710000, 4.510000, 3.310000, 3.010000, 2.810000, 2.660000, 2.510000, 2.360000, 2.210000, 2.160000, 4.060000, 4.110000, 4.060000, 4.260000, 4.260000, 4.360000, 3.110000, 3.010000, 2.910000, 2.910000, 2.810000, 2.810000, 2.760000, 2.790000, 2.760000, 2.960000, 3.010000, 3.060000, 1.770000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.360000, 1.360000, 1.310000, 1.260000, 1.310000, 1.360000, 1.410000, 1.410000, 1.460000, 1.510000, 1.510000, 1.560000, 1.710000, 1.710000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.160000, 2.310000, 2.360000, 2.560000, 2.710000, 2.860000, 3.010000, 3.360000, 3.610000, 3.960000, 4.410000, 5.060000, 6.210000, 6.160000, 6.160000, 6.160000, 6.160000, 6.160000, 6.160000, 5.860000, 5.860000, 5.860000, 5.860000, 5.860000, 4.460000, 3.710000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 175, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 22.247000, 0.425000, -0.109799 ], "estimate": [ 22.247000, 0.425000, -0.109799 ], "true_pose": [ 22.322000, 0.418000, -0.120736 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.270000, 1.270000, 1.320000, 1.320000, 1.270000, 1.300000, 1.300000, 1.300000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.320000, 1.270000, 1.320000, 1.320000, 1.270000, 1.220000, 1.220000, 1.270000, 1.240000, 1.220000, 1.220000, 1.270000, 1.240000, 1.240000, 1.320000, 1.270000, 1.320000, 1.290000, 5.810000, 5.610000, 5.160000, 5.060000, 5.010000, 4.860000, 4.760000, 4.610000, 4.510000, 4.360000, 4.060000, 3.960000, 3.860000, 3.810000, 3.760000, 3.610000, 3.510000, 3.510000, 3.460000, 3.360000, 3.310000, 3.260000, 3.160000, 3.110000, 3.090000, 3.090000, 3.040000, 2.990000, 2.890000, 2.890000, 2.840000, 2.890000, 2.790000, 2.790000, 2.740000, 2.690000, 2.690000, 2.640000, 2.640000, 2.590000, 2.590000, 2.540000, 2.540000, 2.490000, 2.490000, 2.490000, 2.440000, 2.440000, 2.510000, 2.660000, 2.810000, 3.060000, 3.260000, 3.510000, 3.810000, 4.160000, 4.560000, 5.060000, 5.760000, 6.610000, 7.760000, 8.060000, 8.060000, 8.060000, 8.010000, 8.010000, 8.060000, 8.010000, 8.010000, 8.060000, 8.110000, 8.060000, 8.060000, 8.110000, 7.210000, 7.110000, 6.610000, 6.560000, 6.560000, 4.510000, 4.510000, 4.510000, 4.060000, 3.410000, 3.460000, 3.410000, 3.410000, 2.260000, 2.160000, 2.060000, 2.010000, 1.910000, 1.810000, 1.760000, 1.710000, 1.710000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.310000, 1.310000, 1.260000, 1.210000, 1.210000, 1.260000, 2.360000, 2.190000, 2.140000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 2.040000, 1.990000, 1.990000, 1.990000, 1.990000, 2.160000, 2.160000, 2.360000, 2.960000, 3.060000, 3.110000, 2.760000, 2.660000, 2.660000, 2.660000, 2.610000, 2.560000, 2.560000, 2.510000, 2.660000, 2.760000, 2.860000, 2.960000, 2.960000, 2.960000, 2.910000, 2.910000, 1.410000, 1.210000, 1.140000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 177, 280000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 23.206000, 0.274000, -0.235567 ], "estimate": [ 23.206000, 0.274000, -0.235567 ], "true_pose": [ 23.294000, 0.251000, -0.251191 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.710000, 1.810000, 2.010000, 2.160000, 2.410000, 2.660000, 2.960000, 3.360000, 3.910000, 4.560000, 5.610000, 6.960000, 9.960000, 15.260000, 50.000000, 39.710000, 15.260000, 50.000000, 17.010000, 15.310000, 13.210000, 11.610000, 9.960000, 8.810000, 8.010000, 7.310000, 6.660000, 6.160000, 5.760000, 5.510000, 5.360000, 5.110000, 4.510000, 4.360000, 4.360000, 4.160000, 3.910000, 3.760000, 3.410000, 3.310000, 3.160000, 3.060000, 2.910000, 2.860000, 2.760000, 2.710000, 2.610000, 2.540000, 2.490000, 2.440000, 2.390000, 2.290000, 2.240000, 2.240000, 2.190000, 2.090000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.520000, 1.490000, 1.640000, 1.660000, 1.710000, 1.860000, 1.960000, 2.060000, 2.160000, 2.410000, 