{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -27.186899, 21.888000, 0.285639 ], "estimate": [ -27.186899, 21.888000, 0.285639 ], "true_pose": [ null, null, null ], "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": [ 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.560000, 0.560000, 0.490000, 0.470000, 0.520000, 0.500000, 0.500000, 0.450000, 0.520000, 0.470000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.470000, 0.520000, 0.570000, 0.520000, 0.520000, 0.490000, 0.540000, 0.540000, 0.490000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.590000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.310000, 2.290000, 2.240000, 2.240000, 2.190000, 2.140000, 2.140000, 2.140000, 2.110000, 2.140000, 2.140000, 2.090000, 2.090000, 2.210000, 2.310000, 2.510000, 2.710000, 2.910000, 3.160000, 3.460000, 3.810000, 4.210000, 4.810000, 5.460000, 6.410000, 7.760000, 9.760000, 12.960000, 19.310000, 17.160000, 17.160000, 19.460000, 17.310000, 17.110000, 14.460000, 11.960000, 10.110000, 8.910000, 8.160000, 7.060000, 6.410000, 5.860000, 5.410000, 5.060000, 4.660000, 4.660000, 4.610000, 50.000000, 50.000000, 50.000000, 50.000000, 3.510000, 3.510000, 3.160000, 3.210000, 3.010000, 2.960000, 2.810000, 2.660000, 2.560000, 2.610000, 2.460000, 2.410000, 2.360000, 2.260000, 2.210000, 2.110000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.810000, 1.760000, 1.760000, 1.810000, 1.760000, 1.710000, 1.710000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 0.460000, 0.410000, 0.410000, 0.360000, 0.360000, 0.360000, 0.410000, 0.360000, 0.360000, 0.360000, 0.390000, 0.340000, 0.360000, 0.360000, 0.390000, 0.390000, 0.340000, 0.340000 ], "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": [ 724, 960000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -27.158001, 21.895100, 0.194209 ], "estimate": [ -27.158001, 21.895100, 0.194209 ], "true_pose": [ null, null, null ], "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": [ 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.560000, 0.490000, 0.470000, 0.470000, 0.470000, 0.470000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.520000, 0.520000, 0.470000, 0.470000, 0.470000, 0.520000, 0.500000, 0.440000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.490000, 0.520000, 0.490000, 0.490000, 0.490000, 0.540000, 0.540000, 0.540000, 0.540000, 0.590000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.360000, 2.240000, 2.140000, 2.190000, 2.140000, 2.140000, 2.090000, 2.090000, 2.110000, 2.140000, 2.090000, 2.090000, 2.090000, 2.160000, 2.310000, 2.460000, 2.660000, 2.910000, 3.110000, 3.410000, 3.760000, 4.210000, 4.710000, 5.410000, 6.360000, 7.710000, 9.810000, 13.010000, 19.310000, 17.160000, 17.260000, 19.360000, 17.210000, 17.060000, 14.360000, 11.910000, 10.110000, 8.860000, 8.160000, 7.060000, 6.460000, 5.860000, 5.460000, 5.060000, 4.660000, 4.610000, 4.710000, 50.000000, 4.010000, 50.000000, 50.000000, 3.560000, 3.360000, 3.210000, 3.210000, 3.110000, 2.960000, 2.860000, 2.660000, 2.660000, 2.560000, 2.510000, 2.360000, 2.310000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.110000, 2.010000, 1.960000, 1.960000, 1.910000, 1.860000, 1.810000, 1.810000, 1.760000, 1.810000, 1.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 0.460000, 0.410000, 0.360000, 0.410000, 0.410000, 0.360000, 0.360000, 0.360000, 0.360000, 0.390000, 0.340000 ], "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": [ 725, 200000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -27.138899, 21.898500, 0.160370 ], "estimate": [ -27.138899, 21.898500, 0.160370 ], "true_pose": [ null, null, null ], "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": [ 0.610000, 0.610000, 0.610000, 0.610000, 0.660000, 0.610000, 0.560000, 0.560000, 0.490000, 0.520000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.450000, 0.450000, 0.450000, 0.500000, 0.450000, 0.500000, 0.520000, 0.470000, 0.470000, 0.450000, 0.440000, 0.520000, 0.550000, 0.520000, 0.520000, 0.570000, 0.540000, 0.520000, 0.520000, 0.490000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.690000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.140000, 1.140000, 1.190000, 1.190000, 1.310000, 2.240000, 2.190000, 2.140000, 2.140000, 2.090000, 2.040000, 2.090000, 2.090000, 2.140000, 2.040000, 2.040000, 2.090000, 2.160000, 2.260000, 2.410000, 2.610000, 2.810000, 3.010000, 3.310000, 3.660000, 4.110000, 4.610000, 5.310000, 6.110000, 7.410000, 9.310000, 12.910000, 19.310000, 17.160000, 17.310000, 19.360000, 17.260000, 17.110000, 14.910000, 11.910000, 10.310000, 9.060000, 8.160000, 7.210000, 6.510000, 5.960000, 5.510000, 5.160000, 4.760000, 4.560000, 4.560000, 50.000000, 50.000000, 50.000000, 50.000000, 3.560000, 3.360000, 3.410000, 3.160000, 3.160000, 2.960000, 2.960000, 2.710000, 2.610000, 2.560000, 2.560000, 2.460000, 2.360000, 2.360000, 2.260000, 2.210000, 2.110000, 2.060000, 2.160000, 2.010000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.810000, 1.760000, 1.760000, 1.760000, 1.710000, 1.710000, 1.710000, 1.610000, 1.660000, 1.610000, 1.560000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 0.460000, 0.360000, 0.410000, 0.390000, 0.410000, 0.340000 ], "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": [ 725, 440000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -27.090300, 21.905500, 0.123798 ], "estimate": [ -27.090300, 21.905500, 0.123798 ], "true_pose": [ null, null, null ], "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": [ 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.560000, 0.440000, 0.440000, 0.440000, 0.390000, 0.470000, 0.470000, 0.420000, 0.420000, 0.470000, 0.420000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.420000, 0.440000, 0.470000, 0.500000, 0.550000, 0.500000, 0.520000, 0.520000, 0.470000, 0.470000, 0.520000, 0.470000, 0.520000, 0.540000, 0.520000, 0.540000, 0.490000, 0.490000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.210000, 2.190000, 2.140000, 2.090000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 2.090000, 2.040000, 2.040000, 2.040000, 2.040000, 2.160000, 2.310000, 2.510000, 2.710000, 2.910000, 3.160000, 3.510000, 3.910000, 4.310000, 4.960000, 5.760000, 6.810000, 8.410000, 11.460000, 19.260000, 17.210000, 17.110000, 17.310000, 17.160000, 17.210000, 17.010000, 12.960000, 10.860000, 9.510000, 8.310000, 8.060000, 6.760000, 6.160000, 5.710000, 5.310000, 4.910000, 4.560000, 4.610000, 4.510000, 50.000000, 4.110000, 50.000000, 50.000000, 3.610000, 3.260000, 3.360000, 3.160000, 3.060000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.510000, 2.410000, 2.360000, 2.310000, 2.260000, 2.210000, 2.110000, 2.060000, 2.060000, 2.060000, 1.960000, 1.960000, 1.910000, 1.860000, 1.810000, 1.860000, 1.810000, 1.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 0.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 725, 630998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -27.070200, 21.907900, 0.113078 ], "estimate": [ -27.070200, 21.907900, 0.113078 ], "true_pose": [ null, null, null ], "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": [ 0.610000, 0.560000, 0.440000, 0.440000, 0.490000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.420000, 0.470000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.440000, 0.440000, 0.500000, 0.520000, 0.500000, 0.500000, 0.500000, 0.470000, 0.520000, 0.500000, 0.470000, 0.470000, 0.470000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.490000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.160000, 2.090000, 2.090000, 2.040000, 2.040000, 2.040000, 1.990000, 1.990000, 1.990000, 2.060000, 2.040000, 1.990000, 1.990000, 1.990000, 2.060000, 2.210000, 2.410000, 2.560000, 2.810000, 3.010000, 3.310000, 3.660000, 4.110000, 4.660000, 5.360000, 6.410000, 7.910000, 10.460000, 22.060000, 17.110000, 17.060000, 17.210000, 19.910000, 17.160000, 17.060000, 13.310000, 11.810000, 9.810000, 8.610000, 8.110000, 7.010000, 6.310000, 5.860000, 5.410000, 5.060000, 4.760000, 4.510000, 4.510000, 50.000000, 50.000000, 3.910000, 50.000000, 50.000000, 3.310000, 3.460000, 3.060000, 3.160000, 3.060000, 2.910000, 2.760000, 2.660000, 2.610000, 2.460000, 2.510000, 2.410000, 2.310000, 2.310000, 2.210000, 2.210000, 2.110000, 2.010000, 2.110000, 2.010000, 1.960000, 1.960000, 1.960000, 1.910000, 1.860000, 1.860000, 1.760000, 1.760000, 