{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.887000, -39.208000, -3.126771 ], "estimate": [ 2.887000, -39.208000, -3.126771 ], "true_pose": [ 2.286000, -38.682000, 3.129852 ], "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": [ 0.780000, 0.810000, 0.810000, 0.760000, 0.810000, 0.780000, 0.730000, 0.730000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.830000, 0.780000, 0.830000, 0.830000, 0.830000, 0.830000, 0.890000, 0.890000, 0.890000, 0.890000, 0.860000, 7.650000, 7.450000, 7.200000, 7.050000, 6.900000, 6.700000, 6.550000, 6.400000, 6.250000, 6.150000, 6.000000, 5.900000, 5.800000, 5.700000, 5.550000, 5.500000, 5.400000, 5.300000, 5.200000, 5.150000, 5.050000, 5.000000, 4.950000, 4.900000, 4.800000, 4.750000, 4.700000, 4.650000, 4.650000, 4.550000, 4.500000, 4.450000, 4.400000, 4.400000, 4.350000, 4.300000, 4.300000, 4.300000, 4.200000, 4.200000, 4.150000, 4.150000, 4.150000, 4.100000, 4.100000, 4.050000, 4.030000, 4.030000, 4.300000, 4.700000, 5.200000, 5.900000, 6.700000, 7.800000, 9.450000, 11.500000, 13.400000, 16.550000, 25.050000, 25.050000, 25.050000, 16.100000, 9.500000, 9.500000, 9.550000, 9.550000, 7.750000, 6.900000, 6.950000, 50.000000, 5.150000, 4.750000, 4.400000, 4.100000, 4.100000, 4.100000, 4.150000, 4.150000, 4.150000, 3.550000, 3.450000, 3.500000, 3.950000, 3.600000, 3.600000, 4.400000, 4.450000, 4.500000, 4.500000, 4.400000, 4.250000, 4.200000, 4.250000, 4.300000, 4.400000, 4.900000, 4.950000, 5.050000, 5.150000, 5.200000, 5.250000, 5.350000, 5.450000, 5.500000, 5.650000, 8.550000, 11.450000, 11.250000, 6.900000, 6.450000, 6.800000, 9.700000, 9.500000, 9.650000, 9.350000, 9.250000, 6.150000, 9.050000, 6.050000, 7.100000, 6.350000, 6.050000, 8.550000, 6.800000, 8.400000, 1.080000, 1.080000, 1.080000, 1.030000, 1.080000, 1.080000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.080000, 1.010000, 1.030000, 1.010000, 1.030000, 1.060000, 1.010000, 1.060000, 1.010000, 1.060000, 0.980000, 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": [ 463, 79998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.867000, -38.894000, 2.713764 ], "estimate": [ 1.867000, -38.894000, 2.713764 ], "true_pose": [ 1.272000, -38.399000, 2.685639 ], "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": [ 1.290000, 1.340000, 1.440000, 1.490000, 1.540000, 1.690000, 1.740000, 1.840000, 1.910000, 2.060000, 2.110000, 2.310000, 2.460000, 2.710000, 2.960000, 3.210000, 3.610000, 4.010000, 4.510000, 5.310000, 6.310000, 7.810000, 10.260000, 14.460000, 14.260000, 14.460000, 50.000000, 50.000000, 41.660000, 39.610000, 50.000000, 23.510000, 23.560000, 16.410000, 14.310000, 13.910000, 14.010000, 13.910000, 12.860000, 11.960000, 11.260000, 10.560000, 9.860000, 9.410000, 9.010000, 8.560000, 8.160000, 7.860000, 7.510000, 7.210000, 6.960000, 6.760000, 6.510000, 6.260000, 6.060000, 5.860000, 5.710000, 5.510000, 5.410000, 5.260000, 5.160000, 5.010000, 4.860000, 4.760000, 4.660000, 4.560000, 4.460000, 4.360000, 4.310000, 4.260000, 4.160000, 4.060000, 4.010000, 3.910000, 3.860000, 3.810000, 3.810000, 3.710000, 3.660000, 3.610000, 3.560000, 3.510000, 3.460000, 3.440000, 3.440000, 3.440000, 3.390000, 3.340000, 3.290000, 3.290000, 3.240000, 3.240000, 3.190000, 3.140000, 3.140000, 3.090000, 3.090000, 3.090000, 3.090000, 3.040000, 2.990000, 3.040000, 2.990000, 2.990000, 2.990000, 2.970000, 2.960000, 3.410000, 3.910000, 4.560000, 5.310000, 6.510000, 8.460000, 10.360000, 12.210000, 21.760000, 21.860000, 24.010000, 24.010000, 13.310000, 10.310000, 8.510000, 8.560000, 8.560000, 8.560000, 8.610000, 6.960000, 6.410000, 5.960000, 6.010000, 50.000000, 50.000000, 6.510000, 4.260000, 4.060000, 3.860000, 3.710000, 3.510000, 3.360000, 3.260000, 3.240000, 3.290000, 3.290000, 3.340000, 3.340000, 3.390000, 3.410000, 3.410000, 3.460000, 3.110000, 3.160000, 3.460000, 3.110000, 3.010000, 3.060000, 3.810000, 3.860000, 3.760000, 3.710000, 3.610000, 3.610000, 3.660000, 3.760000, 3.810000, 4.410000, 4.560000, 4.660000, 4.760000, 4.860000, 4.960000, 5.110000, 5.310000, 9.510000, 6.560000, 6.160000, 9.310000, 9.410000, 9.060000, 8.910000, 8.860000 ], "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": [ 466, 69998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.088000, -38.790000, -3.095129 ], "estimate": [ 1.088000, -38.790000, -3.095129 ], "true_pose": [ 0.516000, -38.272000, -3.112317 ], "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": [ 50.000000, 39.220000, 23.320000, 14.170000, 13.920000, 13.620000, 13.870000, 12.920000, 11.820000, 10.770000, 9.920000, 9.220000, 8.620000, 8.070000, 7.620000, 7.170000, 6.820000, 6.520000, 6.220000, 5.920000, 5.670000, 5.470000, 5.270000, 5.070000, 4.870000, 4.670000, 4.570000, 4.420000, 4.270000, 4.170000, 4.020000, 3.920000, 3.820000, 3.720000, 3.620000, 3.570000, 3.470000, 3.420000, 3.320000, 3.270000, 3.220000, 3.120000, 3.070000, 3.050000, 3.000000, 2.950000, 2.900000, 2.900000, 2.800000, 2.750000, 2.750000, 2.700000, 2.650000, 2.650000, 2.600000, 2.550000, 2.550000, 2.550000, 2.500000, 2.450000, 2.450000, 2.450000, 2.400000, 2.400000, 2.400000, 2.350000, 2.350000, 2.350000, 2.300000, 2.250000, 2.250000, 2.250000, 2.250000, 2.250000, 2.200000, 2.200000, 2.230000, 2.230000, 2.180000, 2.320000, 2.670000, 3.070000, 3.570000, 4.320000, 5.470000, 7.670000, 9.620000, 11.520000, 20.920000, 23.220000, 23.270000, 23.320000, 12.620000, 50.000000, 9.520000, 7.720000, 7.770000, 7.820000, 7.820000, 7.820000, 9.770000, 6.220000, 5.870000, 5.470000, 5.270000, 5.270000, 50.000000, 50.000000, 5.820000, 5.870000, 5.870000, 3.670000, 3.470000, 3.370000, 3.270000, 3.120000, 3.020000, 2.920000, 2.870000, 2.770000, 2.720000, 2.620000, 2.650000, 2.650000, 2.700000, 2.700000, 2.750000, 2.850000, 2.850000, 2.900000, 2.950000, 3.000000, 3.020000, 2.670000, 2.620000, 2.720000, 3.220000, 2.620000, 2.620000, 2.570000, 2.720000, 3.320000, 3.220000, 3.270000, 3.220000, 3.320000, 3.420000, 3.520000, 4.370000, 4.570000, 4.670000, 4.870000, 6.320000, 9.220000, 8.920000, 6.520000, 8.720000, 8.670000, 6.120000, 8.770000, 9.320000, 6.420000, 9.220000, 6.870000, 8.320000, 6.120000, 6.320000, 6.620000, 8.320000, 8.520000, 5.970000, 8.920000, 8.320000, 8.270000, 8.320000, 8.920000, 8.870000, 8.870000, 8.870000, 8.170000 ], "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": [ 475, 60000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.853000, -38.877000, -2.348140 ], "estimate": [ 0.853000, -38.877000, -2.348140 ], "true_pose": [ 0.341000, -38.368000, -2.384078 ], "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": [ 2.760000, 2.740000, 2.690000, 2.590000, 2.590000, 2.540000, 2.540000, 2.490000, 2.440000, 2.390000, 2.340000, 2.340000, 2.340000, 2.340000, 2.290000, 2.240000, 2.240000, 2.190000, 2.190000, 2.190000, 2.140000, 2.140000, 2.090000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 2.040000, 1.990000, 2.020000, 2.020000, 1.970000, 2.110000, 2.360000, 2.610000, 2.910000, 3.310000, 3.810000, 4.410000, 5.360000, 6.560000, 9.510000, 9.410000, 14.510000, 20.660000, 23.010000, 23.010000, 14.060000, 12.360000, 9.310000, 50.000000, 7.510000, 7.560000, 7.560000, 7.610000, 7.660000, 9.460000, 5.760000, 5.460000, 5.110000, 5.010000, 5.060000, 50.000000, 50.000000, 5.610000, 5.610000, 5.660000, 3.410000, 3.260000, 3.160000, 3.060000, 2.910000, 2.810000, 2.760000, 2.610000, 2.610000, 2.540000, 2.490000, 2.440000, 2.390000, 2.390000, 2.440000, 2.490000, 2.540000, 2.540000, 2.590000, 2.590000, 2.690000, 2.740000, 2.740000, 2.790000, 2.460000, 2.460000, 2.460000, 3.010000, 3.110000, 2.360000, 2.360000, 2.410000, 3.110000, 3.060000, 3.010000, 2.960000, 3.060000, 3.210000, 3.310000, 4.210000, 4.360000, 4.510000, 4.760000, 9.060000, 8.710000, 8.660000, 8.510000, 8.510000, 5.960000, 8.610000, 9.210000, 6.260000, 6.360000, 6.810000, 6.760000, 6.160000, 6.010000, 8.160000, 6.560000, 8.760000, 8.760000, 8.810000, 8.210000, 8.160000, 8.160000, 8.810000, 8.810000, 8.810000, 8.810000, 8.810000, 8.060000, 8.060000, 8.060000, 8.110000, 8.160000, 8.210000, 8.910000, 8.960000, 8.360000, 8.260000, 8.060000, 8.010000, 8.060000, 8.460000, 3.310000, 3.160000, 3.110000, 3.210000, 3.060000, 2.960000, 2.910000, 3.160000, 3.210000, 3.310000, 3.210000, 3.210000, 3.110000, 3.010000, 2.910000, 2.860000, 2.760000, 2.710000, 2.640000, 2.640000, 2.540000, 2.540000, 2.440000, 2.340000, 1.810000, 1.840000, 1.840000 ], "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": [ 480, 250000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.878000, -38.904000, -1.895498 ], "estimate": [ 0.878000, -38.904000, -1.895498 ], "true_pose": [ 0.343000, -38.382000, -1.931436 ], "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": [ 2.120000, 2.070000, 2.070000, 2.040000, 2.040000, 2.020000, 2.020000, 2.050000, 2.160000, 2.360000, 2.610000, 2.910000, 3.260000, 3.710000, 4.360000, 5.160000, 6.510000, 9.510000, 9.460000, 14.560000, 20.650000, 23.060000, 23.110000, 23.110000, 12.410000, 9.410000, 50.000000, 7.510000, 7.560000, 7.610000, 7.610000, 7.660000, 9.460000, 5.860000, 5.510000, 5.160000, 5.010000, 5.060000, 50.000000, 50.000000, 5.660000, 5.610000, 5.660000, 3.410000, 3.260000, 3.160000, 3.060000, 2.960000, 2.860000, 2.760000, 2.660000, 2.560000, 2.510000, 2.440000, 2.390000, 2.390000, 2.440000, 2.440000, 2.440000, 2.540000, 2.540000, 2.590000, 2.640000, 2.740000, 2.740000, 2.790000, 2.460000, 2.460000, 2.410000, 2.510000, 3.060000, 2.510000, 2.360000, 2.340000, 2.410000, 3.060000, 3.060000, 3.010000, 3.010000, 3.110000, 3.210000, 3.310000, 4.210000, 4.360000, 4.510000, 4.710000, 9.010000, 6.110000, 8.660000, 6.360000, 8.510000, 5.960000, 8.510000, 9.160000, 6.410000, 6.210000, 8.260000, 6.710000, 8.110000, 5.410000, 5.410000, 5.410000, 5.510000, 5.460000, 7.260000, 7.210000, 7.060000, 8.210000, 8.610000, 8.810000, 8.760000, 8.810000, 8.760000, 8.010000, 8.060000, 8.060000, 8.110000, 8.110000, 8.160000, 8.860000, 8.910000, 8.610000, 8.260000, 8.110000, 8.010000, 8.010000, 8.410000, 3.260000, 3.260000, 3.110000, 3.110000, 2.960000, 2.960000, 2.960000, 2.960000, 3.260000, 3.010000, 3.160000, 3.210000, 3.010000, 3.060000, 2.960000, 2.910000, 2.760000, 2.710000, 2.660000, 2.560000, 2.540000, 2.490000, 2.390000, 2.390000, 1.860000, 1.790000, 1.840000, 1.840000, 1.860000, 2.040000, 1.910000, 1.890000, 1.860000, 1.910000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.440000, 2.540000, 2.590000, 2.660000, 2.760000, 2.810000, 2.960000, 5.760000, 5.760000, 5.710000, 5.660000, 5.010000, 4.860000, 5.060000 ], "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": [ 480, 810998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.935000, -38.917000, -1.361757 ], "estimate": [ 0.935000, -38.917000, -1.361757 ], "true_pose": [ 0.389000, -38.389000, -1.391445 ], "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": [ 7.650000, 7.750000, 6.100000, 5.650000, 5.300000, 5.050000, 5.050000, 50.000000, 50.000000, 5.650000, 5.650000, 5.700000, 3.450000, 3.300000, 3.200000, 3.100000, 2.950000, 2.850000, 2.750000, 2.700000, 