2.610000, 2.810000, 3.060000, 3.360000, 3.810000, 4.360000, 4.960000, 5.810000, 7.060000, 7.060000, 7.060000, 7.060000, 7.110000, 7.060000, 7.060000, 7.060000, 7.060000, 7.060000, 7.110000, 7.110000, 7.110000, 7.160000, 7.210000, 7.210000, 6.260000, 6.310000, 5.810000, 5.660000, 5.660000, 5.760000, 5.760000, 5.710000, 5.360000, 3.710000, 3.710000, 3.710000, 3.710000, 3.260000, 3.110000, 3.010000, 2.610000, 2.640000, 2.690000, 2.740000, 2.710000, 2.560000, 2.510000, 2.460000, 2.410000, 2.310000, 2.310000, 2.240000, 2.190000, 2.160000, 1.560000, 1.540000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.160000, 1.210000, 1.190000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.110000, 1.110000, 1.110000, 1.060000, 1.060000, 1.010000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 179, 520000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 23.347000, 0.097000, -0.720710 ], "estimate": [ 23.347000, 0.097000, -0.720710 ], "true_pose": [ 23.425000, 0.098000, -0.736334 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.160000, 1.190000, 1.190000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.540000, 1.590000, 1.690000, 1.760000, 1.810000, 1.960000, 2.060000, 2.160000, 2.410000, 2.510000, 2.710000, 2.960000, 3.310000, 3.660000, 4.110000, 4.610000, 5.360000, 6.460000, 7.710000, 10.110000, 15.110000, 21.660000, 42.160000, 39.660000, 15.210000, 16.760000, 16.860000, 13.660000, 11.510000, 9.910000, 8.810000, 7.810000, 7.060000, 6.460000, 5.910000, 5.410000, 5.310000, 5.210000, 4.510000, 4.260000, 4.210000, 4.110000, 3.910000, 3.710000, 3.310000, 3.210000, 3.060000, 2.910000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.440000, 2.340000, 2.290000, 2.190000, 2.190000, 2.090000, 2.090000, 2.040000, 2.040000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.490000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.290000, 1.340000, 1.360000, 1.460000, 1.560000, 1.610000, 1.760000, 1.860000, 2.010000, 2.210000, 2.410000, 2.610000, 2.910000, 3.260000, 3.710000, 4.360000, 5.210000, 6.410000, 6.910000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.960000, 6.960000, 6.960000, 6.960000, 7.010000, 7.010000, 7.010000, 7.010000, 7.060000, 7.060000, 6.210000, 6.160000, 5.710000, 5.560000, 5.560000, 5.610000, 5.660000, 5.510000, 5.360000, 5.210000, 3.710000, 3.710000, 3.610000, 3.610000, 3.860000, 3.160000, 3.060000, 3.010000, 2.610000, 2.540000, 2.590000, 2.590000, 2.660000, 2.560000, 2.510000, 2.460000, 2.410000, 2.310000, 2.310000, 2.260000, 2.210000, 2.170000, 2.190000, 2.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 217, 169998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 23.789000, -0.628000, -1.268956 ], "estimate": [ 23.789000, -0.628000, -1.268956 ], "true_pose": [ 23.861000, -0.665000, -1.287705 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 1.070000, 1.040000, 1.120000, 1.040000, 1.070000, 1.040000, 1.040000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.640000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.840000, 1.940000, 1.990000, 2.040000, 2.140000, 2.190000, 2.210000, 2.310000, 2.410000, 2.560000, 2.560000, 2.710000, 2.860000, 3.010000, 3.160000, 3.310000, 3.560000, 3.760000, 4.010000, 4.310000, 4.610000, 5.060000, 5.460000, 6.060000, 6.960000, 7.510000, 8.660000, 10.160000, 12.310000, 14.410000, 21.560000, 32.910000, 41.360000, 14.460000, 50.000000, 16.110000, 12.660000, 9.760000, 8.210000, 6.960000, 6.110000, 5.410000, 4.910000, 4.540000, 4.460000, 4.110000, 3.460000, 3.340000, 3.360000, 3.160000, 2.960000, 2.760000, 2.410000, 2.260000, 2.210000, 2.060000, 2.010000, 1.910000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 1.090000, 1.040000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.820000, 0.740000, 0.790000, 0.790000, 0.770000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 219, 9998 ] }