1.810000, 1.710000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 725, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -27.033100, 21.912399, 0.149651 ], "estimate": [ -27.033100, 21.912399, 0.149651 ], "true_pose": [ null, null, null ], "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, 0.440000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.470000, 0.390000, 0.460000, 0.490000, 0.470000, 0.500000, 0.450000, 0.500000, 0.450000, 0.500000, 0.470000, 0.450000, 0.450000, 0.500000, 0.500000, 0.500000, 0.500000, 0.470000, 0.470000, 0.520000, 0.520000, 0.540000, 0.590000, 0.540000, 0.590000, 0.540000, 0.540000, 0.590000, 0.540000, 0.540000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.160000, 2.090000, 2.090000, 2.040000, 1.990000, 1.990000, 1.990000, 1.940000, 1.940000, 1.990000, 1.990000, 1.940000, 1.940000, 1.940000, 1.940000, 2.110000, 2.260000, 2.410000, 2.610000, 2.810000, 3.110000, 3.360000, 3.860000, 4.260000, 4.910000, 5.710000, 6.910000, 8.710000, 11.560000, 19.110000, 17.110000, 17.060000, 19.260000, 17.110000, 17.060000, 15.160000, 12.910000, 10.610000, 9.260000, 8.060000, 7.960000, 6.760000, 6.160000, 5.660000, 5.310000, 4.910000, 4.610000, 4.510000, 4.410000, 50.000000, 50.000000, 4.160000, 3.860000, 3.760000, 3.260000, 3.360000, 3.110000, 3.110000, 2.960000, 2.860000, 2.810000, 2.610000, 2.560000, 2.460000, 2.460000, 2.360000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.010000, 2.110000, 2.010000, 1.960000, 1.910000, 1.910000, 1.910000, 1.860000, 1.860000, 1.810000, 1.760000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 726, 110000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.988401, 21.921700, 0.270085 ], "estimate": [ -26.988401, 21.921700, 0.270085 ], "true_pose": [ null, null, null ], "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": [ 0.490000, 0.470000, 0.470000, 0.470000, 0.470000, 0.500000, 0.470000, 0.450000, 0.450000, 0.500000, 0.450000, 0.450000, 0.450000, 0.450000, 0.500000, 0.500000, 0.500000, 0.490000, 0.540000, 0.540000, 0.590000, 0.540000, 0.540000, 0.540000, 0.590000, 0.590000, 0.540000, 0.590000, 0.590000, 0.540000, 0.590000, 0.540000, 0.540000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.160000, 2.090000, 2.090000, 1.990000, 1.990000, 1.990000, 1.940000, 1.940000, 1.890000, 1.890000, 1.990000, 1.990000, 1.940000, 1.890000, 1.890000, 2.010000, 2.060000, 2.260000, 2.410000, 2.610000, 2.810000, 3.110000, 3.460000, 3.860000, 4.360000, 5.060000, 5.860000, 7.110000, 9.060000, 12.760000, 19.210000, 17.010000, 17.060000, 19.260000, 17.110000, 16.960000, 14.760000, 11.960000, 10.360000, 9.110000, 8.010000, 7.760000, 6.660000, 6.060000, 5.610000, 5.260000, 4.860000, 4.560000, 4.460000, 4.360000, 50.000000, 50.000000, 3.960000, 3.860000, 3.810000, 3.360000, 3.260000, 3.210000, 3.060000, 2.960000, 2.810000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 1.960000, 2.060000, 2.010000, 1.910000, 1.910000, 1.910000, 1.860000, 1.860000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.660000, 1.610000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.560000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.410000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000 ], "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": [ 726, 350000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.953001, 21.934500, 0.424569 ], "estimate": [ -26.953001, 21.934500, 0.424569 ], "true_pose": [ null, null, null ], "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": [ 0.500000, 0.500000, 0.500000, 0.450000, 0.450000, 0.470000, 0.540000, 0.570000, 0.540000, 0.540000, 0.590000, 0.540000, 0.540000, 0.540000, 0.590000, 0.540000, 0.540000, 0.540000, 0.590000, 0.590000, 0.540000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 1.110000, 2.040000, 2.040000, 2.040000, 1.990000, 1.940000, 1.940000, 1.940000, 1.890000, 1.890000, 1.910000, 1.890000, 1.940000, 1.890000, 1.870000, 1.840000, 1.960000, 2.110000, 2.260000, 2.410000, 2.610000, 2.810000, 3.110000, 3.460000, 3.810000, 4.260000, 4.910000, 5.810000, 6.960000, 8.810000, 11.810000, 19.060000, 16.960000, 17.010000, 50.000000, 17.060000, 17.010000, 15.010000, 12.310000, 10.560000, 9.210000, 8.060000, 7.910000, 6.660000, 6.110000, 5.660000, 5.260000, 4.910000, 4.610000, 4.410000, 4.460000, 50.000000, 50.000000, 3.860000, 3.810000, 3.710000, 3.360000, 3.210000, 3.160000, 3.010000, 2.960000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.910000, 2.010000, 1.960000, 1.860000, 1.860000, 1.860000, 1.860000, 1.810000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.290000, 1.340000 ], "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": [ 726, 590000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.930300, 21.945900, 0.515369 ], "estimate": [ -26.930300, 21.945900, 0.515369 ], "true_pose": [ null, null, null ], "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": [ 0.570000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.590000, 0.590000, 0.590000, 0.590000, 0.540000, 0.540000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.010000, 2.040000, 2.040000, 2.040000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.890000, 1.890000, 1.840000, 1.940000, 1.890000, 1.840000, 1.840000, 1.840000, 1.910000, 2.010000, 2.160000, 2.310000, 2.460000, 2.710000, 2.910000, 3.160000, 3.510000, 3.910000, 4.460000, 5.160000, 6.060000, 7.360000, 9.360000, 12.760000, 19.060000, 16.960000, 17.110000, 19.210000, 17.010000, 16.860000, 14.360000, 11.760000, 10.160000, 8.960000, 7.910000, 7.610000, 6.560000, 6.010000, 5.560000, 5.160000, 4.860000, 4.560000, 4.410000, 4.310000, 50.000000, 50.000000, 3.810000, 3.760000, 3.610000, 3.360000, 3.260000, 3.160000, 2.960000, 2.960000, 2.810000, 2.710000, 2.660000, 2.560000, 2.510000, 2.410000, 2.360000, 2.310000, 2.210000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.910000, 1.960000, 1.910000, 1.860000, 1.860000, 1.860000, 1.810000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.510000, 1.460000, 1.510000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.360000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.340000, 1.290000, 1.290000, 1.320000, 1.330000, 1.270000, 1.200000, 1.000000 ], "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": [ 726, 830000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.887501, 21.974098, 0.646313 ], "estimate": [ -26.887501, 21.974098, 0.646313 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.620000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 1.010000, 1.140000, 2.040000, 2.040000, 1.940000, 1.940000, 1.940000, 1.890000, 1.890000, 1.890000, 1.790000, 1.790000, 1.790000, 1.810000, 1.820000, 1.840000, 1.790000, 1.820000, 1.790000, 1.860000, 2.010000, 2.110000, 2.310000, 2.410000, 2.660000, 2.860000, 3.110000, 3.410000, 3.810000, 4.210000, 4.910000, 5.660000, 6.710000, 8.360000, 11.260000, 18.960000, 16.810000, 16.810000, 16.960000, 16.960000, 16.960000, 16.760000, 12.810000, 10.860000, 9.510000, 8.360000, 7.860000, 6.810000, 6.210000, 5.760000, 5.360000, 4.960000, 4.610000, 4.360000, 4.360000, 4.560000, 50.000000, 50.000000, 3.860000, 3.710000, 3.510000, 3.260000, 3.110000, 3.060000, 2.910000, 2.860000, 2.760000, 2.660000, 2.610000, 2.510000, 2.410000, 2.360000, 2.360000, 2.210000, 2.210000, 2.160000, 2.160000, 2.110000, 2.060000, 1.960000, 1.960000, 1.860000, 1.860000, 1.860000, 1.810000, 1.860000, 1.760000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.460000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.340000, 1.290000, 1.290000, 1.290000, 1.320000, 1.320000, 1.320000, 1.220000, 1.250000, 1.200000, 1.250000, 1.170000, 1.190000, 1.190000 ], "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": [ 727, 149998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.845800, 22.008501, 0.736482 ], "estimate": [ -26.845800, 22.008501, 0.736482 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.960000, 2.040000, 2.040000, 1.990000, 1.990000, 1.940000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.840000, 1.790000, 1.790000, 1.790000, 1.820000, 1.790000, 1.790000, 1.790000, 1.760000, 1.860000, 2.060000, 2.160000, 2.310000, 2.460000, 2.610000, 2.860000, 3.110000, 3.460000, 3.860000, 4.260000, 4.910000, 5.660000, 6.760000, 8.360000, 11.210000, 19.010000, 16.810000, 16.810000, 16.910000, 16.960000, 16.910000, 