2.600000, 2.500000, 2.500000, 2.430000, 2.430000, 2.480000, 2.480000, 2.530000, 2.530000, 2.580000, 2.630000, 2.680000, 2.730000, 2.730000, 2.780000, 2.450000, 2.450000, 2.450000, 3.000000, 3.050000, 2.450000, 2.400000, 2.350000, 2.500000, 3.100000, 3.050000, 3.000000, 3.000000, 3.150000, 3.250000, 3.350000, 4.250000, 4.400000, 4.550000, 4.750000, 8.950000, 8.700000, 8.650000, 6.800000, 8.550000, 5.900000, 8.500000, 9.100000, 6.250000, 6.250000, 7.050000, 6.750000, 6.000000, 5.400000, 5.500000, 5.400000, 5.400000, 5.550000, 7.300000, 7.350000, 7.150000, 8.150000, 8.700000, 8.750000, 8.750000, 8.800000, 8.750000, 8.000000, 8.050000, 8.100000, 8.100000, 8.100000, 8.150000, 8.850000, 8.950000, 8.600000, 8.250000, 8.050000, 8.050000, 8.050000, 8.400000, 3.250000, 3.150000, 3.100000, 3.150000, 3.000000, 2.950000, 2.950000, 3.150000, 3.100000, 3.200000, 3.100000, 3.150000, 3.000000, 3.000000, 2.900000, 2.750000, 2.750000, 2.650000, 2.600000, 2.530000, 2.480000, 2.430000, 2.330000, 2.280000, 1.780000, 1.780000, 1.780000, 1.800000, 2.130000, 1.850000, 1.850000, 1.830000, 1.850000, 2.080000, 2.180000, 2.230000, 2.280000, 2.280000, 2.430000, 2.430000, 2.500000, 2.550000, 2.650000, 2.700000, 2.800000, 3.150000, 5.750000, 5.700000, 5.600000, 5.600000, 5.000000, 4.900000, 5.050000, 4.450000, 4.450000, 4.400000, 4.700000, 5.000000, 5.350000, 6.250000, 6.300000, 6.350000, 6.350000, 5.850000, 6.000000, 6.000000, 6.000000, 16.700000, 18.550000, 50.000000, 26.100000, 30.150000, 9.100000, 8.500000, 6.500000, 6.600000, 6.600000, 6.600000, 5.000000, 4.000000, 3.400000, 3.050000, 2.750000, 2.350000 ], "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": [ 481, 529998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.989000, -38.871000, -0.734342 ], "estimate": [ 0.989000, -38.871000, -0.734342 ], "true_pose": [ 0.432000, -38.362000, -0.759342 ], "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, 2.460000, 2.660000, 3.140000, 2.510000, 2.410000, 2.410000, 2.510000, 3.160000, 3.060000, 3.060000, 3.060000, 3.160000, 3.260000, 3.360000, 4.260000, 4.410000, 4.560000, 4.760000, 8.960000, 9.260000, 8.710000, 6.360000, 8.610000, 6.060000, 8.510000, 9.010000, 6.660000, 6.260000, 9.110000, 6.760000, 8.210000, 5.960000, 8.160000, 6.560000, 8.810000, 8.410000, 8.860000, 8.260000, 8.160000, 8.160000, 8.460000, 8.810000, 8.810000, 8.810000, 8.810000, 8.060000, 8.110000, 8.110000, 8.110000, 8.110000, 8.160000, 8.910000, 8.960000, 8.610000, 8.210000, 8.060000, 8.060000, 8.060000, 8.410000, 3.260000, 3.060000, 3.110000, 3.010000, 2.960000, 2.910000, 2.960000, 3.310000, 3.210000, 3.110000, 3.210000, 3.060000, 3.060000, 2.910000, 2.860000, 2.760000, 2.710000, 2.640000, 2.590000, 2.490000, 2.490000, 2.390000, 2.140000, 1.760000, 1.790000, 1.790000, 1.790000, 2.090000, 1.860000, 1.840000, 1.790000, 1.860000, 2.090000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.440000, 2.490000, 2.510000, 2.610000, 2.660000, 2.710000, 2.860000, 5.810000, 5.760000, 5.710000, 5.660000, 5.160000, 4.960000, 4.810000, 5.060000, 4.460000, 4.410000, 4.460000, 4.710000, 5.010000, 5.310000, 6.260000, 6.260000, 6.360000, 6.360000, 5.810000, 5.910000, 5.960000, 5.960000, 16.660000, 18.510000, 21.560000, 25.960000, 30.160000, 9.110000, 9.060000, 6.510000, 6.510000, 6.560000, 6.560000, 4.990000, 4.010000, 3.410000, 2.960000, 2.660000, 2.410000, 2.210000, 2.010000, 1.860000, 1.710000, 1.590000, 1.540000, 1.570000, 1.570000, 1.570000, 1.540000, 1.590000, 1.590000, 1.590000, 1.640000, 1.640000, 1.640000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.790000, 1.790000, 1.790000, 1.840000, 1.890000, 1.890000, 1.940000, 1.940000, 1.990000, 2.040000, 2.040000, 2.090000, 2.140000 ], "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": [ 482, 449998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.005000, -38.821000, -0.218185 ], "estimate": [ 1.005000, -38.821000, -0.218185 ], "true_pose": [ 0.437000, -38.332000, -0.236935 ], "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": [ 6.760000, 8.260000, 6.160000, 6.060000, 6.610000, 6.710000, 8.910000, 5.910000, 8.860000, 8.260000, 8.210000, 8.260000, 8.860000, 8.810000, 8.860000, 8.810000, 8.260000, 8.060000, 8.110000, 8.110000, 8.160000, 8.160000, 8.960000, 8.960000, 8.960000, 8.310000, 8.260000, 8.110000, 8.060000, 8.410000, 3.360000, 3.110000, 3.210000, 3.110000, 2.960000, 2.910000, 3.210000, 3.360000, 3.260000, 3.210000, 3.260000, 3.110000, 3.060000, 2.960000, 2.810000, 2.760000, 2.710000, 2.610000, 2.590000, 2.540000, 2.490000, 1.810000, 1.790000, 1.740000, 1.740000, 1.760000, 2.140000, 2.090000, 1.860000, 1.890000, 1.860000, 1.910000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.490000, 2.540000, 2.540000, 2.610000, 2.710000, 2.810000, 2.860000, 5.810000, 5.710000, 5.710000, 5.660000, 5.110000, 4.910000, 4.860000, 5.060000, 4.410000, 4.410000, 4.460000, 4.710000, 4.960000, 5.260000, 6.210000, 6.260000, 6.360000, 6.360000, 5.860000, 5.860000, 5.960000, 5.960000, 16.660000, 18.510000, 21.610000, 26.010000, 30.160000, 9.110000, 9.060000, 6.510000, 6.510000, 6.560000, 6.560000, 4.990000, 3.960000, 3.360000, 2.910000, 2.610000, 2.310000, 2.110000, 1.910000, 1.810000, 1.660000, 1.490000, 1.570000, 1.520000, 1.600000, 1.540000, 1.540000, 1.540000, 1.540000, 1.590000, 1.540000, 1.590000, 1.640000, 1.640000, 1.640000, 1.640000, 1.690000, 1.690000, 1.690000, 1.740000, 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.890000, 1.890000, 1.890000, 1.990000, 1.990000, 1.990000, 2.040000, 2.090000, 2.140000, 2.140000, 2.190000, 2.290000, 2.340000, 2.340000, 2.440000, 2.490000, 2.490000, 2.590000, 2.660000, 2.760000, 2.810000, 2.910000, 3.010000, 3.110000, 3.160000, 3.310000, 3.410000, 3.610000, 3.710000, 3.910000, 4.060000, 4.210000, 4.460000, 4.710000, 5.010000, 5.260000, 5.610000, 5.960000 ], "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": [ 483, 160000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.008000, -38.765000, 0.283511 ], "estimate": [ 1.008000, -38.765000, 0.283511 ], "true_pose": [ 0.440000, -38.278000, 0.264761 ], "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": [ 8.410000, 3.210000, 3.160000, 3.260000, 3.110000, 3.060000, 2.910000, 3.210000, 3.310000, 3.260000, 3.260000, 3.260000, 3.160000, 3.060000, 2.960000, 2.860000, 2.760000, 2.710000, 2.610000, 2.590000, 2.490000, 2.490000, 1.810000, 1.840000, 1.790000, 1.790000, 1.860000, 2.190000, 1.940000, 1.890000, 1.890000, 1.910000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.490000, 2.540000, 2.540000, 2.610000, 2.760000, 2.760000, 2.860000, 5.810000, 5.810000, 5.710000, 5.660000, 5.660000, 4.960000, 4.910000, 4.810000, 4.960000, 4.460000, 4.410000, 4.560000, 4.810000, 5.110000, 5.460000, 6.210000, 6.460000, 6.410000, 5.860000, 5.810000, 14.210000, 5.960000, 6.010000, 16.710000, 18.510000, 21.560000, 26.010000, 30.110000, 9.010000, 9.110000, 6.460000, 6.560000, 6.560000, 6.560000, 4.940000, 3.660000, 3.110000, 2.710000, 2.360000, 2.160000, 1.960000, 1.760000, 1.610000, 1.540000, 1.520000, 1.520000, 1.500000, 1.520000, 1.540000, 1.540000, 1.540000, 1.590000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.690000, 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.840000, 1.840000, 1.890000, 1.890000, 1.940000, 1.990000, 2.040000, 2.040000, 2.090000, 2.140000, 2.140000, 2.240000, 2.240000, 2.340000, 2.390000, 2.440000, 2.440000, 2.540000, 2.590000, 2.640000, 2.710000, 2.810000, 2.860000, 2.910000, 3.060000, 3.160000, 3.260000, 3.410000, 3.510000, 3.710000, 3.810000, 4.010000, 4.210000, 4.360000, 4.610000, 4.910000, 5.210000, 5.510000, 5.910000, 6.260000, 6.760000, 7.360000, 8.010000, 8.760000, 9.810000, 11.060000, 12.760000, 14.210000, 14.160000, 14.360000, 23.310000, 50.000000, 43.860000, 43.660000, 41.460000, 50.000000, 19.410000, 14.010000, 14.060000, 13.560000, 13.860000, 13.410000, 12.010000, 10.960000, 10.060000, 9.260000, 8.610000, 7.760000 ], "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": [ 483, 879998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.956000, -38.730000, 0.961237 ], "estimate": [ 0.956000, -38.730000, 0.961237 ], "true_pose": [ 0.398000, -38.222000, 0.942487 ], "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": [ 2.510000, 2.640000, 2.690000, 2.740000, 2.790000, 2.910000, 5.910000, 5.810000, 5.810000, 5.760000, 5.710000, 5.010000, 5.010000, 4.910000, 5.060000, 4.460000, 4.460000, 4.610000, 4.910000, 5.160000, 5.510000, 6.310000, 10.210000, 6.360000, 5.960000, 5.860000, 50.000000, 5.960000, 6.110000, 16.710000, 18.510000, 21.610000, 26.010000, 30.210000, 9.110000, 8.360000, 6.560000, 6.560000, 6.560000, 5.040000, 4.040000, 3.360000, 2.910000, 2.460000, 2.210000, 1.960000, 1.760000, 1.590000, 1.570000, 1.520000, 1.570000, 1.570000, 1.570000, 1.540000, 1.590000, 1.540000, 1.540000, 1.590000, 1.620000, 1.640000, 1.640000, 1.640000, 1.690000, 1.690000, 1.690000, 1.740000, 1.740000, 1.740000, 1.740000, 1.790000, 1.840000, 1.840000, 1.840000, 1.890000, 1.890000, 1.940000, 1.990000, 1.990000, 2.040000, 2.090000, 2.140000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.340000, 2.390000, 2.440000, 2.540000, 2.590000, 2.640000, 2.710000, 2.810000, 2.860000, 2.960000, 3.060000, 3.110000, 3.260000, 3.410000, 3.510000, 3.610000, 3.760000, 3.960000, 4.060000, 4.310000, 4.560000, 4.760000, 5.060000, 5.360000, 5.710000, 6.060000, 6.510000, 7.010000, 7.610000, 8.360000, 9.260000, 10.210000, 11.660000, 13.510000, 14.110000, 14.360000, 14.710000, 23.210000, 16.460000, 16.660000, 50.000000, 16.960000, 16.260000, 16.210000, 23.360000, 13.760000, 13.560000, 13.860000, 12.810000, 11.560000, 10.410000, 9.560000, 8.910000, 8.310000, 7.760000, 7.260000, 6.910000, 6.460000, 6.160000, 5.910000, 5.660000, 5.360000, 5.160000, 4.960000, 4.710000, 4.560000, 4.410000, 4.260000, 4.110000, 4.010000, 3.910000, 3.810000, 3.660000, 3.560000, 3.510000, 3.360000, 3.310000, 3.210000, 3.110000, 3.110000, 3.040000, 2.990000, 2.940000, 2.890000, 2.790000, 2.790000, 2.690000, 2.690000, 2.690000, 2.590000, 2.540000, 2.540000, 2.540000, 2.440000 ], "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": [ 487, 110000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.960000, -38.778000, 1.489006 ], "estimate": [ 0.960000, -38.778000, 1.489006 ], "true_pose": [ 0.380000, -38.264000, 1.467131 ], "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": [ 16.760000, 18.560000, 50.000000, 29.160000, 9.210000, 9.160000, 6.560000, 6.610000, 6.610000, 6.610000, 4.990000, 3.660000, 3.060000, 2.560000, 2.260000, 2.010000, 1.810000, 1.640000, 1.570000, 1.570000, 1.620000, 1.570000, 1.540000, 1.590000, 1.620000, 1.620000, 1.590000, 1.590000, 1.670000, 1.720000, 1.670000, 1.670000, 1.690000, 1.690000, 1.740000, 1.790000, 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.840000, 1.890000, 1.890000, 1.940000, 1.940000, 1.990000, 2.040000, 2.040000, 2.090000, 2.140000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.390000, 2.440000, 2.490000, 2.590000, 2.640000, 2.660000, 2.710000, 2.760000, 2.860000, 2.960000, 3.060000, 3.160000, 3.260000, 3.410000, 3.510000, 3.660000, 3.810000, 3.960000, 4.110000, 4.310000, 4.510000, 4.760000, 5.010000, 5.310000, 5.610000, 5.960000, 6.360000, 6.910000, 7.510000, 8.110000, 8.910000, 9.860000, 11.110000, 12.660000, 14.260000, 14.210000, 14.310000, 23.160000, 15.810000, 15.810000, 50.000000, 16.260000, 15.760000, 15.510000, 13.960000, 13.860000, 13.560000, 13.760000, 13.410000, 12.010000, 10.910000, 9.910000, 9.160000, 8.510000, 7.910000, 7.460000, 7.010000, 6.560000, 6.310000, 5.960000, 5.710000, 5.460000, 5.210000, 4.960000, 4.760000, 4.610000, 4.410000, 4.310000, 4.160000, 3.960000, 3.910000, 3.810000, 3.710000, 3.560000, 3.460000, 3.410000, 3.310000, 3.210000, 3.160000, 3.110000, 3.010000, 2.990000, 2.910000, 2.890000, 2.790000, 2.790000, 2.690000, 2.690000, 2.640000, 2.590000, 2.590000, 2.490000, 2.490000, 2.440000, 2.440000, 2.390000, 2.340000, 2.340000, 2.340000, 2.290000, 2.290000, 2.240000, 2.240000, 2.190000, 2.190000, 2.140000, 2.140000, 2.090000, 2.140000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 2.040000, 1.990000, 1.990000, 2.000000, 2.020000, 2.020000, 2.160000, 2.460000, 2.860000 ], "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": [ 487, 790000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.879000, -38.711000, 2.245760 ], "estimate": [ 0.879000, -38.711000, 2.245760 ], "true_pose": [ 0.323000, -38.165000, 2.227010 ], "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": [ 1.970000, 1.940000, 1.990000, 2.090000, 2.090000, 2.090000, 2.140000, 2.190000, 2.240000, 2.290000, 2.290000, 2.340000, 2.390000, 2.440000, 2.490000, 2.540000, 2.640000, 2.610000, 2.740000, 2.760000, 2.860000, 2.960000, 3.010000, 3.110000, 3.260000, 3.360000, 3.460000, 3.560000, 3.710000, 3.860000, 4.010000, 4.210000, 4.410000, 4.610000, 4.860000, 5.110000, 5.410000, 5.710000, 6.060000, 6.510000, 7.010000, 7.610000, 8.260000, 8.960000, 10.010000, 11.260000, 12.810000, 14.110000, 14.010000, 14.360000, 23.210000, 15.060000, 14.760000, 44.460000, 15.360000, 14.810000, 14.610000, 14.160000, 14.110000, 13.510000, 13.860000, 13.260000, 11.910000, 10.810000, 9.860000, 9.060000, 8.360000, 7.810000, 7.310000, 6.910000, 6.510000, 6.210000, 5.860000, 5.560000, 5.360000, 5.110000, 4.910000, 4.660000, 4.560000, 4.360000, 4.210000, 4.110000, 3.910000, 3.810000, 3.710000, 3.660000, 3.510000, 3.410000, 3.310000, 3.260000, 3.160000, 3.060000, 3.060000, 2.960000, 2.940000, 2.890000, 2.840000, 2.740000, 2.740000, 2.640000, 2.640000, 2.590000, 2.590000, 2.490000, 2.440000, 2.440000, 2.440000, 2.390000, 2.390000, 2.290000, 2.240000, 2.240000, 2.240000, 2.190000, 2.190000, 2.190000, 2.140000, 2.140000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 1.990000, 2.040000, 1.990000, 1.990000, 1.990000, 1.940000, 1.990000, 1.970000, 1.970000, 1.970000, 2.260000, 2.510000, 2.860000, 3.410000, 4.110000, 5.060000, 6.510000, 9.460000, 11.160000, 20.660000, 20.810000, 23.010000, 23.060000, 12.310000, 50.000000, 50.000000, 7.910000, 7.510000, 7.560000, 7.610000, 7.610000, 7.660000, 9.510000, 5.860000, 5.510000, 5.160000, 5.010000, 5.060000, 50.000000, 50.000000, 5.710000, 5.660000, 5.710000, 5.760000, 3.360000, 3.310000, 3.210000, 3.060000, 2.960000, 2.860000, 2.810000, 2.710000, 2.690000, 2.590000, 2.540000, 2.440000 ], "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": [ 488, 831000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.832000, -38.782000, 2.728110 ], "estimate": [ 0.832000, -38.782000, 2.728110 ], "true_pose": [ 0.247000, -38.293000, 2.703110 ], "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": [ 3.760000, 3.960000, 4.110000, 4.310000, 4.510000, 4.710000, 4.960000, 5.210000, 5.510000, 5.910000, 6.260000, 6.660000, 7.210000, 7.810000, 8.460000, 9.310000, 10.310000, 11.810000, 13.460000, 14.060000, 14.210000, 14.760000, 14.010000, 14.310000, 43.860000, 14.760000, 14.760000, 13.860000, 14.110000, 14.160000, 13.760000, 13.460000, 13.860000, 12.710000, 11.410000, 10.360000, 9.460000, 8.660000, 8.160000, 7.560000, 7.110000, 6.660000, 6.310000, 6.060000, 5.760000, 5.460000, 5.210000, 5.010000, 4.760000, 4.610000, 4.410000, 4.260000, 4.160000, 3.960000, 3.910000, 3.760000, 3.660000, 3.560000, 3.410000, 3.360000, 3.260000, 3.210000, 3.110000, 3.060000, 3.010000, 2.910000, 2.890000, 2.840000, 2.740000, 2.740000, 2.640000, 2.590000, 2.590000, 2.540000, 2.540000, 2.440000, 2.440000, 2.440000, 2.340000, 2.340000, 2.340000, 2.290000, 2.240000, 2.240000, 2.190000, 2.190000, 2.140000, 2.190000, 2.140000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 2.040000, 1.990000, 1.990000, 2.040000, 1.990000, 1.940000, 1.970000, 2.020000, 1.970000, 2.040000, 2.260000, 2.510000, 2.860000, 3.310000, 3.860000, 4.660000, 6.010000, 9.410000, 9.410000, 14.510000, 20.760000, 20.860000, 23.010000, 14.110000, 12.360000, 50.000000, 8.610000, 7.560000, 7.560000, 7.560000, 7.610000, 7.610000, 9.510000, 6.010000, 5.710000, 5.310000, 5.010000, 5.010000, 50.000000, 50.000000, 5.610000, 5.610000, 5.660000, 5.660000, 3.410000, 3.310000, 3.160000, 3.110000, 2.960000, 2.910000, 2.810000, 2.710000, 2.610000, 2.560000, 2.490000, 2.440000, 2.390000, 2.390000, 2.440000, 2.490000, 2.540000, 2.540000, 2.590000, 2.640000, 2.690000, 2.740000, 2.790000, 2.840000, 2.460000, 2.460000, 2.460000, 3.060000, 3.110000, 2.360000, 2.360000, 2.410000, 3.110000, 3.060000, 3.060000, 3.010000, 3.160000, 3.260000, 3.360000, 4.310000, 4.560000 ], "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": [ 489, 550000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.832000, -38.831000, -3.022126 ], "estimate": [ 0.832000, -38.831000, -3.022126 ], "true_pose": [ 0.259000, -38.315000, -3.056501 ], "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": [ 13.560000, 13.860000, 13.860000, 12.260000, 11.060000, 10.110000, 9.210000, 8.560000, 8.010000, 7.410000, 6.960000, 6.610000, 6.260000, 5.910000, 5.610000, 5.360000, 5.160000, 4.910000, 4.710000, 4.560000, 4.410000, 4.210000, 4.060000, 3.960000, 3.810000, 3.710000, 3.610000, 3.510000, 3.410000, 3.310000, 3.260000, 3.160000, 3.060000, 3.060000, 2.960000, 2.860000, 2.840000, 2.840000, 2.740000, 2.690000, 2.640000, 2.640000, 2.540000, 2.540000, 2.490000, 2.440000, 2.440000, 2.390000, 2.340000, 2.340000, 2.290000, 2.240000, 2.240000, 2.190000, 2.190000, 2.190000, 2.140000, 2.140000, 2.090000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 1.990000, 1.990000, 1.940000, 1.940000, 1.990000, 1.970000, 1.970000, 1.940000, 2.060000, 2.260000, 2.610000, 2.910000, 3.260000, 3.760000, 4.460000, 5.560000, 7.410000, 9.410000, 11.110000, 20.600000, 20.710000, 23.010000, 23.010000, 12.410000, 12.510000, 9.360000, 7.810000, 7.510000, 7.560000, 7.560000, 7.560000, 7.610000, 6.210000, 5.810000, 5.460000, 5.110000, 5.010000, 5.010000, 50.000000, 50.000000, 5.610000, 5.660000, 5.660000, 5.710000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.760000, 2.710000, 2.610000, 2.540000, 2.540000, 2.440000, 2.390000, 2.390000, 2.440000, 2.440000, 2.490000, 2.540000, 2.540000, 2.590000, 2.640000, 2.690000, 2.740000, 2.790000, 2.460000, 2.410000, 2.460000, 2.560000, 3.110000, 2.460000, 2.360000, 2.360000, 2.460000, 3.060000, 3.060000, 3.010000, 3.060000, 3.160000, 3.260000, 3.660000, 4.410000, 4.510000, 4.710000, 9.160000, 8.710000, 8.660000, 8.560000, 8.510000, 6.160000, 8.760000, 9.160000, 6.260000, 9.110000, 6.760000, 8.210000, 8.210000, 5.560000, 8.210000, 6.560000, 8.810000, 8.170000, 8.860000, 8.210000, 7.610000, 8.260000, 8.810000, 8.810000, 8.810000, 8.810000, 8.360000, 8.110000, 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": [ 490, 269998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.808000, -38.892000, -2.673504 ], "estimate": [ 0.808000, -38.892000, -2.673504 ], "true_pose": [ 0.253000, -38.349000, -2.707879 ], "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": [ 4.260000, 4.110000, 3.960000, 3.860000, 3.760000, 3.660000, 3.510000, 3.460000, 3.310000, 3.260000, 3.160000, 3.110000, 3.010000, 2.990000, 2.910000, 2.890000, 2.790000, 2.790000, 2.740000, 2.640000, 2.640000, 2.590000, 2.540000, 2.490000, 2.440000, 2.440000, 2.390000, 2.390000, 2.340000, 2.290000, 2.240000, 2.240000, 2.240000, 2.190000, 2.140000, 2.140000, 2.140000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 2.040000, 1.990000, 1.940000, 1.990000, 1.940000, 1.940000, 2.020000, 1.970000, 1.970000, 2.060000, 2.260000, 2.510000, 2.760000, 3.110000, 3.610000, 4.160000, 4.910000, 6.110000, 9.460000, 9.360000, 14.510000, 20.560000, 20.810000, 22.960000, 23.010000, 12.260000, 50.000000, 9.260000, 7.460000, 7.460000, 7.510000, 7.560000, 7.560000, 7.610000, 6.010000, 5.660000, 5.310000, 4.960000, 4.960000, 5.060000, 50.000000, 50.000000, 5.610000, 5.610000, 5.660000, 3.360000, 3.210000, 3.110000, 3.010000, 2.860000, 2.810000, 2.710000, 2.610000, 2.590000, 2.510000, 2.440000, 2.390000, 2.290000, 2.290000, 2.390000, 2.390000, 2.440000, 2.490000, 2.490000, 2.540000, 2.590000, 2.640000, 2.740000, 2.790000, 2.460000, 2.410000, 2.360000, 2.410000, 3.010000, 2.510000, 2.360000, 2.310000, 2.310000, 3.010000, 3.010000, 3.010000, 2.960000, 3.060000, 3.160000, 3.260000, 4.260000, 4.410000, 4.610000, 4.810000, 5.960000, 5.710000, 6.010000, 8.510000, 8.510000, 8.510000, 9.060000, 9.110000, 6.260000, 8.260000, 6.760000, 5.910000, 6.310000, 5.410000, 5.410000, 5.410000, 5.560000, 5.910000, 7.260000, 7.360000, 8.210000, 8.310000, 8.760000, 8.810000, 8.810000, 8.810000, 8.060000, 8.110000, 8.060000, 8.110000, 8.160000, 8.160000, 8.960000, 8.960000, 8.710000, 8.310000, 8.110000, 8.060000, 8.010000, 8.360000, 8.510000, 3.310000, 3.210000, 3.110000, 3.260000, 3.110000, 2.960000, 2.960000 ], "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": [ 506, 800000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.305000, -39.290000, -2.862853 ], "estimate": [ -0.305000, -39.290000, -2.862853 ], "true_pose": [ -0.849000, -38.760000, -2.897228 ], "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": [ 3.160000, 2.960000, 2.810000, 2.660000, 2.510000, 2.410000, 2.310000, 2.240000, 2.140000, 2.090000, 1.940000, 1.890000, 1.840000, 1.790000, 1.690000, 1.690000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.190000, 1.140000, 1.170000, 1.220000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.590000, 1.590000, 1.640000, 1.740000, 1.740000, 1.840000, 1.840000, 1.940000, 2.040000, 2.110000, 2.210000, 2.310000, 2.460000, 2.560000, 2.710000, 2.860000, 2.960000, 3.210000, 3.460000, 3.710000, 4.010000, 4.360000, 4.810000, 5.310000, 6.310000, 6.710000, 8.360000, 8.260000, 10.160000, 13.410000, 15.310000, 21.860000, 19.760000, 21.910000, 12.910000, 50.000000, 8.210000, 6.360000, 6.360000, 6.360000, 6.410000, 6.410000, 6.410000, 7.560000, 4.710000, 4.360000, 4.110000, 3.810000, 3.760000, 3.860000, 4.560000, 50.000000, 4.560000, 4.410000, 4.460000, 4.510000, 4.510000, 4.510000, 2.210000, 2.160000, 2.110000, 2.040000, 1.990000, 1.890000, 1.890000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.910000, 