16.810000, 12.810000, 11.010000, 9.560000, 8.360000, 7.860000, 6.810000, 6.210000, 5.710000, 5.310000, 4.960000, 4.660000, 4.310000, 4.310000, 4.310000, 50.000000, 50.000000, 3.710000, 3.660000, 3.460000, 3.260000, 3.110000, 3.010000, 2.910000, 2.860000, 2.760000, 2.610000, 2.560000, 2.460000, 2.410000, 2.360000, 2.360000, 2.260000, 2.210000, 2.160000, 2.060000, 2.060000, 2.010000, 2.010000, 1.960000, 1.810000, 1.960000, 1.860000, 1.810000, 1.810000, 1.760000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.310000, 1.290000, 1.290000, 1.340000, 1.290000, 1.270000, 1.270000, 1.290000, 1.290000, 1.290000, 1.270000, 1.200000, 1.200000, 1.200000, 1.170000, 1.190000, 1.160000, 1.110000 ], "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": [ 727, 309998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.814299, 22.039000, 0.806683 ], "estimate": [ -26.814299, 22.039000, 0.806683 ], "true_pose": [ null, null, null ], "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": [ 0.620000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.910000, 1.010000, 2.040000, 2.040000, 1.990000, 1.940000, 1.940000, 1.940000, 1.840000, 1.840000, 1.840000, 1.840000, 1.740000, 1.740000, 1.740000, 1.740000, 1.770000, 1.740000, 1.740000, 1.740000, 1.740000, 1.760000, 1.860000, 2.010000, 2.060000, 2.260000, 2.410000, 2.560000, 2.760000, 2.960000, 3.260000, 3.610000, 3.960000, 4.510000, 5.110000, 5.960000, 7.160000, 8.910000, 11.760000, 18.910000, 16.860000, 16.810000, 19.110000, 16.860000, 16.910000, 15.060000, 12.660000, 10.510000, 9.210000, 8.110000, 7.760000, 6.610000, 6.060000, 5.610000, 5.210000, 4.810000, 4.560000, 4.260000, 4.260000, 4.210000, 50.000000, 3.960000, 3.760000, 3.560000, 3.410000, 3.210000, 3.010000, 3.010000, 2.860000, 2.760000, 2.710000, 2.560000, 2.510000, 2.460000, 2.360000, 2.310000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 2.010000, 1.910000, 1.860000, 1.810000, 1.860000, 1.810000, 1.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.510000, 1.410000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.270000, 1.220000, 1.200000, 1.170000, 1.170000, 1.170000, 1.160000, 1.210000, 1.210000, 1.310000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 727, 590000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.792099, 22.062799, 0.830224 ], "estimate": [ -26.792099, 22.062799, 0.830224 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.700000, 0.650000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.920000, 0.970000, 2.100000, 2.050000, 2.000000, 2.000000, 1.950000, 1.900000, 1.900000, 1.900000, 1.850000, 1.800000, 1.750000, 1.800000, 1.750000, 1.700000, 1.750000, 1.770000, 1.780000, 1.750000, 1.730000, 1.750000, 1.700000, 1.820000, 1.920000, 2.020000, 2.120000, 2.270000, 2.470000, 2.620000, 2.770000, 3.020000, 3.320000, 3.720000, 4.070000, 4.620000, 5.220000, 6.170000, 7.370000, 9.220000, 12.570000, 18.870000, 16.770000, 16.670000, 50.000000, 16.820000, 16.820000, 14.820000, 12.620000, 10.470000, 9.070000, 7.970000, 7.770000, 6.520000, 5.970000, 5.570000, 5.170000, 4.770000, 4.470000, 4.220000, 4.220000, 4.170000, 50.000000, 3.870000, 3.720000, 3.520000, 3.420000, 3.220000, 2.970000, 2.970000, 2.820000, 2.820000, 2.670000, 2.570000, 2.520000, 2.470000, 2.370000, 2.320000, 2.270000, 2.220000, 2.170000, 2.120000, 2.070000, 2.020000, 1.970000, 1.970000, 1.970000, 1.920000, 1.820000, 1.820000, 1.820000, 1.770000, 1.770000, 1.720000, 1.720000, 1.670000, 1.670000, 1.670000, 1.620000, 1.570000, 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.470000, 1.520000, 1.470000, 1.470000, 1.470000, 1.420000, 1.420000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.420000, 1.370000, 1.370000, 1.320000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.300000, 1.300000, 1.260000, 1.250000, 1.300000, 1.250000, 1.250000, 1.300000, 1.300000, 1.270000, 1.250000, 1.260000, 1.230000, 1.230000, 1.180000, 1.200000, 1.220000, 1.220000, 1.220000, 1.270000, 1.370000 ], "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": [ 727, 789998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.766298, 22.091398, 0.835057 ], "estimate": [ -26.766298, 22.091398, 0.835057 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.700000, 0.700000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.870000, 0.920000, 1.100000, 2.150000, 2.050000, 2.000000, 2.000000, 1.950000, 1.900000, 1.900000, 1.900000, 1.850000, 1.850000, 1.750000, 1.800000, 1.750000, 1.750000, 1.700000, 1.650000, 1.670000, 1.730000, 1.700000, 1.700000, 1.700000, 1.700000, 1.670000, 1.820000, 1.820000, 1.970000, 2.070000, 2.170000, 2.320000, 2.470000, 2.670000, 2.870000, 3.070000, 3.370000, 3.720000, 4.120000, 4.620000, 5.270000, 6.170000, 7.270000, 9.070000, 11.770000, 18.820000, 16.820000, 16.720000, 16.920000, 16.820000, 16.770000, 15.320000, 12.570000, 10.470000, 9.170000, 8.070000, 7.720000, 6.520000, 5.970000, 5.570000, 5.170000, 4.820000, 4.520000, 4.170000, 4.170000, 4.120000, 4.170000, 3.920000, 3.570000, 3.470000, 3.420000, 3.120000, 2.920000, 2.920000, 2.820000, 2.770000, 2.670000, 2.620000, 2.470000, 2.470000, 2.420000, 2.270000, 2.220000, 2.170000, 2.120000, 2.120000, 2.070000, 2.020000, 1.970000, 1.920000, 1.870000, 1.870000, 1.870000, 1.770000, 1.720000, 1.820000, 1.720000, 1.720000, 1.720000, 1.620000, 1.620000, 1.620000, 1.620000, 1.570000, 1.570000, 1.520000, 1.470000, 1.520000, 1.520000, 1.520000, 1.470000, 1.470000, 1.470000, 1.420000, 1.420000, 1.420000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.250000, 1.300000, 1.290000, 1.250000, 1.250000, 1.220000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.320000, 1.270000, 1.250000, 1.230000, 1.230000, 1.200000, 1.200000, 1.200000 ], "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": [ 728, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.704901, 22.155602, 0.765698 ], "estimate": [ -26.704901, 22.155602, 0.765698 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.650000, 0.700000, 0.650000, 0.650000, 0.700000, 0.700000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.820000, 0.870000, 1.050000, 2.200000, 2.100000, 2.100000, 2.050000, 2.000000, 1.950000, 1.950000, 1.900000, 1.850000, 1.850000, 1.800000, 1.750000, 1.750000, 1.700000, 1.700000, 1.650000, 1.650000, 1.600000, 1.620000, 1.650000, 1.680000, 1.650000, 1.600000, 1.650000, 1.650000, 1.670000, 1.720000, 1.820000, 1.970000, 2.070000, 2.120000, 2.320000, 2.420000, 2.620000, 2.820000, 3.020000, 3.320000, 3.620000, 3.970000, 4.420000, 4.920000, 5.720000, 6.720000, 8.170000, 10.170000, 21.670000, 16.820000, 16.670000, 16.720000, 18.820000, 16.720000, 16.520000, 13.770000, 11.420000, 9.770000, 8.570000, 7.620000, 6.770000, 6.220000, 5.720000, 5.270000, 4.920000, 4.620000, 4.320000, 4.120000, 4.120000, 4.020000, 50.000000, 3.770000, 3.520000, 3.370000, 3.320000, 3.070000, 2.870000, 2.870000, 2.820000, 2.720000, 2.620000, 2.470000, 2.420000, 2.370000, 2.370000, 2.220000, 2.170000, 2.120000, 2.070000, 2.070000, 2.020000, 1.970000, 1.920000, 1.920000, 1.870000, 1.820000, 1.870000, 1.770000, 1.620000, 1.720000, 1.720000, 1.720000, 1.670000, 1.620000, 1.620000, 1.620000, 1.570000, 1.520000, 1.520000, 1.470000, 1.520000, 1.520000, 1.520000, 1.470000, 1.470000, 1.420000, 1.420000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.320000, 1.270000, 1.270000, 1.270000, 1.220000, 1.270000, 1.220000, 1.270000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.270000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 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": [ 728, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.642900, 22.209900, 0.653039 ], "estimate": [ -26.642900, 22.209900, 0.653039 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.650000, 0.650000, 0.650000, 0.700000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.820000, 0.820000, 2.250000, 2.200000, 2.150000, 2.100000, 2.100000, 2.000000, 2.000000, 1.900000, 1.900000, 1.850000, 1.850000, 1.800000, 1.750000, 1.750000, 1.700000, 1.700000, 1.700000, 1.650000, 1.600000, 1.600000, 1.620000, 1.650000, 1.650000, 1.650000, 1.600000, 1.600000, 1.570000, 1.700000, 1.720000, 1.820000, 1.920000, 2.020000, 2.120000, 2.270000, 2.370000, 2.520000, 2.720000, 2.920000, 3.170000, 3.470000, 3.770000, 4.220000, 4.770000, 5.370000, 6.270000, 7.420000, 9.220000, 12.420000, 18.720000, 