1.960000, 2.060000, 1.560000, 1.510000, 1.540000, 1.460000, 1.560000, 2.260000, 2.260000, 2.210000, 1.710000, 1.560000, 1.540000, 1.490000, 1.510000, 1.610000, 8.510000, 5.360000, 8.460000, 5.660000, 5.710000, 6.210000, 7.660000, 7.660000, 7.710000, 5.510000, 6.060000, 8.410000, 7.810000, 7.810000, 5.560000, 8.460000, 5.160000, 8.460000, 8.510000, 8.510000, 7.860000, 7.810000, 7.860000 ], "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": [ 508, 470000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.116000, -39.398000, 3.069926 ], "estimate": [ -1.116000, -39.398000, 3.069926 ], "true_pose": [ -1.741000, -38.805000, 3.048051 ], "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": [ 0.910000, 0.950000, 0.950000, 0.950000, 0.900000, 0.920000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 2.040000, 2.140000, 2.160000, 2.260000, 2.360000, 2.410000, 2.560000, 2.660000, 2.860000, 3.010000, 3.160000, 3.360000, 3.560000, 3.860000, 4.160000, 4.510000, 5.360000, 5.460000, 6.110000, 7.460000, 7.510000, 7.410000, 9.110000, 12.510000, 14.310000, 20.610000, 18.910000, 18.860000, 21.010000, 12.010000, 7.210000, 5.860000, 5.410000, 5.460000, 5.460000, 5.460000, 5.510000, 5.510000, 5.610000, 6.310000, 3.910000, 3.660000, 3.460000, 3.210000, 3.010000, 2.910000, 2.940000, 2.990000, 3.510000, 3.560000, 3.610000, 3.610000, 3.560000, 3.560000, 3.560000, 3.610000, 3.710000, 3.710000, 3.760000, 3.760000, 3.860000, 3.910000, 3.960000, 3.960000, 4.010000, 4.060000, 1.440000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 0.990000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.890000, 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": [ 510, 120000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.273000, -39.256000, -3.083360 ], "estimate": [ -2.273000, -39.256000, -3.083360 ], "true_pose": [ -2.854000, -38.653000, -3.125548 ], "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": [ 0.750000, 0.780000, 0.780000, 0.780000, 0.780000, 0.750000, 0.780000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.850000, 0.900000, 0.950000, 0.950000, 0.950000, 0.900000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.350000, 1.350000, 1.400000, 1.450000, 1.450000, 1.550000, 1.600000, 1.600000, 1.700000, 1.750000, 1.800000, 1.900000, 1.950000, 2.020000, 2.120000, 2.220000, 2.320000, 2.470000, 2.570000, 2.720000, 2.920000, 3.120000, 3.370000, 4.070000, 4.370000, 4.320000, 4.770000, 6.370000, 6.370000, 6.370000, 6.270000, 7.970000, 11.370000, 11.420000, 19.420000, 17.520000, 17.720000, 19.920000, 10.970000, 8.420000, 7.020000, 5.970000, 5.020000, 4.320000, 4.370000, 4.370000, 4.370000, 4.420000, 4.370000, 4.470000, 4.470000, 4.520000, 5.520000, 5.470000, 5.420000, 3.120000, 2.920000, 2.820000, 2.670000, 2.570000, 2.470000, 2.420000, 2.320000, 2.250000, 2.150000, 2.100000, 2.050000, 1.950000, 1.950000, 2.000000, 2.000000, 2.570000, 2.620000, 2.670000, 2.670000, 2.720000, 2.770000, 2.770000, 2.870000, 2.870000, 2.970000, 2.970000, 3.070000, 3.120000, 3.220000, 3.220000, 3.270000, 3.370000, 3.420000, 3.720000, 3.670000, 3.820000, 3.770000, 3.670000, 3.670000, 3.620000, 3.570000, 3.520000, 3.520000, 3.520000, 3.470000, 3.420000, 3.370000, 3.370000, 3.370000, 3.520000, 3.670000, 3.620000, 3.620000, 3.570000, 3.520000, 3.570000, 3.570000, 3.520000, 3.470000, 3.520000, 3.470000, 3.120000, 3.120000, 3.120000, 3.120000, 3.070000, 3.070000, 3.100000, 3.100000, 1.030000, 1.030000 ], "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": [ 512, 950000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.102000, -39.422000, 3.104950 ], "estimate": [ -3.102000, -39.422000, 3.104950 ], "true_pose": [ -3.701000, -38.791000, 3.062762 ], "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": [ 0.840000, 0.920000, 0.890000, 0.870000, 0.920000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.890000, 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, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.140000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.840000, 1.940000, 1.940000, 2.060000, 2.110000, 2.160000, 2.260000, 2.410000, 2.460000, 2.610000, 3.060000, 3.160000, 3.360000, 3.560000, 3.590000, 3.710000, 4.110000, 4.560000, 5.610000, 5.560000, 5.560000, 5.460000, 5.910000, 6.810000, 50.000000, 10.510000, 12.410000, 18.510000, 16.960000, 16.910000, 19.010000, 19.110000, 8.310000, 6.360000, 5.310000, 4.410000, 3.810000, 3.510000, 3.510000, 3.510000, 3.510000, 3.560000, 3.560000, 3.560000, 3.610000, 3.610000, 3.660000, 4.710000, 4.360000, 4.410000, 4.510000, 4.510000, 4.610000, 2.660000, 2.160000, 2.090000, 2.010000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.290000, 1.290000, 1.340000, 2.010000, 2.060000, 2.110000, 2.160000, 2.210000, 2.310000, 2.360000, 2.460000, 2.510000, 2.560000, 2.610000, 2.660000, 2.810000, 2.910000, 3.190000, 3.260000, 3.210000, 3.210000, 3.160000, 3.160000, 3.110000, 3.110000, 3.060000, 3.110000, 3.060000, 3.060000, 3.010000, 3.010000, 2.960000, 2.960000, 3.010000, 3.110000, 3.310000, 3.310000, 3.260000 ], "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": [ 515, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.177000, -39.286000, 3.116880 ], "estimate": [ -4.177000, -39.286000, 3.116880 ], "true_pose": [ -4.758000, -38.620000, 3.071567 ], "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": [ 0.700000, 0.780000, 0.780000, 0.780000, 0.780000, 0.750000, 0.780000, 0.750000, 0.780000, 0.750000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.900000, 1.000000, 1.000000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.200000, 1.200000, 1.200000, 1.250000, 1.300000, 1.350000, 1.350000, 1.350000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.920000, 1.970000, 2.020000, 2.120000, 2.220000, 2.320000, 2.420000, 2.520000, 2.550000, 2.550000, 2.720000, 2.970000, 3.120000, 4.520000, 4.520000, 4.520000, 4.520000, 4.420000, 4.320000, 4.570000, 5.220000, 6.120000, 8.620000, 9.520000, 11.320000, 17.420000, 15.720000, 15.970000, 17.970000, 18.020000, 9.020000, 7.320000, 5.720000, 5.070000, 4.370000, 4.020000, 3.670000, 3.370000, 3.070000, 2.820000, 2.620000, 2.470000, 2.520000, 2.520000, 2.570000, 2.570000, 2.570000, 2.570000, 2.570000, 2.620000, 2.620000, 2.670000, 2.670000, 2.720000, 3.570000, 3.570000, 3.670000, 3.720000, 3.970000, 4.070000, 4.070000, 4.120000, 4.520000, 4.620000, 4.670000, 4.720000, 1.970000, 1.920000, 1.870000, 1.870000, 1.770000, 1.770000, 1.720000, 1.470000, 1.400000, 1.400000, 1.350000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.080000, 1.130000, 1.080000, 1.050000, 1.130000, 1.080000, 1.080000, 1.080000, 1.080000, 1.030000, 1.080000 ], "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": [ 518, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.162000, -39.329000, -3.056572 ], "estimate": [ -5.162000, -39.329000, -3.056572 ], "true_pose": [ -5.759000, -38.613000, -3.090947 ], "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": [ 0.740000, 0.790000, 0.770000, 0.740000, 0.770000, 0.770000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.910000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.490000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.660000, 1.610000, 1.610000, 1.690000, 1.740000, 1.790000, 1.890000, 2.010000, 2.110000, 2.210000, 2.360000, 3.660000, 3.610000, 3.560000, 3.610000, 3.560000, 3.510000, 3.560000, 3.510000, 3.460000, 3.410000, 3.760000, 4.260000, 4.760000, 5.310000, 6.460000, 8.510000, 8.560000, 16.410000, 16.460000, 14.910000, 14.960000, 17.010000, 17.060000, 8.060000, 6.260000, 5.260000, 4.710000, 4.160000, 3.810000, 3.360000, 3.160000, 2.910000, 2.710000, 2.460000, 2.410000, 2.160000, 2.060000, 1.960000, 1.860000, 1.810000, 1.760000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.710000, 1.710000, 1.760000, 1.760000, 1.810000, 1.810000, 1.810000, 1.890000, 2.810000, 3.010000, 3.260000, 3.310000, 3.310000, 3.810000, 3.860000, 3.960000, 4.810000, 4.910000, 4.410000, 4.260000, 4.160000, 3.960000, 3.810000, 3.860000, 3.910000, 3.910000, 3.910000, 3.960000, 4.560000, 4.160000, 4.160000, 4.060000, 3.910000, 3.810000, 3.710000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.210000, 1.210000, 1.240000, 1.190000, 1.190000, 1.240000, 1.510000, 1.040000, 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": [ 520, 769998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.220000, -39.214000, 3.015927 ], "estimate": [ -6.220000, -39.214000, 3.015927 ], "true_pose": [ -6.774000, -38.465000, 2.976864 ], "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, 0.670000, 0.720000, 0.720000, 0.670000, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.710000, 0.740000, 0.710000, 0.660000, 0.710000, 0.710000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.960000, 0.960000, 0.960000, 1.010000, 1.010000, 1.060000, 1.060000, 1.110000, 1.160000, 1.110000, 1.160000, 1.260000, 1.260000, 1.360000, 4.610000, 3.710000, 3.510000, 3.460000, 2.560000, 2.610000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.490000, 2.490000, 2.490000, 2.440000, 2.440000, 2.360000, 2.410000, 2.660000, 2.960000, 3.310000, 3.810000, 4.260000, 5.310000, 7.410000, 7.460000, 13.610000, 13.660000, 13.600000, 16.010000, 16.010000, 16.060000, 13.910000, 50.000000, 7.060000, 5.510000, 5.210000, 4.310000, 3.910000, 3.660000, 3.360000, 3.210000, 3.010000, 2.810000, 2.660000, 2.460000, 2.310000, 2.310000, 2.160000, 2.110000, 2.010000, 1.960000, 1.860000, 1.760000, 1.760000, 1.710000, 1.610000, 1.560000, 1.560000, 1.460000, 1.410000, 1.460000, 1.360000, 1.360000, 1.310000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.060000, 1.010000, 1.010000, 0.990000, 1.010000, 1.010000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.910000, 0.910000, 0.910000, 0.860000, 0.860000, 0.860000, 0.860000, 0.910000, 1.060000, 1.110000, 1.210000, 1.210000, 1.310000, 1.360000, 1.390000, 3.660000, 4.610000, 3.910000, 3.910000, 3.910000, 3.810000, 3.710000, 3.610000 ], "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": [ 523, 929998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.246000, -39.157000, 2.972415 ], "estimate": [ -7.246000, -39.157000, 2.972415 ], "true_pose": [ -7.787000, -38.368000, 2.928665 ], "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": [ 0.560000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.540000, 0.540000, 0.540000, 0.520000, 0.550000, 0.550000, 0.600000, 0.550000, 0.520000, 0.540000, 0.540000, 0.560000, 0.510000, 0.560000, 0.560000, 0.560000, 0.510000, 0.510000, 0.560000, 0.510000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.760000, 3.960000, 3.810000, 3.790000, 3.810000, 3.860000, 3.910000, 3.960000, 4.010000, 4.060000, 3.910000, 3.710000, 2.860000, 2.810000, 2.760000, 2.760000, 2.710000, 2.610000, 2.610000, 2.560000, 2.660000, 2.760000, 2.810000, 2.910000, 3.260000, 3.310000, 3.360000, 3.460000, 4.260000, 4.160000, 4.110000, 4.010000, 3.760000, 3.810000, 3.660000, 3.