16.770000, 16.620000, 16.820000, 16.720000, 16.670000, 15.220000, 12.470000, 10.370000, 9.120000, 8.020000, 7.620000, 6.520000, 5.920000, 5.470000, 5.070000, 4.770000, 4.420000, 4.170000, 4.070000, 4.020000, 4.120000, 50.000000, 3.470000, 3.470000, 3.370000, 3.220000, 3.020000, 2.870000, 2.820000, 2.670000, 2.620000, 2.520000, 2.470000, 2.370000, 2.320000, 2.320000, 2.220000, 2.120000, 2.070000, 2.070000, 2.020000, 2.020000, 1.970000, 1.970000, 1.920000, 1.820000, 1.820000, 1.820000, 1.720000, 1.720000, 1.620000, 1.670000, 1.670000, 1.670000, 1.620000, 1.620000, 1.570000, 1.520000, 1.520000, 1.520000, 1.470000, 1.520000, 1.520000, 1.470000, 1.470000, 1.470000, 1.420000, 1.420000, 1.370000, 1.370000, 1.370000, 1.320000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.250000, 1.300000, 1.230000, 1.200000, 1.250000, 1.250000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.270000, 1.270000 ], "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": [ 728, 509998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.626398, 22.222300, 0.620250 ], "estimate": [ -26.626398, 22.222300, 0.620250 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.620000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.710000, 0.810000, 0.760000, 2.660000, 2.590000, 2.540000, 2.490000, 2.190000, 2.140000, 2.040000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.540000, 1.560000, 1.520000, 1.490000, 1.490000, 1.490000, 1.490000, 1.460000, 1.540000, 1.640000, 1.690000, 1.760000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.460000, 2.610000, 2.760000, 3.010000, 3.310000, 3.560000, 3.910000, 4.310000, 4.910000, 5.660000, 6.660000, 8.010000, 9.960000, 21.410000, 16.760000, 16.510000, 16.460000, 50.000000, 16.560000, 16.460000, 14.210000, 11.510000, 9.960000, 8.660000, 7.610000, 7.460000, 6.310000, 5.710000, 5.360000, 4.960000, 4.610000, 4.360000, 4.060000, 3.960000, 4.060000, 4.060000, 3.810000, 3.360000, 3.410000, 3.260000, 3.160000, 2.910000, 2.760000, 2.760000, 2.660000, 2.560000, 2.510000, 2.460000, 2.310000, 2.310000, 2.260000, 2.210000, 2.110000, 2.060000, 2.010000, 2.010000, 1.960000, 1.910000, 1.860000, 1.810000, 1.860000, 1.810000, 1.810000, 1.710000, 1.710000, 1.660000, 1.660000, 1.560000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.360000, 1.310000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.310000, 1.260000, 1.210000, 1.260000, 1.210000, 1.240000, 1.240000, 1.240000, 1.190000, 1.220000, 1.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 728, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.554800, 22.267601, 0.508223 ], "estimate": [ -26.554800, 22.267601, 0.508223 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.650000, 0.680000, 0.650000, 0.630000, 0.680000, 0.650000, 0.650000, 0.680000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.700000, 0.700000, 0.700000, 0.650000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.700000, 0.750000, 0.720000, 0.770000, 0.770000, 2.650000, 2.700000, 2.620000, 2.600000, 2.500000, 2.450000, 2.120000, 2.070000, 2.050000, 2.000000, 1.950000, 1.900000, 1.850000, 1.800000, 1.750000, 1.750000, 1.750000, 1.650000, 1.650000, 1.600000, 1.550000, 1.550000, 1.550000, 1.500000, 1.500000, 1.420000, 1.520000, 1.530000, 1.500000, 1.500000, 1.450000, 1.420000, 1.420000, 1.450000, 1.550000, 1.650000, 1.700000, 1.770000, 1.870000, 1.970000, 2.020000, 2.170000, 2.320000, 2.420000, 2.570000, 2.770000, 3.020000, 3.270000, 3.520000, 3.920000, 4.370000, 4.870000, 5.570000, 6.570000, 7.920000, 9.920000, 13.820000, 18.520000, 16.420000, 16.470000, 18.820000, 16.520000, 16.470000, 14.370000, 11.570000, 10.020000, 8.720000, 7.670000, 7.420000, 6.320000, 5.820000, 5.370000, 4.970000, 4.620000, 4.320000, 4.070000, 3.920000, 3.970000, 3.820000, 3.870000, 3.670000, 3.370000, 3.320000, 3.170000, 3.020000, 2.870000, 2.670000, 2.720000, 2.570000, 2.520000, 2.470000, 2.370000, 2.370000, 2.270000, 2.170000, 2.170000, 2.120000, 2.020000, 1.970000, 1.970000, 1.920000, 1.870000, 1.870000, 1.820000, 1.820000, 1.770000, 1.720000, 1.720000, 1.670000, 1.670000, 1.620000, 1.620000, 1.570000, 1.570000, 1.570000, 1.570000, 1.520000, 1.520000, 1.520000, 1.520000, 1.470000, 1.520000, 1.420000, 1.470000, 1.420000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.370000, 1.370000, 1.320000, 1.320000, 1.370000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.270000, 1.250000 ], "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": [ 729, 110000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.506899, 22.292601, 0.440544 ], "estimate": [ -26.506899, 22.292601, 0.440544 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.640000, 0.620000, 0.590000, 0.640000, 0.620000, 0.640000, 0.620000, 0.670000, 0.590000, 0.620000, 0.640000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.660000, 0.840000, 2.590000, 2.540000, 2.640000, 2.640000, 2.560000, 2.510000, 2.460000, 2.390000, 2.140000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.440000, 1.410000, 1.470000, 1.460000, 1.440000, 1.390000, 1.410000, 1.360000, 1.440000, 1.440000, 1.540000, 1.640000, 1.690000, 1.710000, 1.810000, 1.860000, 1.960000, 2.110000, 2.260000, 2.410000, 2.510000, 2.710000, 2.910000, 3.210000, 3.410000, 3.810000, 4.260000, 4.710000, 5.360000, 6.360000, 7.610000, 9.660000, 12.260000, 18.510000, 16.460000, 16.460000, 18.560000, 16.510000, 16.460000, 14.810000, 12.260000, 10.210000, 8.960000, 7.910000, 7.360000, 6.460000, 5.860000, 5.410000, 5.060000, 4.660000, 4.410000, 4.160000, 3.860000, 3.860000, 3.810000, 3.860000, 3.710000, 3.460000, 3.310000, 3.160000, 3.010000, 2.960000, 2.810000, 2.610000, 2.610000, 2.510000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.110000, 2.110000, 2.060000, 1.960000, 1.960000, 1.910000, 1.860000, 1.910000, 1.810000, 1.810000, 1.760000, 1.760000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000 ], "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": [ 729, 350000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.450100, 22.317299, 0.385055 ], "estimate": [ -26.450100, 22.317299, 0.385055 ], "true_pose": [ null, null, null ], "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": [ 0.620000, 0.620000, 0.590000, 0.620000, 0.640000, 0.620000, 0.620000, 0.590000, 0.620000, 0.640000, 0.620000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 2.490000, 2.490000, 2.490000, 2.540000, 2.540000, 2.590000, 2.590000, 2.610000, 2.510000, 2.440000, 2.390000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.440000, 1.390000, 1.340000, 1.360000, 1.410000, 1.390000, 1.310000, 1.310000, 1.340000, 1.310000, 1.310000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.740000, 1.790000, 1.860000, 1.960000, 2.060000, 2.210000, 2.260000, 2.460000, 2.610000, 2.860000, 3.060000, 3.360000, 3.710000, 4.060000, 4.610000, 5.160000, 6.010000, 7.060000, 8.860000, 11.460000, 18.460000, 16.460000, 16.410000, 16.510000, 16.360000, 16.410000, 16.260000, 12.460000, 11.060000, 9.260000, 8.210000, 7.310000, 7.160000, 6.010000, 5.560000, 5.160000, 4.760000, 4.510000, 4.260000, 4.010000, 3.860000, 3.860000, 3.810000, 3.810000, 3.560000, 3.260000, 3.210000, 3.110000, 2.960000, 2.910000, 2.710000, 2.560000, 2.610000, 2.510000, 2.410000, 2.360000, 2.260000, 2.210000, 2.210000, 2.110000, 2.110000, 2.060000, 2.010000, 1.910000, 1.