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.510000, 1.560000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.360000, 1.310000, 1.410000, 1.510000, 1.660000, 1.760000, 1.960000, 2.110000, 2.260000, 2.560000, 2.910000, 3.160000, 3.810000, 4.610000, 6.460000, 6.510000, 12.810000, 12.660000, 12.710000, 14.960000, 14.960000, 15.010000, 13.860000, 8.360000, 7.010000, 6.060000, 5.260000, 4.760000, 4.210000, 4.310000, 4.360000, 3.260000, 3.110000, 3.010000, 2.810000, 2.660000, 2.560000, 2.460000, 2.310000, 2.210000, 2.110000, 2.060000, 1.960000, 1.910000, 1.860000, 1.810000, 1.710000, 1.710000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.110000, 1.110000, 1.060000, 1.060000, 0.990000, 1.060000, 1.010000, 1.060000, 1.010000, 1.010000, 0.960000, 0.960000, 0.960000, 0.960000, 0.910000, 0.910000, 0.910000, 0.960000, 0.910000, 0.910000, 0.890000, 0.860000, 0.860000, 0.860000, 0.860000, 0.810000 ], "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": [ 527, 561000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.254000, -39.246000, -3.015041 ], "estimate": [ -8.254000, -39.246000, -3.015041 ], "true_pose": [ -8.785000, -38.415000, -3.054104 ], "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": [ 4.160000, 3.860000, 3.610000, 3.560000, 3.590000, 3.560000, 3.560000, 2.510000, 2.460000, 2.360000, 2.310000, 2.210000, 2.110000, 2.110000, 2.160000, 2.210000, 2.210000, 2.260000, 2.310000, 1.010000, 1.060000, 1.010000, 1.010000, 0.960000, 0.910000, 0.910000, 0.860000, 0.810000, 0.810000, 0.810000, 0.810000, 0.560000, 0.560000, 0.510000, 0.510000, 0.510000, 0.510000, 0.560000, 0.560000, 0.610000, 0.560000, 0.610000, 0.610000, 0.610000, 0.610000, 0.660000, 0.660000, 0.660000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.760000, 0.810000, 0.810000, 0.860000, 0.860000, 0.860000, 0.910000, 0.960000, 0.960000, 1.010000, 1.060000, 1.110000, 1.160000, 1.260000, 1.260000, 1.310000, 1.410000, 1.560000, 1.610000, 1.760000, 1.910000, 2.060000, 2.160000, 2.410000, 2.710000, 3.110000, 3.560000, 4.210000, 5.410000, 5.460000, 13.310000, 11.710000, 11.710000, 11.660000, 14.010000, 14.010000, 14.010000, 12.860000, 11.560000, 6.460000, 5.710000, 5.060000, 4.510000, 4.060000, 3.710000, 3.460000, 3.310000, 3.360000, 3.360000, 3.410000, 3.410000, 2.360000, 2.260000, 2.160000, 2.060000, 2.060000, 1.910000, 1.860000, 1.760000, 1.760000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.510000, 1.410000, 1.410000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 0.960000, 0.960000, 0.960000, 0.860000, 0.860000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.760000, 0.790000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.820000, 0.770000, 0.770000, 0.820000, 0.820000, 0.770000, 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": [ 531, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -9.251000, -39.388000, -3.032429 ], "estimate": [ -9.251000, -39.388000, -3.032429 ], "true_pose": [ -9.753000, -38.508000, -3.066804 ], "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": [ 0.390000, 0.440000, 0.440000, 0.490000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.560000, 0.510000, 0.560000, 0.510000, 0.540000, 0.510000, 0.510000, 0.610000, 0.560000, 0.610000, 0.610000, 0.560000, 0.560000, 0.610000, 0.560000, 0.560000, 0.660000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.660000, 0.660000, 0.710000, 0.710000, 0.690000, 0.660000, 0.710000, 0.710000, 0.710000, 0.760000, 0.810000, 0.810000, 0.810000, 0.810000, 0.860000, 0.860000, 0.910000, 0.910000, 0.910000, 0.960000, 1.010000, 1.110000, 1.110000, 1.160000, 1.160000, 1.160000, 1.190000, 1.260000, 1.310000, 1.360000, 1.460000, 1.610000, 1.660000, 1.710000, 1.860000, 2.010000, 2.160000, 2.310000, 2.510000, 2.760000, 3.110000, 4.440000, 4.440000, 4.460000, 4.510000, 6.310000, 12.310000, 12.260000, 10.710000, 10.710000, 12.960000, 13.010000, 13.010000, 13.010000, 10.910000, 10.610000, 5.510000, 4.860000, 4.410000, 4.010000, 3.660000, 3.310000, 3.060000, 2.860000, 2.660000, 2.410000, 2.260000, 2.260000, 2.360000, 2.410000, 2.410000, 2.460000, 2.410000, 2.460000, 2.460000, 2.510000, 2.560000, 2.560000, 1.360000, 1.310000, 1.360000, 1.310000, 1.210000, 1.210000, 1.160000, 1.210000, 1.160000, 1.140000, 1.110000, 1.160000, 1.110000, 1.110000, 1.060000, 1.010000, 1.060000, 1.010000, 1.010000, 0.960000, 0.910000, 0.910000, 0.860000, 0.910000, 0.910000, 0.860000, 0.860000, 0.860000, 0.810000, 0.860000, 0.860000, 0.810000, 0.860000, 0.810000, 0.860000, 0.860000, 0.810000, 0.810000, 0.810000, 0.770000, 0.710000, 0.760000, 0.760000, 0.760000, 0.760000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.660000, 0.740000, 0.690000, 0.690000, 0.690000, 0.720000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.640000, 0.690000 ], "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": [ 536, 299998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -10.246000, -39.455000, -2.934727 ], "estimate": [ -10.246000, -39.455000, -2.934727 ], "true_pose": [ -10.769000, -38.564000, -2.984727 ], "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": [ 0.440000, 0.460000, 0.460000, 0.460000, 0.510000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.510000, 0.460000, 0.510000, 0.460000, 0.510000, 0.460000, 0.510000, 0.510000, 0.560000, 0.560000, 0.610000, 0.610000, 0.610000, 0.610000, 0.660000, 0.660000, 0.660000, 0.610000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.710000, 0.660000, 0.760000, 0.710000, 0.740000, 0.760000, 0.760000, 0.760000, 0.810000, 0.810000, 0.810000, 0.810000, 0.860000, 0.860000, 0.860000, 0.960000, 0.960000, 0.960000, 1.010000, 1.010000, 1.060000, 1.160000, 1.210000, 1.260000, 1.210000, 1.310000, 1.360000, 1.460000, 1.560000, 1.510000, 1.660000, 1.810000, 1.860000, 2.010000, 2.160000, 3.460000, 3.440000, 3.440000, 3.440000, 3.440000, 3.390000, 3.560000, 4.460000, 5.410000, 7.460000, 11.210000, 11.310000, 9.910000, 9.760000, 11.910000, 11.960000, 11.960000, 12.010000, 10.010000, 9.560000, 5.060000, 4.560000, 4.060000, 3.710000, 3.410000, 3.110000, 2.910000, 2.710000, 2.560000, 2.410000, 2.260000, 2.110000, 2.010000, 1.910000, 1.860000, 1.760000, 1.660000, 1.610000, 1.560000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.690000, 2.010000, 3.660000, 3.610000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 4.510000, 4.510000, 4.560000, 3.960000, 3.860000, 3.860000, 3.810000, 3.760000, 3.710000, 3.760000, 3.860000, 4.010000, 4.160000, 4.060000, 4.010000, 4.010000, 3.960000, 3.910000, 3.910000, 3.960000, 4.260000, 4.510000, 0.660000, 0.610000, 0.660000, 0.660000, 0.610000, 0.610000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.620000, 0.620000, 0.670000, 0.670000, 0.620000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000 ], "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": [ 541, 809998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.078000, -39.475000, -3.066188 ], "estimate": [ -11.078000, -39.475000, -3.066188 ], "true_pose": [ -11.651000, -38.531000, -3.103688 ], "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": [ 0.390000, 0.440000, 0.440000, 0.490000, 0.490000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.510000, 0.460000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.560000, 0.510000, 0.560000, 0.560000, 0.560000, 0.560000, 0.610000, 0.560000, 0.610000, 0.560000, 0.610000, 0.560000, 0.510000, 0.560000, 0.560000, 0.560000, 0.610000, 0.590000, 0.560000, 0.610000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.710000, 0.710000, 0.710000, 0.710000, 0.760000, 0.810000, 0.810000, 0.810000, 0.790000, 0.760000, 0.810000, 0.810000, 0.860000, 0.910000, 0.960000, 1.010000, 1.010000, 1.060000, 1.060000, 1.110000, 1.160000, 1.210000, 1.260000, 1.310000, 1.310000, 1.410000, 2.710000, 2.740000, 2.690000, 2.690000, 2.640000, 2.690000, 2.690000, 2.640000, 2.590000, 2.640000, 2.610000, 2.960000, 3.460000, 4.360000, 5.210000, 6.610000, 10.460000, 8.910000, 8.860000, 8.910000, 9.060000, 11.110000, 11.110000, 11.110000, 11.010000, 9.060000, 8.760000, 8.760000, 4.210000, 3.910000, 3.610000, 3.310000, 3.060000, 2.860000, 2.760000, 2.510000, 2.310000, 2.260000, 2.160000, 2.010000, 1.960000, 1.910000, 1.810000, 1.710000, 1.610000, 1.610000, 1.510000, 1.510000, 1.410000, 1.360000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.060000, 1.060000, 1.010000, 1.010000, 1.010000, 0.960000, 0.960000, 0.910000, 0.940000, 0.860000, 0.910000, 0.860000, 0.860000, 0.860000, 0.810000, 0.860000, 0.860000, 0.860000, 0.810000, 0.810000, 0.860000, 0.810000, 0.810000, 0.760000, 0.760000, 0.810000, 0.860000, 1.210000, 1.260000, 1.310000, 1.360000, 3.460000, 3.460000, 3.510000, 3.660000, 3.860000, 3.810000, 3.810000, 3.810000, 3.760000, 3.740000, 3.790000, 3.810000, 4.010000, 4.110000, 4.110000, 4.210000, 6.410000, 6.460000, 6.260000 ], "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": [ 545, 610000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.058000, -39.466000, 2.973089 ], "estimate": [ -12.058000, -39.466000, 2.973089 ], "true_pose": [ -12.620000, -38.464000, 2.948089 ], "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": [ 0.410000, 0.390000, 0.440000, 0.390000, 0.440000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.370000, 0.370000, 0.370000, 0.370000, 0.390000, 0.440000, 0.390000, 0.390000, 0.390000, 0.390000, 0.360000, 0.410000, 0.460000, 0.410000, 0.410000, 0.410000, 0.460000, 0.410000, 0.460000, 0.410000, 0.460000, 0.510000, 0.510000, 0.510000, 0.460000, 0.510000, 0.510000, 0.460000, 0.460000, 0.510000, 0.460000, 0.510000, 0.460000, 0.490000, 0.490000, 0.510000, 0.510000, 3.860000, 3.810000, 3.860000, 3.810000, 3.910000, 5.060000, 5.010000, 4.860000, 4.860000, 4.810000, 4.110000, 4.060000, 3.960000, 3.910000, 3.810000, 3.910000, 3.960000, 3.660000, 3.610000, 3.560000, 3.460000, 3.410000, 3.310000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.740000, 1.740000, 1.740000, 1.690000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.640000, 1.640000, 1.640000, 1.610000, 1.610000, 1.810000, 2.110000, 2.310000, 2.710000, 3.410000, 3.810000, 4.760000, 9.510000, 8.060000, 7.860000, 7.760000, 7.810000, 8.110000, 8.210000, 10.160000, 8.110000, 10.210000, 10.010000, 8.110000, 7.760000, 7.710000, 8.210000, 6.760000, 50.000000, 3.260000, 3.060000, 2.860000, 2.660000, 2.560000, 2.410000, 2.360000, 2.160000, 2.110000, 2.060000, 1.910000, 1.860000, 1.810000, 1.760000, 1.660000, 1.610000, 1.560000, 1.460000, 1.410000, 1.410000, 1.360000, 1.310000, 1.310000, 1.360000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.140000, 1.160000, 1.060000, 1.060000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 0.960000, 0.960000, 0.960000, 0.890000, 0.940000, 0.910000, 0.910000, 0.910000, 0.860000, 0.860000, 0.910000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.810000, 0.760000, 0.770000, 0.760000, 0.760000, 0.710000 ], "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": [ 550, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.914000, -39.540000, -3.017640 ], "estimate": [ -12.914000, -39.540000, -3.017640 ], "true_pose": [ -13.477000, -38.496000, -3.037952 ], "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, 7.510000, 7.510000, 7.510000, 4.060000, 3.710000, 3.560000, 3.490000, 3.510000, 3.510000, 3.510000, 3.610000, 3.560000, 3.610000, 3.660000, 3.760000, 3.760000, 3.560000, 3.360000, 3.360000, 3.360000, 3.410000, 3.410000, 3.410000, 3.460000, 3.460000, 4.610000, 4.660000, 4.560000, 4.460000, 4.410000, 4.260000, 3.460000, 1.140000, 1.110000, 1.110000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.010000, 1.010000, 0.960000, 0.960000, 0.960000, 0.910000, 0.910000, 0.910000, 0.910000, 0.860000, 0.910000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.810000, 0.810000, 0.860000, 0.810000, 0.860000, 0.960000, 0.960000, 1.010000, 1.060000, 1.110000, 1.210000, 1.310000, 1.360000, 1.460000, 1.610000, 1.760000, 1.860000, 2.110000, 2.360000, 2.610000, 2.960000, 3.460000, 4.060000, 8.610000, 8.560000, 7.260000, 7.110000, 7.060000, 7.060000, 7.260000, 7.410000, 9.310000, 9.360000, 9.310000, 9.260000, 8.110000, 7.210000, 6.910000, 6.910000, 7.110000, 5.960000, 7.210000, 50.000000, 4.510000, 4.510000, 4.360000, 2.410000, 2.260000, 2.110000, 2.110000, 1.910000, 1.860000, 1.810000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.410000, 1.310000, 1.260000, 1.290000, 1.310000, 1.310000, 1.210000, 1.210000, 1.210000, 1.160000, 1.110000, 1.110000, 1.040000, 1.040000, 1.110000, 1.060000, 1.060000, 1.060000, 1.060000, 1.010000, 1.010000, 0.960000, 0.960000, 0.960000, 0.910000, 0.860000, 0.810000, 0.810000, 0.860000, 0.810000, 0.810000, 0.760000, 0.810000, 0.810000, 0.760000, 0.760000, 0.760000, 0.790000, 0.760000, 0.810000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.710000, 0.710000, 0.740000, 0.740000, 0.690000, 0.690000, 0.690000, 0.770000, 0.770000, 0.720000, 0.720000, 0.770000, 0.740000, 0.740000, 0.740000 ], "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": [ 555, 311000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.934000, -39.658000, -3.078371 ], "estimate": [ -13.934000, -39.658000, -3.078371 ], "true_pose": [ -14.413000, -38.613000, -3.098683 ], "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": [ 0.390000, 0.390000, 0.440000, 0.440000, 0.440000, 0.490000, 0.460000, 0.440000, 0.440000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.510000, 0.510000, 0.510000, 0.510000, 0.460000, 0.510000, 0.510000, 0.510000, 0.510000, 0.560000, 0.510000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.610000, 0.610000, 0.560000, 0.560000, 0.560000, 0.610000, 0.610000, 0.590000, 0.560000, 0.660000, 0.660000, 0.660000, 0.710000, 0.660000, 0.660000, 0.710000, 0.660000, 0.710000, 0.710000, 0.760000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.860000, 0.910000, 0.960000, 1.010000, 1.010000, 1.060000, 1.060000, 1.110000, 1.160000, 1.210000, 1.260000, 1.360000, 1.410000, 1.460000, 1.510000, 1.610000, 1.660000, 1.760000, 1.910000, 2.060000, 2.210000, 2.460000, 2.660000, 2.860000, 3.260000, 3.610000, 10.660000, 7.610000, 6.160000, 6.360000, 6.210000, 6.160000, 6.060000, 6.010000, 6.160000, 6.210000, 6.310000, 6.210000, 8.360000, 8.360000, 8.210000, 6.460000, 6.260000, 5.910000, 5.910000, 6.010000, 6.210000, 4.860000, 6.260000, 4.360000, 6.360000, 3.560000, 3.510000, 3.410000, 3.510000, 3.360000, 3.360000, 2.660000, 2.560000, 1.460000, 1.460000, 1.410000, 1.360000, 1.260000, 1.260000, 1.260000, 1.160000, 1.160000, 1.210000, 1.110000, 1.060000, 1.060000, 1.060000, 1.010000, 0.960000, 1.010000, 0.960000, 0.940000, 0.910000, 0.960000, 0.960000, 0.910000, 0.860000, 0.860000, 0.910000, 0.860000, 0.910000, 0.860000, 0.860000, 0.860000, 0.810000, 0.810000, 0.740000, 0.740000, 0.760000, 0.810000, 0.760000, 0.760000, 0.760000, 0.760000, 0.710000, 0.760000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.660000, 0.660000, 0.660000, 0.610000, 0.610000, 0.610000, 0.640000, 0.610000, 0.660000, 0.640000, 0.640000, 0.590000, 0.620000, 0.670000, 0.620000, 0.670000, 0.670000, 0.620000 ], "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": [ 559, 110000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.961000, -39.699000, -3.081380 ], "estimate": [ -14.961000, -39.699000, -3.081380 ], "true_pose": [ -15.520000, -38.618000, -3.097005 ], "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": [ 0.440000, 0.440000, 0.440000, 0.490000, 0.440000, 0.460000, 0.410000, 0.410000, 0.460000, 0.460000, 0.460000, 0.460000, 0.510000, 0.510000, 0.510000, 0.560000, 0.510000, 0.510000, 0.560000, 0.560000, 0.560000, 0.510000, 0.560000, 0.610000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.610000, 0.560000, 0.610000, 0.660000, 0.610000, 0.660000, 0.660000, 0.610000, 0.660000, 0.710000, 0.660000, 0.710000, 0.710000, 0.760000, 0.760000, 0.710000, 0.760000, 0.710000, 0.710000, 0.760000, 0.760000, 0.760000, 0.810000, 0.810000, 0.810000, 0.860000, 0.910000, 0.960000, 1.010000, 1.110000, 1.060000, 1.110000, 1.110000, 1.210000, 1.260000, 1.310000, 1.360000, 1.460000, 1.460000, 1.510000, 1.660000, 1.710000, 1.860000, 2.060000, 2.110000, 2.310000, 2.510000, 2.710000, 9.660000, 9.610000, 50.000000, 5.410000, 5.210000, 5.210000, 5.160000, 5.060000, 5.060000, 4.910000, 4.960000, 5.110000, 5.110000, 5.210000, 5.210000, 5.060000, 5.410000, 5.410000, 7.110000, 6.110000, 5.310000, 5.260000, 4.910000, 4.910000, 4.960000, 5.060000, 4.510000, 3.810000, 3.910000, 5.260000, 3.360000, 3.410000, 3.360000, 3.260000, 2.710000, 2.560000, 2.590000, 2.610000, 2.510000, 2.560000, 2.510000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 1.860000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.790000, 1.840000, 1.840000, 1.890000, 1.940000, 1.990000, 2.040000, 2.090000, 2.140000, 2.190000, 2.240000, 2.260000, 2.210000, 2.210000, 2.210000, 2.160000, 2.210000, 2.310000, 2.360000, 0.760000, 0.760000, 0.690000, 0.710000, 0.710000, 0.710000, 0.710000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.620000, 0.670000, 0.620000, 0.620000, 0.620000 ], "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": [ 564, 690000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.952000, -39.804000, -3.073389 ], "estimate": [ -15.952000, -39.804000, -3.073389 ], "true_pose": [ -16.520000, -38.708000, -3.089014 ], "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": [ 0.520000, 0.570000, 0.540000, 0.540000, 0.540000, 0.540000, 0.510000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.610000, 0.610000, 0.610000, 0.660000, 0.610000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.710000, 0.710000, 0.660000, 0.660000, 0.640000, 0.640000, 0.710000, 0.710000, 0.710000, 0.660000, 0.710000, 0.760000, 0.760000, 0.710000, 0.760000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.860000, 0.840000, 0.810000, 0.910000, 0.910000, 0.960000, 0.960000, 1.010000, 0.960000, 1.010000, 1.060000, 1.110000, 1.110000, 1.110000, 1.210000, 1.260000, 1.260000, 1.310000, 1.360000, 1.410000, 1.410000, 1.460000, 1.610000, 1.660000, 1.760000, 4.060000, 3.960000, 4.110000, 8.310000, 4.110000, 8.760000, 8.710000, 8.660000, 8.660000, 8.610000, 5.610000, 4.060000, 4.210000, 4.210000, 4.110000, 4.010000, 4.110000, 3.910000, 3.960000, 4.010000, 4.010000, 4.060000, 4.110000, 4.110000, 4.060000, 4.260000, 4.210000, 4.310000, 4.410000, 4.410000, 4.360000, 4.210000, 4.260000, 3.960000, 3.860000, 4.010000, 3.960000, 50.000000, 3.360000, 4.210000, 4.160000, 2.860000, 2.910000, 3.160000, 4.410000, 2.860000, 2.560000, 2.410000, 2.360000, 2.260000, 2.210000, 2.110000, 2.110000, 2.010000, 1.960000, 1.760000, 1.710000, 1.690000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.660000, 1.710000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.410000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.240000, 1.210000, 1.260000, 1.190000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 1.020000, 1.090000, 1.160000, 1.260000, 1.410000, 1.610000, 1.860000, 1.810000, 1.860000, 1.860000, 1.860000, 1.810000, 1.810000, 1.910000, 2.110000 ], "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": [ 569, 519998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.018000, -39.933000, -3.094090 ], "estimate": [ -17.018000, -39.933000, -3.094090 ], "true_pose": [ -17.570000, -38.823000, -3.105028 ], "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": [ 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.660000, 0.660000, 0.660000, 0.710000, 0.710000, 0.710000, 0.710000, 0.690000, 0.720000, 0.710000, 0.710000, 0.760000, 0.760000, 0.760000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.860000, 0.860000, 0.860000, 0.860000, 0.910000, 0.860000, 0.840000, 0.910000, 0.910000, 4.260000, 4.160000, 4.110000, 4.060000, 3.960000, 3.860000, 3.860000, 3.760000, 3.660000, 3.660000, 3.560000, 3.560000, 3.610000, 3.610000, 3.610000, 3.910000, 3.610000, 3.710000, 3.660000, 3.610000, 3.460000, 3.460000, 3.410000, 3.210000, 3.110000, 3.010000, 3.210000, 6.110000, 6.360000, 3.160000, 6.960000, 7.360000, 7.760000, 7.810000, 7.760000, 7.760000, 7.710000, 3.010000, 4.610000, 4.560000, 4.610000, 3.460000, 3.360000, 3.260000, 3.060000, 2.910000, 2.960000, 3.010000, 2.960000, 2.910000, 2.910000, 2.910000, 3.060000, 3.160000, 3.110000, 3.110000, 3.210000, 3.310000, 3.260000, 3.410000, 5.060000, 4.110000, 4.110000, 3.210000, 3.160000, 3.210000, 3.160000, 2.940000, 2.860000, 2.860000, 3.010000, 2.910000, 3.010000, 3.010000, 2.910000, 2.460000, 2.460000, 3.210000, 2.460000, 3.360000, 2.410000, 2.210000, 1.860000, 1.910000, 1.860000, 1.