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.610000, 1.660000, 1.610000, 1.610000, 1.610000, 1.610000, 1.490000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.410000, 1.360000, 1.360000, 1.410000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 729, 590000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.374800, 22.347200, 0.382323 ], "estimate": [ -26.374800, 22.347200, 0.382323 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.590000, 0.620000, 0.620000, 0.590000, 0.620000, 0.670000, 0.620000, 0.620000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.640000, 0.640000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 2.560000, 2.510000, 2.390000, 2.440000, 2.440000, 2.440000, 2.490000, 2.540000, 2.540000, 2.540000, 2.460000, 2.460000, 2.390000, 2.340000, 2.010000, 1.990000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.390000, 1.310000, 1.310000, 1.310000, 1.290000, 1.310000, 1.360000, 1.390000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.810000, 1.910000, 1.960000, 2.110000, 2.210000, 2.360000, 2.510000, 2.710000, 2.960000, 3.210000, 3.510000, 3.860000, 4.360000, 4.960000, 5.710000, 6.660000, 8.210000, 10.660000, 21.160000, 16.560000, 16.360000, 16.460000, 18.460000, 16.360000, 16.210000, 13.560000, 11.110000, 9.710000, 8.510000, 7.560000, 7.260000, 6.210000, 5.710000, 5.310000, 4.910000, 4.560000, 4.310000, 4.060000, 3.810000, 3.810000, 3.860000, 3.710000, 3.660000, 3.510000, 3.260000, 3.160000, 3.010000, 2.910000, 2.710000, 2.710000, 2.510000, 2.560000, 2.410000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.960000, 1.910000, 1.910000, 1.910000, 1.860000, 1.810000, 1.810000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.440000, 1.410000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000 ], "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": [ 729, 750000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.356600, 22.354599, 0.388839 ], "estimate": [ -26.356600, 22.354599, 0.388839 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.670000, 0.590000, 0.620000, 0.620000, 0.620000, 0.590000, 0.620000, 0.620000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.590000, 0.590000, 0.670000, 0.620000, 0.620000, 0.640000, 2.560000, 2.560000, 2.510000, 2.510000, 2.460000, 2.440000, 2.440000, 2.440000, 2.440000, 2.490000, 2.490000, 2.540000, 2.540000, 2.410000, 2.390000, 2.340000, 2.140000, 1.910000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.260000, 1.290000, 1.290000, 1.210000, 1.260000, 1.240000, 1.210000, 1.260000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.610000, 1.690000, 1.760000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.510000, 2.610000, 2.860000, 3.160000, 3.410000, 3.810000, 4.210000, 4.710000, 5.460000, 6.460000, 7.810000, 9.710000, 21.110000, 16.410000, 16.260000, 16.310000, 18.460000, 16.310000, 16.160000, 14.110000, 12.110000, 10.010000, 8.710000, 7.760000, 7.210000, 6.360000, 5.810000, 5.410000, 5.010000, 4.660000, 4.410000, 4.160000, 3.860000, 3.710000, 3.760000, 3.660000, 3.660000, 3.510000, 3.360000, 3.160000, 3.060000, 2.910000, 2.810000, 2.660000, 2.660000, 2.460000, 2.460000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.810000, 1.710000, 1.660000, 1.660000, 1.560000, 1.660000, 1.510000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.440000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.410000, 1.360000, 1.410000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000 ], "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": [ 729, 990000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.289700, 22.384399, 0.454416 ], "estimate": [ -26.289700, 22.384399, 0.454416 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.630000, 0.630000, 0.600000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.650000, 0.630000, 0.610000, 0.610000, 0.630000, 0.630000, 0.920000, 0.920000, 2.520000, 2.520000, 2.520000, 2.520000, 2.570000, 2.520000, 2.420000, 2.350000, 2.350000, 2.450000, 2.450000, 2.450000, 2.450000, 2.500000, 2.500000, 2.420000, 2.370000, 2.350000, 1.970000, 1.900000, 1.850000, 1.800000, 1.700000, 1.650000, 1.600000, 1.600000, 1.550000, 1.500000, 1.500000, 1.400000, 1.400000, 1.350000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.270000, 1.250000, 1.250000, 1.170000, 1.200000, 1.170000, 1.220000, 1.220000, 1.250000, 1.300000, 1.350000, 1.400000, 1.450000, 1.500000, 1.600000, 1.650000, 1.720000, 1.770000, 1.870000, 1.920000, 2.070000, 2.170000, 2.320000, 2.470000, 2.720000, 2.920000, 3.170000, 3.420000, 3.820000, 4.270000, 4.770000, 5.470000, 6.520000, 7.820000, 9.870000, 50.000000, 18.270000, 16.270000, 16.370000, 18.370000, 16.270000, 16.120000, 13.970000, 12.070000, 9.920000, 8.720000, 7.720000, 7.220000, 6.270000, 5.820000, 5.370000, 5.020000, 4.720000, 4.370000, 4.170000, 3.920000, 3.720000, 3.670000, 3.770000, 3.670000, 3.470000, 3.370000, 3.120000, 3.070000, 2.970000, 2.820000, 2.720000, 2.620000, 2.470000, 2.520000, 2.420000, 2.370000, 2.370000, 2.220000, 2.220000, 2.170000, 2.070000, 2.070000, 1.970000, 1.970000, 1.920000, 1.870000, 1.870000, 1.870000, 1.820000, 1.820000, 1.770000, 1.720000, 1.720000, 1.670000, 1.670000, 1.620000, 1.620000, 1.620000, 1.570000, 1.570000, 1.520000, 1.520000, 1.520000, 1.470000, 1.420000, 1.470000, 1.470000, 1.420000, 1.470000, 1.420000, 1.420000, 1.420000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000 ], "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": [ 730, 230000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.256800, 22.401201, 0.485733 ], "estimate": [ -26.256800, 22.401201, 0.485733 ], "true_pose": [ null, null, null ], "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": [ 0.600000, 0.630000, 0.580000, 0.630000, 0.680000, 0.680000, 0.660000, 0.870000, 0.920000, 0.970000, 1.270000, 2.420000, 2.470000, 2.470000, 2.470000, 2.520000, 2.470000, 2.570000, 2.470000, 2.350000, 2.350000, 2.350000, 2.400000, 2.450000, 2.450000, 2.450000, 2.500000, 2.470000, 2.370000, 2.320000, 2.200000, 1.870000, 1.770000, 1.750000, 1.700000, 1.650000, 1.600000, 1.550000, 1.500000, 1.500000, 1.450000, 1.400000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.170000, 1.200000, 1.230000, 1.200000, 1.120000, 1.150000, 1.150000, 1.120000, 1.120000, 1.170000, 1.250000, 1.300000, 1.300000, 1.350000, 1.450000, 1.500000, 1.550000, 1.600000, 1.700000, 1.750000, 1.770000, 1.920000, 1.970000, 2.120000, 2.220000, 2.370000, 2.520000, 2.720000, 2.970000, 3.170000, 3.570000, 3.870000, 4.420000, 5.020000, 5.720000, 6.770000, 8.270000, 10.570000, 21.020000, 16.270000, 16.120000, 16.320000, 18.320000, 16.220000, 16.020000, 13.270000, 10.920000, 9.570000, 8.420000, 7.570000, 7.170000, 6.170000, 5.720000, 5.320000, 4.920000, 4.570000, 4.320000, 4.070000, 3.870000, 3.570000, 3.620000, 3.720000, 3.520000, 3.470000, 3.270000, 3.070000, 3.070000, 2.920000, 2.820000, 2.770000, 2.620000, 2.570000, 2.420000, 2.370000, 2.320000, 2.220000, 2.270000, 2.220000, 2.120000, 2.070000, 2.020000, 2.020000, 1.970000, 1.920000, 1.870000, 1.870000, 1.820000, 1.820000, 1.770000, 1.770000, 1.720000, 1.720000, 1.670000, 1.620000, 1.570000, 1.670000, 1.620000, 1.570000, 1.520000, 1.520000, 1.520000, 1.520000, 1.470000, 1.470000, 1.470000, 1.400000, 1.420000, 1.470000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000 ], "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": [ 730, 470000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.186600, 22.442200, 0.568756 ], "estimate": [ -26.186600, 22.442200, 0.568756 ], "true_pose": [ null, null, null ], "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": [ 1.360000, 2.410000, 2.410000, 2.410000, 2.410000, 2.460000, 2.410000, 2.460000, 2.460000, 2.460000, 2.510000, 2.460000, 2.340000, 2.340000, 2.340000, 2.340000, 2.390000, 2.390000, 2.390000, 2.390000, 2.440000, 2.360000, 2.260000, 1.910000, 1.810000, 1.710000, 1.660000, 1.640000, 1.590000, 1.490000, 1.490000, 1.440000, 1.440000, 1.340000, 1.290000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.090000, 1.140000, 1.140000, 1.140000, 1.140000, 1.060000, 1.060000, 1.040000, 1.060000, 1.060000, 1.060000, 1.090000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.540000, 1.540000, 1.640000, 1.740000, 1.760000, 1.860000, 1.960000, 2.060000, 2.160000, 2.360000, 2.510000, 2.710000, 2.910000, 3.160000, 3.460000, 3.810000, 4.310000, 4.760000, 5.510000, 6.510000, 7.960000, 10.360000, 20.960000, 16.210000, 16.060000, 16.110000, 18.210000, 16.110000, 15.960000, 13.910000, 11.910000, 9.810000, 8.660000, 7.760000, 7.010000, 6.810000, 5.810000, 5.410000, 5.010000, 4.610000, 4.360000, 4.110000, 3.910000, 3.660000, 3.510000, 3.510000, 3.410000, 3.510000, 3.310000, 3.160000, 2.960000, 2.910000, 2.860000, 2.660000, 2.610000, 2.560000, 2.460000, 2.310000, 2.360000, 2.260000, 2.260000, 2.160000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.810000, 1.860000, 1.760000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.340000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.240000, 1.250000, 1.270000, 1.290000, 1.290000, 1.260000 ], "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": [ 730, 789998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.112099, 22.494099, 0.661656 ], "estimate": [ -26.112099, 22.494099, 0.661656 ], "true_pose": [ null, null, null ], "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": [ 2.460000, 2.460000, 2.460000, 2.460000, 2.290000, 2.340000, 2.340000, 2.340000, 2.340000, 2.390000, 2.390000, 2.390000, 2.440000, 2.360000, 2.260000, 1.860000, 1.760000, 1.660000, 1.610000, 1.540000, 1.490000, 1.440000, 1.390000, 1.340000, 1.290000, 1.240000, 1.240000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.070000, 1.070000, 1.090000, 1.040000, 1.010000, 1.040000, 0.990000, 1.010000, 1.010000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.690000, 1.710000, 1.810000, 1.910000, 1.960000, 2.110000, 2.210000, 2.360000, 2.510000, 2.710000, 2.960000, 3.210000, 3.510000, 3.810000, 4.210000, 4.760000, 5.460000, 6.360000, 7.610000, 9.410000, 13.060000, 18.060000, 15.910000, 15.860000, 17.810000, 15.960000, 16.010000, 14.460000, 11.860000, 10.660000, 8.860000, 7.860000, 6.960000, 6.860000, 5.860000, 5.410000, 5.060000, 4.660000, 4.410000, 4.160000, 3.860000, 3.660000, 3.460000, 3.410000, 3.510000, 3.410000, 3.310000, 3.160000, 3.060000, 2.860000, 2.760000, 2.760000, 2.610000, 2.560000, 2.510000, 2.410000, 2.310000, 2.310000, 2.160000, 2.160000, 2.110000, 2.110000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.290000, 1.310000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.290000, 1.190000, 1.240000, 1.290000, 1.240000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.310000, 1.260000 ], "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": [ 731, 110998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.052900, 22.543602, 0.734590 ], "estimate": [ -26.052900, 22.543602, 0.734590 ], "true_pose": [ null, null, null ], "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": [ 2.410000, 2.460000, 2.310000, 2.340000, 2.340000, 2.340000, 2.390000, 2.390000, 2.390000, 2.390000, 2.440000, 2.360000, 2.210000, 1.810000, 1.710000, 1.660000, 1.560000, 1.490000, 1.440000, 1.440000, 1.340000, 1.340000, 1.240000, 1.240000, 1.190000, 1.140000, 1.140000, 1.140000, 1.040000, 1.040000, 1.040000, 1.070000, 1.070000, 1.060000, 1.010000, 1.040000, 1.020000, 1.010000, 0.960000, 1.010000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.740000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.310000, 2.510000, 2.660000, 2.910000, 3.110000, 3.410000, 3.710000, 4.160000, 4.610000, 5.260000, 6.060000, 7.160000, 8.960000, 11.660000, 18.010000, 15.960000, 15.910000, 16.010000, 16.010000, 16.010000, 15.860000, 12.710000, 10.660000, 9.260000, 8.160000, 7.260000, 6.910000, 6.010000, 5.510000, 5.110000, 4.760000, 4.460000, 4.210000, 3.960000, 3.710000, 3.560000, 3.410000, 3.460000, 3.310000, 3.360000, 3.210000, 3.110000, 2.960000, 2.810000, 2.710000, 2.660000, 2.510000, 2.460000, 2.360000, 2.310000, 2.210000, 2.210000, 2.160000, 2.160000, 2.010000, 2.010000, 2.010000, 1.960000, 1.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.560000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.290000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.290000, 1.220000, 1.250000, 1.240000, 1.210000, 1.210000, 1.260000, 1.260000, 1.210000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000 ], "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": [ 731, 230000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.018600, 22.575901, 0.775996 ], "estimate": [ -26.018600, 22.575901, 0.775996 ], "true_pose": [ null, null, null ], "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": [ 2.290000, 2.340000, 2.340000, 2.340000, 2.340000, 2.390000, 2.390000, 2.390000, 2.440000, 2.310000, 1.860000, 1.760000, 1.660000, 1.610000, 1.510000, 1.490000, 1.360000, 1.360000, 1.340000, 1.290000, 1.240000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 1.090000, 1.040000, 1.060000, 1.010000, 0.960000, 0.990000, 1.010000, 0.960000, 1.010000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.760000, 1.860000, 1.910000, 2.010000, 2.160000, 2.260000, 2.460000, 2.560000, 2.760000, 3.010000, 3.260000, 3.610000, 3.910000, 4.310000, 4.910000, 5.610000, 6.610000, 8.010000, 10.260000, 14.010000, 16.110000, 15.860000, 15.810000, 18.210000, 15.960000, 15.960000, 13.960000, 11.760000, 9.760000, 8.660000, 7.710000, 6.910000, 6.710000, 5.760000, 5.310000, 4.960000, 4.560000, 4.260000, 4.060000, 3.810000, 3.610000, 3.460000, 3.360000, 3.410000, 3.260000, 3.260000, 3.110000, 3.010000, 2.810000, 2.760000, 2.710000, 2.560000, 2.510000, 2.410000, 2.360000, 2.310000, 2.210000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.290000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.240000, 1.240000, 1.240000, 1.190000, 1.220000, 1.240000, 1.210000, 1.260000, 1.260000, 1.210000, 1.210000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 731, 350000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -26.005800, 22.588501, 0.784824 ], "estimate": [ -26.005800, 22.588501, 0.784824 ], "true_pose": [ null, null, null ], "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": [ 2.340000, 2.340000, 2.390000, 2.440000, 2.390000, 2.310000, 1.810000, 1.710000, 1.660000, 1.510000, 1.460000, 1.410000, 1.340000, 1.290000, 1.260000, 1.240000, 1.140000, 1.140000, 1.140000, 1.040000, 1.040000, 1.020000, 1.020000, 1.010000, 1.040000, 0.990000, 1.010000, 0.990000, 0.960000, 0.960000, 0.960000, 0.960000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.540000, 1.640000, 1.740000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.260000, 2.460000, 2.610000, 2.810000, 2.960000, 3.210000, 3.460000, 3.810000, 4.210000, 4.810000, 5.410000, 6.260000, 7.460000, 9.260000, 11.710000, 17.910000, 15.960000, 15.810000, 15.860000, 15.910000, 15.910000, 15.760000, 12.360000, 10.560000, 9.010000, 7.910000, 7.160000, 6.810000, 5.910000, 5.410000, 5.010000, 4.660000, 4.410000, 4.110000, 3.860000, 3.660000, 3.460000, 3.360000, 3.310000, 3.360000, 3.210000, 3.160000, 3.010000, 2.860000, 2.760000, 2.660000, 2.610000, 2.510000, 2.410000, 2.410000, 2.310000, 2.210000, 2.060000, 2.160000, 2.110000, 2.060000, 1.960000, 1.960000, 1.910000, 1.860000, 1.810000, 1.860000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.510000, 1.460000, 1.460000, 1.410000, 1.360000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.240000, 1.240000, 1.240000, 1.190000, 1.220000, 1.220000, 1.240000, 1.190000, 1.240000, 1.210000, 1.210000, 1.210000, 1.210000, 1.260000, 1.260000, 1.260000, 1.260000, 1.310000, 1.310000, 1.260000, 1.360000 ], "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": [ 731, 591000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.977100, 22.617901, 0.798907 ], "estimate": [ -25.977100, 22.617901, 0.798907 ], "true_pose": [ null, null, null ], "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": [ 2.390000, 2.390000, 2.390000, 1.810000, 1.710000, 1.610000, 1.510000, 1.410000, 1.360000, 1.260000, 1.210000, 1.160000, 1.110000, 1.060000, 1.010000, 1.010000, 0.990000, 1.000000, 1.020000, 0.990000, 0.960000, 1.010000, 0.910000, 0.940000, 0.910000, 0.910000, 0.910000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.860000, 1.960000, 2.010000, 2.160000, 2.260000, 2.410000, 2.510000, 2.710000, 2.910000, 3.160000, 3.410000, 3.760000, 4.060000, 4.610000, 5.110000, 5.860000, 6.810000, 8.260000, 10.210000, 20.610000, 17.810000, 15.760000, 15.710000, 18.010000, 15.860000, 15.810000, 13.860000, 11.610000, 9.560000, 8.460000, 7.510000, 6.760000, 6.610000, 5.610000, 5.210000, 4.810000, 4.460000, 4.210000, 3.910000, 3.710000, 3.510000, 3.360000, 3.260000, 3.260000, 3.260000, 3.210000, 3.060000, 2.910000, 2.810000, 2.660000, 2.560000, 2.560000, 2.410000, 2.360000, 2.310000, 2.210000, 2.210000, 2.010000, 2.110000, 2.060000, 1.960000, 1.960000, 1.910000, 1.860000, 1.810000, 1.810000, 1.760000, 1.710000, 1.760000, 1.710000, 1.710000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.360000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.160000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.200000, 1.190000, 1.190000, 1.190000, 1.210000, 1.160000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.260000, 1.260000, 1.260000, 1.260000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 731, 860000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.905001, 22.691900, 0.795123 ], "estimate": [ -25.905001, 22.691900, 0.795123 ], "true_pose": [ null, null, null ], "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": [ 2.440000, 1.760000, 1.610000, 1.510000, 1.460000, 1.360000, 1.260000, 1.160000, 