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.260000, 1.160000, 1.160000, 1.210000, 1.160000, 1.210000, 1.160000, 1.110000, 0.960000, 0.940000, 0.940000, 1.010000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.020000, 1.020000, 1.020000, 0.990000, 1.060000, 1.060000, 1.110000, 1.110000, 1.110000, 1.060000, 1.110000, 1.060000, 1.010000, 1.050000 ], "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": [ 573, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.985000, -39.823000, 3.040787 ], "estimate": [ -17.985000, -39.823000, 3.040787 ], "true_pose": [ -18.595000, -38.725000, 3.007975 ], "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": [ 4.010000, 4.040000, 4.040000, 4.040000, 3.990000, 3.990000, 3.990000, 3.990000, 15.910000, 39.660000, 22.460000, 15.810000, 21.510000, 50.000000, 15.860000, 13.260000, 11.610000, 10.460000, 9.510000, 8.710000, 8.060000, 7.510000, 7.110000, 6.910000, 6.160000, 6.010000, 5.860000, 5.610000, 5.060000, 4.860000, 4.660000, 4.510000, 4.260000, 4.160000, 4.010000, 3.860000, 3.760000, 3.610000, 3.510000, 3.410000, 3.310000, 3.210000, 3.160000, 3.060000, 2.960000, 2.910000, 2.860000, 2.810000, 2.760000, 2.760000, 2.760000, 2.760000, 2.710000, 2.960000, 3.010000, 2.710000, 2.860000, 2.760000, 2.660000, 2.660000, 2.460000, 2.510000, 2.460000, 2.310000, 2.260000, 2.160000, 2.160000, 2.160000, 2.460000, 2.410000, 2.460000, 2.110000, 2.310000, 2.310000, 2.310000, 2.260000, 2.210000, 2.210000, 2.160000, 2.160000, 2.160000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 2.210000, 2.160000, 2.110000, 2.110000, 2.110000, 2.110000, 1.960000, 2.010000, 2.060000, 2.010000, 1.890000, 1.890000, 1.890000, 2.010000, 2.010000, 2.060000, 2.110000, 2.160000, 2.110000, 2.210000, 2.260000, 2.360000, 2.260000, 2.360000, 2.160000, 2.060000, 3.960000, 3.810000, 3.460000, 3.260000, 3.060000, 2.860000, 2.760000, 2.610000, 2.460000, 2.460000, 2.160000, 2.360000, 2.360000, 2.410000, 2.210000, 2.060000, 2.010000, 2.060000, 2.060000, 2.110000, 2.210000, 2.210000, 2.060000, 2.160000, 2.110000, 2.060000, 2.060000, 1.960000, 1.810000, 1.910000, 1.960000, 1.810000, 1.710000, 1.660000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.410000, 1.410000, 1.360000, 1.260000, 1.260000, 1.310000, 1.310000, 1.360000, 1.310000, 1.310000, 1.260000, 1.360000, 0.960000, 0.910000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.910000, 1.160000, 1.260000, 1.210000 ], "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": [ 576, 629998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.950000, -40.123000, -2.708202 ], "estimate": [ -18.950000, -40.123000, -2.708202 ], "true_pose": [ -19.511000, -38.874000, -2.682430 ], "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": [ 2.520000, 2.220000, 2.270000, 2.470000, 2.320000, 2.270000, 1.920000, 1.820000, 1.470000, 1.470000, 1.520000, 1.620000, 1.620000, 2.970000, 3.020000, 1.470000, 1.570000, 3.170000, 3.220000, 3.270000, 3.370000, 3.420000, 3.470000, 3.570000, 3.620000, 3.720000, 3.770000, 3.870000, 4.020000, 4.120000, 4.220000, 1.170000, 1.220000, 4.520000, 4.670000, 4.870000, 1.520000, 1.470000, 1.420000, 1.370000, 1.370000, 1.270000, 1.320000, 1.270000, 1.170000, 1.220000, 1.170000, 1.170000, 1.270000, 1.170000, 1.170000, 1.120000, 1.120000, 0.950000, 0.970000, 0.970000, 1.070000, 1.070000, 1.120000, 1.070000, 1.070000, 1.020000, 1.020000, 0.950000, 1.000000, 1.020000, 1.070000, 1.070000, 1.120000, 1.070000, 1.070000, 1.120000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.220000, 1.170000, 1.120000, 1.170000, 1.020000, 1.120000, 1.170000, 1.220000, 1.320000, 1.270000, 1.320000, 1.320000, 1.370000, 1.370000, 1.320000, 1.320000, 1.370000, 1.370000, 1.420000, 1.420000, 1.420000, 1.370000, 1.420000, 1.320000, 1.270000, 1.470000, 1.520000, 1.520000, 1.470000, 1.320000, 1.320000, 1.270000, 1.270000, 1.250000, 1.270000, 1.270000, 1.270000, 1.370000, 1.420000, 1.470000, 1.520000, 1.470000, 1.520000, 1.470000, 1.320000, 1.270000, 1.320000, 1.370000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.120000, 1.170000, 1.220000, 1.220000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.020000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000, 1.020000, 1.070000, 1.070000, 1.020000, 1.020000, 1.030000, 1.020000, 1.020000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.170000, 1.070000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.100000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000 ], "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": [ 578, 980000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.566000, -40.551000, -2.599595 ], "estimate": [ -19.566000, -40.551000, -2.599595 ], "true_pose": [ -20.018000, -39.257000, -2.536323 ], "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": [ 0.720000, 0.970000, 0.820000, 0.870000, 3.470000, 3.520000, 3.570000, 3.620000, 3.670000, 3.720000, 3.770000, 3.820000, 3.970000, 3.970000, 4.070000, 4.120000, 4.220000, 4.320000, 4.420000, 4.520000, 4.570000, 4.720000, 4.870000, 4.970000, 5.070000, 2.520000, 2.420000, 2.420000, 2.370000, 2.370000, 2.370000, 2.370000, 2.420000, 2.470000, 2.720000, 2.770000, 3.320000, 3.320000, 3.570000, 5.270000, 0.470000, 0.470000, 0.820000, 2.820000, 2.820000, 0.870000, 0.820000, 0.770000, 0.720000, 0.670000, 0.670000, 0.620000, 0.620000, 0.570000, 0.520000, 0.400000, 0.430000, 0.430000, 0.450000, 0.570000, 0.570000, 0.620000, 0.670000, 0.670000, 0.720000, 0.770000, 0.770000, 0.770000, 2.170000, 1.970000, 1.870000, 1.720000, 1.570000, 1.520000, 1.420000, 1.370000, 1.270000, 1.220000, 1.170000, 1.170000, 1.120000, 1.070000, 1.070000, 1.020000, 0.920000, 1.020000, 1.020000, 0.970000, 0.720000, 0.720000, 0.720000, 0.620000, 0.570000, 0.570000, 0.770000, 0.770000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.870000, 0.870000, 0.670000, 0.720000, 0.720000, 0.670000, 0.670000, 0.570000, 0.620000, 0.570000, 0.570000, 0.570000, 0.620000, 0.570000, 0.650000, 0.570000, 0.570000, 0.620000, 0.670000, 0.620000, 0.720000, 0.770000, 0.820000, 0.870000, 0.920000, 0.870000, 0.820000, 0.870000, 0.820000, 0.670000, 0.720000, 0.670000, 0.670000, 0.670000, 0.720000, 0.720000, 0.670000, 0.620000, 0.620000, 0.620000, 0.620000, 0.570000, 0.620000, 0.620000, 0.620000, 0.570000, 0.570000, 0.620000, 0.620000, 0.670000, 0.620000, 0.670000, 0.670000, 0.670000, 0.620000, 0.670000, 0.670000, 0.620000, 0.620000, 0.670000, 0.670000, 0.670000, 0.670000, 0.720000, 0.720000, 0.770000, 0.720000, 0.970000, 0.970000, 0.970000, 0.970000, 0.820000, 0.720000, 0.970000, 1.020000, 1.020000, 4.120000, 1.020000, 0.770000 ], "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": [ 606, 49998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.617000, -40.537000, -3.042292 ], "estimate": [ -19.617000, -40.537000, -3.042292 ], "true_pose": [ -20.102000, -39.291000, -2.993083 ], "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": [ 2.510000, 1.670000, 1.700000, 1.690000, 1.660000, 1.660000, 1.610000, 1.710000, 1.710000, 3.010000, 50.000000, 1.160000, 1.110000, 50.000000, 1.260000, 1.260000, 1.260000, 1.260000, 1.360000, 3.060000, 3.110000, 1.560000, 0.660000, 0.760000, 0.760000, 0.910000, 0.860000, 3.360000, 3.410000, 3.410000, 3.510000, 3.510000, 3.560000, 3.660000, 3.710000, 3.760000, 3.810000, 3.910000, 3.960000, 4.060000, 4.110000, 4.160000, 4.260000, 4.360000, 4.460000, 4.560000, 4.660000, 4.760000, 4.910000, 2.710000, 2.460000, 2.410000, 2.360000, 2.360000, 2.310000, 2.310000, 2.260000, 2.360000, 2.410000, 2.660000, 2.660000, 3.260000, 3.260000, 3.460000, 5.210000, 0.410000, 0.410000, 0.660000, 2.760000, 2.760000, 2.710000, 0.810000, 0.710000, 0.710000, 0.660000, 0.660000, 0.660000, 0.560000, 0.560000, 0.510000, 0.320000, 0.350000, 0.370000, 0.320000, 0.510000, 0.560000, 0.560000, 0.610000, 0.610000, 0.660000, 0.810000, 0.760000, 0.860000, 2.260000, 2.110000, 0.760000, 1.860000, 1.610000, 1.510000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.510000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.260000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.510000, 0.510000, 0.560000, 0.760000, 0.760000, 0.760000, 0.810000, 0.810000, 0.810000, 0.860000, 0.860000, 0.710000, 0.660000, 0.660000, 0.660000, 0.660000, 0.560000, 0.590000, 0.560000, 0.560000, 0.560000, 0.540000, 0.510000, 0.540000, 0.590000, 0.510000, 0.560000, 0.660000, 0.610000, 0.560000, 0.710000, 0.760000, 0.760000, 0.760000, 0.710000, 0.710000, 0.660000, 0.660000, 0.660000, 0.710000, 0.710000, 0.710000, 0.660000, 0.660000, 0.660000, 0.610000, 0.610000, 0.610000, 0.660000, 0.610000, 0.610000, 0.560000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.660000, 0.610000, 0.660000 ], "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": [ 608, 490000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.599000, -40.509000, 2.422283 ], "estimate": [ -19.599000, -40.509000, 2.422283 ], "true_pose": [ -20.111000, -39.207000, 2.496492 ], "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": [ 3.260000, 3.360000, 3.460000, 3.510000, 50.000000, 6.510000, 6.760000, 6.960000, 5.060000, 5.060000, 5.010000, 4.960000, 4.910000, 4.910000, 4.860000, 4.810000, 4.760000, 4.810000, 4.910000, 5.160000, 5.460000, 8.260000, 7.610000, 8.160000, 8.760000, 8.710000, 8.810000, 9.810000, 10.960000, 12.460000, 14.560000, 16.310000, 21.910000, 34.460000, 16.310000, 16.220000, 16.360000, 12.610000, 7.360000, 5.110000, 3.860000, 3.210000, 2.540000, 2.570000, 2.570000, 2.420000, 1.620000, 1.670000, 1.670000, 1.640000, 1.610000, 1.560000, 2.760000, 2.810000, 2.810000, 2.810000, 2.860000, 1.060000, 1.160000, 2.910000, 2.910000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 0.610000, 0.610000, 3.260000, 0.710000, 1.060000, 0.810000, 3.410000, 3.460000, 3.510000, 3.560000, 3.610000, 3.660000, 3.710000, 3.760000, 3.860000, 3.910000, 4.010000, 4.110000, 4.160000, 4.260000, 4.360000, 4.510000, 4.510000, 4.660000, 4.760000, 4.860000, 2.410000, 2.360000, 2.310000, 2.360000, 2.310000, 2.310000, 2.260000, 2.310000, 2.310000, 2.310000, 2.310000, 2.460000, 2.660000, 3.210000, 3.210000, 3.410000, 5.160000, 5.160000, 2.760000, 2.810000, 0.760000, 0.910000, 0.810000, 0.460000, 0.410000, 0.660000, 0.710000, 0.610000, 0.510000, 0.560000, 0.440000, 0.340000, 0.420000, 0.370000, 0.340000, 0.560000, 0.560000, 0.610000, 0.610000, 0.710000, 0.760000, 0.710000, 0.810000, 0.810000, 2.460000, 2.310000, 2.210000, 2.060000, 1.960000, 1.660000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.560000, 1.610000, 1.610000, 1.660000, 1.610000, 1.510000, 1.510000, 1.460000, 1.410000, 1.360000, 1.310000, 1.310000, 0.760000, 0.710000, 0.760000, 0.760000, 0.760000, 0.610000, 0.610000, 0.660000, 0.560000, 0.810000, 0.860000, 0.810000, 0.860000, 0.910000, 0.910000, 0.710000 ], "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": [ 610, 9998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.298000, -40.185000, 1.026011 ], "estimate": [ -19.298000, -40.185000, 1.026011 ], "true_pose": [ -19.807000, -38.837000, 1.112720 ], "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": [ 2.610000, 2.710000, 2.760000, 2.910000, 2.890000, 2.910000, 2.990000, 2.060000, 1.960000, 1.940000, 1.910000, 1.960000, 4.210000, 4.210000, 1.960000, 1.890000, 1.840000, 1.890000, 1.860000, 4.060000, 5.010000, 5.810000, 8.810000, 10.660000, 41.860000, 50.000000, 28.660000, 24.510000, 21.610000, 14.710000, 8.760000, 6.910000, 5.310000, 4.710000, 4.210000, 3.810000, 3.510000, 3.260000, 2.960000, 2.760000, 2.610000, 2.410000, 2.260000, 2.210000, 2.110000, 1.960000, 1.910000, 1.810000, 1.840000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.960000, 1.960000, 1.960000, 1.960000, 2.010000, 2.010000, 2.060000, 2.110000, 2.110000, 4.160000, 4.110000, 2.310000, 2.210000, 2.210000, 2.260000, 2.310000, 2.360000, 2.360000, 2.410000, 2.460000, 2.510000, 2.560000, 2.610000, 2.660000, 2.710000, 2.760000, 2.760000, 2.910000, 2.960000, 3.060000, 3.060000, 6.060000, 6.260000, 6.510000, 4.660000, 4.610000, 4.560000, 4.560000, 4.510000, 4.460000, 4.410000, 4.410000, 4.360000, 4.360000, 4.310000, 4.360000, 4.710000, 5.010000, 8.160000, 7.210000, 7.860000, 8.310000, 8.310000, 8.510000, 9.710000, 11.310000, 13.260000, 15.910000, 21.560000, 35.510000, 15.860000, 15.870000, 22.760000, 14.860000, 10.510000, 7.910000, 6.210000, 5.860000, 4.660000, 4.010000, 3.560000, 3.210000, 2.910000, 2.710000, 2.510000, 2.240000, 2.240000, 2.290000, 2.160000, 2.140000, 2.360000, 2.160000, 2.110000, 2.410000, 1.460000, 1.340000, 1.340000, 1.340000, 1.410000, 1.460000, 1.460000, 2.610000, 1.310000, 1.360000, 2.710000, 2.760000, 