1.160000, 1.110000, 1.060000, 0.960000, 0.940000, 1.020000, 1.020000, 0.970000, 0.960000, 0.960000, 0.910000, 0.890000, 0.910000, 0.860000, 0.910000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.460000, 2.560000, 2.740000, 2.960000, 3.210000, 3.460000, 3.810000, 4.110000, 4.510000, 5.110000, 5.810000, 6.710000, 8.010000, 10.060000, 13.310000, 17.760000, 15.710000, 15.610000, 15.810000, 15.710000, 15.760000, 14.460000, 11.560000, 10.410000, 8.610000, 7.560000, 6.760000, 6.660000, 5.660000, 5.210000, 4.810000, 4.460000, 4.160000, 3.960000, 3.710000, 3.510000, 3.310000, 3.160000, 3.160000, 3.210000, 3.110000, 3.010000, 2.910000, 2.810000, 2.660000, 2.610000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 1.960000, 2.060000, 1.960000, 1.960000, 1.860000, 1.860000, 1.810000, 1.760000, 1.710000, 1.760000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.240000, 1.140000, 1.160000, 1.160000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.140000, 1.190000, 1.190000, 1.160000, 1.160000, 1.210000, 1.160000, 1.210000, 1.210000, 1.210000, 1.260000, 1.210000, 1.260000, 1.260000, 1.260000 ], "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": [ 732, 100000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.844900, 22.752800, 0.788187 ], "estimate": [ -25.844900, 22.752800, 0.788187 ], "true_pose": [ null, null, null ], "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": [ 1.610000, 1.460000, 1.310000, 1.260000, 1.160000, 1.110000, 1.010000, 0.960000, 0.940000, 0.970000, 0.970000, 0.970000, 0.940000, 0.960000, 0.890000, 0.840000, 0.810000, 0.810000, 0.860000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.860000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.560000, 2.710000, 2.910000, 3.110000, 3.360000, 3.710000, 3.960000, 4.360000, 4.910000, 5.560000, 6.360000, 7.510000, 9.010000, 11.410000, 17.660000, 15.810000, 15.560000, 15.610000, 50.000000, 15.660000, 15.560000, 12.860000, 10.610000, 9.110000, 7.960000, 7.110000, 6.610000, 6.010000, 5.360000, 4.960000, 4.610000, 4.260000, 4.010000, 3.760000, 3.560000, 3.360000, 3.210000, 3.110000, 3.110000, 3.110000, 3.010000, 2.960000, 2.810000, 2.660000, 2.560000, 2.510000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.060000, 2.010000, 1.860000, 1.910000, 1.860000, 1.810000, 1.760000, 1.810000, 1.760000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.610000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.170000, 1.220000, 1.170000, 1.200000, 1.220000, 1.140000, 1.140000, 1.140000, 1.140000, 1.160000, 1.160000, 1.210000, 1.160000, 1.210000, 1.210000, 1.260000, 1.210000, 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": [ 732, 340000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.783798, 22.813301, 0.767379 ], "estimate": [ -25.783798, 22.813301, 0.767379 ], "true_pose": [ null, null, null ], "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": [ 1.460000, 1.310000, 1.210000, 1.060000, 1.010000, 0.990000, 0.970000, 0.970000, 0.910000, 0.960000, 0.910000, 0.840000, 0.810000, 0.810000, 0.810000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.090000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.790000, 1.860000, 1.960000, 2.060000, 2.160000, 2.210000, 2.360000, 2.510000, 2.610000, 2.860000, 3.010000, 3.210000, 3.510000, 3.810000, 4.110000, 4.560000, 5.110000, 5.760000, 6.660000, 7.860000, 9.860000, 12.310000, 17.560000, 15.710000, 15.510000, 15.510000, 15.660000, 15.560000, 15.410000, 12.410000, 10.260000, 8.860000, 7.710000, 6.910000, 6.460000, 5.560000, 5.210000, 4.810000, 4.460000, 4.160000, 3.860000, 3.660000, 3.460000, 3.260000, 3.160000, 3.010000, 2.960000, 3.060000, 2.960000, 2.860000, 2.710000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.960000, 1.960000, 1.810000, 1.860000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.160000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.120000, 1.090000, 1.110000, 1.110000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.210000, 1.210000, 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": [ 732, 581000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.723999, 22.868200, 0.716934 ], "estimate": [ -25.723999, 22.868200, 0.716934 ], "true_pose": [ null, null, null ], "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": [ 1.410000, 1.210000, 1.060000, 0.960000, 0.970000, 0.950000, 0.970000, 0.910000, 0.860000, 0.790000, 0.810000, 0.790000, 0.760000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.940000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.540000, 2.710000, 2.860000, 3.010000, 3.260000, 3.510000, 3.760000, 4.160000, 4.610000, 5.110000, 5.760000, 6.660000, 7.760000, 9.810000, 11.960000, 17.510000, 17.510000, 15.410000, 15.460000, 17.610000, 15.510000, 15.360000, 12.610000, 10.360000, 8.910000, 7.760000, 6.960000, 6.410000, 6.110000, 5.160000, 4.860000, 4.460000, 4.160000, 3.860000, 3.660000, 3.410000, 3.310000, 3.060000, 2.960000, 2.910000, 3.010000, 2.910000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.860000, 1.710000, 1.760000, 1.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.310000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.140000, 1.090000, 1.140000, 1.140000, 1.090000, 1.120000, 1.100000, 1.090000, 1.140000, 1.090000, 1.090000, 1.090000, 1.160000, 1.160000, 1.160000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 732, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.645401, 22.932400, 0.653670 ], "estimate": [ -25.645401, 22.932400, 0.653670 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.970000, 0.970000, 0.920000, 0.910000, 0.820000, 0.840000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.590000, 1.690000, 1.740000, 1.790000, 1.840000, 1.910000, 2.010000, 2.060000, 2.210000, 2.310000, 2.490000, 2.560000, 2.660000, 2.910000, 3.060000, 3.310000, 3.610000, 3.860000, 4.210000, 4.610000, 5.160000, 5.810000, 6.660000, 7.810000, 9.710000, 12.010000, 17.360000, 17.410000, 15.360000, 15.360000, 17.510000, 15.360000, 15.260000, 12.710000, 10.310000, 8.960000, 7.760000, 6.910000, 6.310000, 6.060000, 5.160000, 4.810000, 4.460000, 4.110000, 3.860000, 3.660000, 3.460000, 3.260000, 3.060000, 2.910000, 2.860000, 2.860000, 2.860000, 2.710000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.260000, 2.110000, 2.110000, 2.110000, 2.060000, 2.010000, 1.960000, 1.860000, 1.860000, 1.810000, 1.760000, 1.660000, 1.710000, 1.660000, 1.610000, 1.660000, 1.610000, 1.610000, 1.510000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.110000, 1.110000, 1.110000, 1.110000, 1.060000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.150000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 733, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.553001, 22.999500, 0.595238 ], "estimate": [ -25.553001, 22.999500, 0.595238 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.850000, 0.800000, 0.750000, 0.770000, 0.770000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.940000, 2.010000, 2.110000, 2.210000, 2.260000, 2.410000, 2.510000, 2.710000, 2.860000, 3.060000, 3.310000, 3.460000, 3.810000, 4.160000, 4.460000, 5.060000, 5.610000, 6.410000, 7.460000, 8.910000, 11.060000, 20.060000, 17.260000, 15.260000, 15.160000, 15.460000, 15.310000, 15.260000, 13.360000, 11.060000, 9.160000, 8.010000, 7.110000, 6.260000, 6.210000, 5.260000, 4.860000, 4.510000, 4.160000, 3.860000, 3.660000, 3.510000, 3.310000, 3.110000, 2.960000, 2.810000, 2.710000, 2.760000, 2.760000, 2.660000, 2.610000, 2.510000, 2.460000, 2.360000, 2.260000, 2.160000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.960000, 1.860000, 1.860000, 1.810000, 1.710000, 1.660000, 1.660000, 1.610000, 1.660000, 1.610000, 1.560000, 1.560000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.310000, 1.210000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.060000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.090000, 1.090000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 733, 299998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.477800, 23.048302, 0.556565 ], "estimate": [ -25.477800, 23.048302, 0.556565 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.820000, 0.740000, 0.770000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 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, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.440000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.940000, 