2.760000, 2.860000, 2.910000, 2.960000, 2.960000, 2.960000, 3.060000, 3.110000, 3.160000, 3.210000, 3.310000, 0.860000, 0.960000, 1.160000, 3.560000, 3.610000, 3.660000, 3.710000, 3.810000, 3.910000, 3.960000, 4.060000, 4.210000, 4.310000, 4.410000, 4.560000, 4.710000, 4.860000, 5.010000, 5.210000 ], "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": [ 613, 200000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.031000, -39.185000, 1.348881 ], "estimate": [ -19.031000, -39.185000, 1.348881 ], "true_pose": [ -19.616000, -37.786000, 1.435590 ], "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": [ 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.570000, 1.520000, 1.570000, 1.570000, 1.570000, 1.520000, 1.570000, 1.520000, 1.570000, 1.540000, 1.560000, 1.710000, 2.810000, 2.710000, 2.710000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.560000, 1.610000, 1.660000, 1.710000, 1.660000, 1.710000, 1.710000, 1.710000, 1.760000, 1.740000, 1.710000, 1.760000, 1.810000, 1.760000, 1.810000, 1.860000, 1.910000, 1.940000, 1.910000, 1.960000, 2.010000, 2.010000, 2.060000, 2.110000, 2.060000, 4.360000, 4.460000, 3.210000, 3.110000, 3.160000, 4.760000, 4.910000, 5.010000, 5.110000, 3.660000, 3.610000, 3.610000, 3.560000, 3.510000, 3.460000, 3.490000, 3.440000, 3.390000, 3.390000, 3.390000, 3.290000, 3.290000, 3.290000, 3.290000, 3.360000, 3.610000, 3.810000, 4.010000, 6.860000, 6.160000, 6.460000, 7.010000, 7.260000, 7.210000, 7.410000, 8.360000, 9.660000, 11.460000, 14.510000, 15.110000, 21.360000, 50.000000, 14.860000, 21.710000, 20.660000, 13.510000, 10.410000, 8.360000, 6.960000, 6.010000, 5.410000, 4.790000, 4.760000, 3.810000, 3.460000, 3.210000, 2.960000, 2.810000, 2.610000, 2.460000, 2.310000, 2.160000, 2.060000, 1.960000, 1.910000, 1.810000, 1.790000, 1.740000, 1.640000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.360000, 1.310000, 1.310000, 1.360000, 1.340000, 1.360000, 1.360000, 1.260000, 1.260000, 1.260000, 1.560000, 1.610000, 1.610000, 1.660000, 1.210000, 1.210000, 1.660000, 1.510000, 1.460000, 1.410000, 1.310000, 1.310000, 1.210000, 1.260000, 1.210000, 1.210000, 1.110000, 1.010000, 1.160000, 1.110000, 1.060000, 1.010000, 1.010000, 1.010000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.690000, 0.690000, 0.690000, 0.760000, 0.740000, 0.860000, 0.860000, 0.810000, 0.860000 ], "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": [ 616, 360000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.845000, -38.129000, 1.454785 ], "estimate": [ -18.845000, -38.129000, 1.454785 ], "true_pose": [ -19.526000, -36.658000, 1.538369 ], "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": [ 1.320000, 1.320000, 1.350000, 1.320000, 1.320000, 1.320000, 1.370000, 1.320000, 1.320000, 1.340000, 1.340000, 1.390000, 1.310000, 1.310000, 1.310000, 1.360000, 1.360000, 1.410000, 1.410000, 1.410000, 1.390000, 2.960000, 2.960000, 3.060000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.160000, 3.210000, 3.260000, 2.610000, 2.560000, 2.510000, 3.360000, 2.360000, 2.290000, 2.290000, 2.360000, 3.610000, 3.610000, 3.660000, 3.760000, 3.810000, 3.860000, 3.910000, 4.010000, 2.740000, 2.690000, 2.640000, 2.640000, 2.590000, 2.540000, 2.540000, 2.490000, 2.440000, 2.390000, 2.390000, 2.340000, 2.340000, 2.290000, 2.290000, 2.240000, 2.290000, 2.240000, 2.210000, 2.310000, 2.460000, 2.560000, 2.660000, 2.810000, 2.910000, 3.060000, 5.610000, 5.660000, 5.010000, 5.260000, 5.610000, 6.060000, 6.160000, 6.110000, 6.160000, 7.210000, 7.710000, 8.910000, 10.460000, 13.360000, 13.910000, 19.510000, 50.000000, 13.710000, 50.000000, 25.010000, 19.410000, 11.410000, 9.460000, 7.860000, 6.810000, 5.960000, 5.260000, 4.910000, 4.810000, 3.960000, 3.790000, 3.810000, 3.560000, 3.310000, 2.810000, 2.660000, 2.510000, 2.360000, 2.260000, 2.160000, 2.060000, 2.010000, 1.910000, 1.890000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.940000, 0.840000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.850000, 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": [ 619, 190000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.633000, -37.165000, 1.358156 ], "estimate": [ -18.633000, -37.165000, 1.358156 ], "true_pose": [ -19.420000, -35.649000, 1.432365 ], "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": [ 2.660000, 2.660000, 2.640000, 2.690000, 2.640000, 2.720000, 2.670000, 2.670000, 2.740000, 2.660000, 2.660000, 2.660000, 2.660000, 2.710000, 2.660000, 2.710000, 2.210000, 2.090000, 2.090000, 1.790000, 1.790000, 1.790000, 1.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.860000, 2.860000, 2.910000, 2.960000, 2.960000, 3.010000, 2.960000, 3.010000, 3.060000, 3.060000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.440000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.840000, 1.990000, 2.040000, 2.060000, 4.760000, 4.710000, 4.710000, 4.640000, 4.660000, 4.760000, 4.010000, 4.260000, 4.460000, 4.810000, 5.160000, 5.110000, 5.160000, 5.110000, 5.360000, 6.210000, 6.910000, 7.910000, 9.260000, 11.360000, 12.860000, 18.560000, 32.360000, 50.000000, 12.710000, 50.000000, 18.460000, 12.810000, 10.610000, 8.960000, 7.660000, 6.710000, 5.960000, 5.310000, 4.910000, 4.510000, 4.160000, 3.960000, 3.960000, 3.710000, 3.510000, 2.960000, 2.860000, 2.840000, 2.860000, 2.710000, 2.560000, 2.460000, 2.410000, 2.310000, 2.260000, 1.940000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.690000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.920000, 0.890000, 0.940000, 0.890000, 0.890000, 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": [ 625, 740000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.433000, -36.161000, 1.374451 ], "estimate": [ -18.433000, -36.161000, 1.374451 ], "true_pose": [ -19.285000, -34.682000, 1.453348 ], "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": [ 2.560000, 2.540000, 2.590000, 2.540000, 2.570000, 2.490000, 2.490000, 2.490000, 1.110000, 0.740000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 0.990000, 1.040000, 1.040000, 1.140000, 1.140000, 1.140000, 1.140000, 3.160000, 3.110000, 3.160000, 3.160000, 3.160000, 4.660000, 4.610000, 4.510000, 3.860000, 3.810000, 3.810000, 3.760000, 3.710000, 3.690000, 3.640000, 3.710000, 3.060000, 3.110000, 3.260000, 3.460000, 3.660000, 3.860000, 4.110000, 4.160000, 4.110000, 4.160000, 4.110000, 4.260000, 5.240000, 5.260000, 6.160000, 7.160000, 8.410000, 10.310000, 11.760000, 17.560000, 50.000000, 50.000000, 11.710000, 50.000000, 18.510000, 17.460000, 11.760000, 10.310000, 8.310000, 7.410000, 6.610000, 5.960000, 5.410000, 5.010000, 4.660000, 4.310000, 4.010000, 3.810000, 3.560000, 3.410000, 3.210000, 3.060000, 3.060000, 3.010000, 2.860000, 2.760000, 2.710000, 2.560000, 2.460000, 2.160000, 2.140000, 2.090000, 2.010000, 2.010000, 1.990000, 1.990000, 1.990000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.310000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 1.070000, 1.090000, 1.070000, 1.070000, 1.070000, 1.020000, 1.020000, 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": [ 628, 90000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.232000, -35.112000, 1.379258 ], "estimate": [ -18.232000, -35.112000, 1.379258 ], "true_pose": [ -19.167000, -33.628000, 1.455030 ], "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": [ 1.010000, 1.260000, 1.510000, 2.440000, 2.470000, 2.420000, 2.420000, 2.420000, 2.470000, 2.440000, 2.410000, 2.460000, 2.460000, 2.460000, 2.410000, 2.510000, 2.510000, 2.510000, 2.510000, 2.560000, 2.510000, 2.510000, 2.560000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 3.210000, 3.210000, 3.260000, 3.260000, 3.260000, 3.360000, 3.360000, 3.410000, 3.460000, 3.510000, 3.510000, 2.260000, 2.310000, 2.310000, 2.260000, 2.290000, 2.240000, 2.290000, 2.270000, 2.320000, 2.250000, 2.300000, 2.310000, 3.960000, 3.910000, 3.810000, 3.760000, 3.710000, 3.660000, 2.910000, 2.860000, 2.810000, 2.810000, 2.760000, 2.710000, 2.710000, 2.640000, 2.690000, 2.060000, 2.060000, 2.160000, 2.210000, 2.260000, 2.360000, 2.460000, 2.560000, 2.710000, 2.810000, 2.960000, 3.090000, 3.090000, 3.090000, 3.090000, 3.040000, 3.090000, 3.160000, 4.060000, 4.190000, 4.260000, 4.860000, 5.460000, 6.460000, 7.710000, 9.960000, 10.760000, 16.510000, 50.000000, 50.000000, 17.410000, 10.710000, 22.010000, 16.410000, 11.860000, 10.710000, 9.260000, 8.110000, 7.010000, 6.360000, 5.760000, 5.410000, 4.910000, 4.660000, 4.310000, 4.110000, 3.810000, 3.660000, 3.460000, 3.310000, 3.110000, 3.010000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.310000, 2.290000, 2.240000, 2.160000, 2.140000, 2.160000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.740000, 1.640000, 1.590000, 1.590000, 1.540000, 1.590000, 1.410000, 1.390000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.260000, 1.260000, 1.340000, 1.340000, 1.390000, 1.340000, 1.390000, 1.290000, 1.290000, 1.340000, 1.290000, 1.290000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.270000, 1.220000 ], "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": [ 631, 490998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.030000, -34.070000, 1.381581 ], "estimate": [ -18.030000, -34.070000, 1.381581 ], "true_pose": [ -19.058000, -32.575000, 1.457353 ], "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": [ 2.310000, 2.340000, 2.340000, 2.320000, 2.320000, 2.290000, 2.770000, 2.660000, 2.660000, 2.840000, 2.840000, 2.840000, 2.860000, 2.860000, 1.760000, 1.710000, 1.710000, 1.710000, 1.710000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.660000, 1.760000, 1.860000, 1.960000, 2.790000, 2.860000, 2.910000, 3.260000, 3.260000, 3.210000, 3.160000, 3.260000, 3.210000, 3.160000, 3.060000, 2.060000, 2.060000, 2.010000, 1.210000, 1.160000, 1.110000, 1.110000, 1.160000, 1.160000, 1.210000, 1.260000, 1.210000, 1.310000, 1.310000, 1.310000, 1.410000, 1.410000, 1.410000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.660000, 1.710000, 1.810000, 1.810000, 1.910000, 1.960000, 2.110000, 2.090000, 2.090000, 2.090000, 2.040000, 1.990000, 1.990000, 1.990000, 1.990000, 2.060000, 2.210000, 2.860000, 3.090000, 3.090000, 3.140000, 3.460000, 3.960000, 4.510000, 5.210000, 6.260000, 7.760000, 9.610000, 15.260000, 29.360000, 33.320000, 16.510000, 9.810000, 9.610000, 16.410000, 15.310000, 15.610000, 9.660000, 9.710000, 8.210000, 7.110000, 6.910000, 5.910000, 5.510000, 5.160000, 4.810000, 4.560000, 4.310000, 4.060000, 3.810000, 3.660000, 3.460000, 3.310000, 3.160000, 3.060000, 2.960000, 2.860000, 2.760000, 2.660000, 2.560000, 2.510000, 2.440000, 2.390000, 2.340000, 2.240000, 2.190000, 2.140000, 2.140000, 2.040000, 1.990000, 1.990000, 1.890000, 1.890000, 1.840000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.510000, 1.510000, 1.490000, 1.490000, 1.540000, 1.520000, 1.490000, 1.440000, 1.440000, 1.470000, 1.470000, 1.420000, 1.390000, 1.420000, 1.390000, 1.420000, 1.420000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000 ], "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": [ 634, 320000 ] }