2.010000, 2.110000, 2.240000, 2.240000, 2.460000, 2.610000, 2.710000, 2.910000, 3.060000, 3.260000, 3.560000, 3.810000, 4.160000, 4.610000, 5.060000, 5.710000, 6.510000, 7.560000, 9.460000, 11.010000, 19.910000, 17.160000, 15.160000, 15.010000, 15.260000, 15.160000, 15.160000, 13.210000, 10.960000, 9.210000, 7.960000, 7.060000, 6.260000, 6.060000, 5.160000, 4.860000, 4.460000, 4.110000, 3.860000, 3.710000, 3.460000, 3.260000, 3.060000, 2.960000, 2.810000, 2.660000, 2.610000, 2.560000, 2.710000, 2.560000, 2.510000, 2.410000, 2.360000, 2.310000, 2.210000, 2.110000, 2.060000, 2.010000, 2.010000, 1.960000, 1.910000, 1.810000, 1.810000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.510000, 1.460000, 1.560000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.140000, 1.140000, 1.140000, 1.090000, 1.070000 ], "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": [ 733, 620000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.372801, 23.109400, 0.497924 ], "estimate": [ -25.372801, 23.109400, 0.497924 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.790000, 0.770000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.640000, 1.740000, 1.790000, 1.890000, 1.910000, 2.010000, 2.110000, 2.110000, 2.310000, 2.360000, 2.560000, 2.710000, 2.860000, 3.110000, 3.260000, 3.560000, 3.860000, 4.160000, 4.610000, 5.060000, 5.710000, 6.560000, 7.610000, 9.410000, 11.560000, 19.860000, 17.110000, 15.060000, 14.910000, 15.210000, 15.060000, 15.010000, 13.010000, 10.860000, 9.060000, 7.860000, 7.010000, 6.210000, 5.960000, 5.310000, 4.760000, 4.460000, 4.160000, 3.860000, 3.610000, 3.460000, 3.260000, 3.060000, 2.910000, 2.810000, 2.710000, 2.560000, 2.510000, 2.510000, 2.610000, 2.460000, 2.460000, 2.310000, 2.310000, 2.210000, 2.160000, 2.010000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.760000, 1.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.660000, 1.510000, 1.560000, 1.560000, 1.510000, 1.360000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.060000, 1.090000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 733, 860000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.281500, 23.157900, 0.472492 ], "estimate": [ -25.281500, 23.157900, 0.472492 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.790000, 0.770000, 0.820000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.440000, 1.390000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.840000, 1.910000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.510000, 2.710000, 2.810000, 3.060000, 3.260000, 3.460000, 3.810000, 4.110000, 4.510000, 4.960000, 5.560000, 6.410000, 7.410000, 9.260000, 10.760000, 19.760000, 17.010000, 15.010000, 14.910000, 15.160000, 14.960000, 14.960000, 13.210000, 10.860000, 9.610000, 8.010000, 7.160000, 6.360000, 5.910000, 5.710000, 4.910000, 4.560000, 4.210000, 3.910000, 3.710000, 3.460000, 3.260000, 3.110000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.410000, 2.460000, 2.510000, 2.460000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.010000, 2.010000, 1.910000, 1.910000, 1.860000, 1.860000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.390000, 1.460000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.110000, 1.090000, 1.090000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 734, 61000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.208899, 23.194399, 0.462402 ], "estimate": [ -25.208899, 23.194399, 0.462402 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.340000, 1.390000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.790000, 1.810000, 1.910000, 2.040000, 2.060000, 2.160000, 2.310000, 2.460000, 2.560000, 2.710000, 2.960000, 3.060000, 3.310000, 3.610000, 3.860000, 4.310000, 4.710000, 5.210000, 5.910000, 6.760000, 8.010000, 9.660000, 12.410000, 16.860000, 15.160000, 14.810000, 14.860000, 15.210000, 14.910000, 14.760000, 12.260000, 10.660000, 8.660000, 7.660000, 6.810000, 6.110000, 5.810000, 5.560000, 4.710000, 4.410000, 4.110000, 3.810000, 3.610000, 3.410000, 3.210000, 3.060000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.360000, 2.360000, 2.410000, 2.410000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 1.960000, 1.960000, 1.910000, 1.860000, 1.810000, 1.810000, 1.760000, 1.660000, 1.710000, 1.660000, 1.660000, 1.560000, 1.610000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.110000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 734, 299998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.144098, 23.226999, 0.468918 ], "estimate": [ -25.144098, 23.226999, 0.468918 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.770000, 0.720000, 0.740000, 0.770000, 0.740000, 0.770000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.840000, 1.890000, 1.890000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.560000, 2.760000, 2.910000, 3.090000, 3.360000, 3.610000, 3.910000, 4.360000, 4.810000, 5.360000, 6.060000, 7.060000, 8.210000, 10.560000, 19.660000, 16.810000, 14.760000, 14.710000, 14.760000, 14.760000, 14.860000, 14.710000, 11.610000, 9.710000, 8.410000, 7.460000, 6.610000, 5.960000, 5.760000, 5.460000, 4.710000, 4.360000, 4.060000, 3.810000, 3.560000, 3.360000, 3.210000, 3.060000, 2.910000, 2.760000, 2.660000, 2.510000, 2.460000, 2.360000, 2.310000, 2.310000, 2.410000, 2.310000, 2.210000, 2.210000, 2.160000, 2.060000, 2.010000, 1.960000, 1.960000, 1.910000, 1.860000, 1.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.410000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.290000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.110000, 1.140000, 1.140000 ], "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": [ 734, 539998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -25.067499, 23.265701, 0.469760 ], "estimate": [ -25.067499, 23.265701, 0.469760 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.720000, 0.720000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 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, 0.840000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.290000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.560000, 2.760000, 2.960000, 3.160000, 3.360000, 3.660000, 3.960000, 4.360000, 4.860000, 5.410000, 6.160000, 7.160000, 9.010000, 10.410000, 19.560000, 16.660000, 14.810000, 14.610000, 16.760000, 14.660000, 14.710000, 14.510000, 11.360000, 9.460000, 8.310000, 7.360000, 6.560000, 5.910000, 5.660000, 5.410000, 4.610000, 4.310000, 4.010000, 3.810000, 3.560000, 3.360000, 3.210000, 3.060000, 2.910000, 2.810000, 2.660000, 2.560000, 2.460000, 2.410000, 2.310000, 2.210000, 2.260000, 2.260000, 2.310000, 2.160000, 2.110000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.860000, 1.860000, 1.760000, 1.760000, 1.710000, 1.660000, 1.710000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.210000, 1.210000, 1.260000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.160000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.140000, 1.140000 ], "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": [ 734, 860000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.981400, 23.309900, 0.477536 ], "estimate": [ -24.981400, 23.309900, 0.477536 ], "true_pose": [ null, null, null ], "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, 0.740000, 0.770000, 0.740000, 0.770000, 0.770000, 0.740000, 0.720000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.390000, 1.340000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.310000, 2.410000, 2.560000, 2.760000, 2.940000, 3.110000, 3.360000, 3.660000, 4.010000, 4.410000, 4.860000, 5.410000, 6.210000, 7.210000, 8.910000, 10.460000, 19.460000, 16.660000, 14.710000, 14.610000, 16.660000, 14.660000, 14.660000, 14.510000, 11.160000, 9.360000, 8.210000, 7.310000, 6.560000, 5.910000, 5.560000, 5.310000, 4.610000, 4.260000, 4.010000, 3.760000, 3.560000, 3.360000, 3.210000, 3.060000, 2.910000, 2.810000, 2.660000, 2.560000, 2.460000, 2.360000, 2.260000, 2.210000, 2.110000, 2.110000, 2.160000, 2.210000, 2.210000, 2.060000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.110000, 1.160000, 1.160000, 1.110000, 1.160000, 1.110000, 1.140000, 1.140000, 1.140000 ], "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": [ 735, 100000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.912300, 23.345800, 0.483422 ], "estimate": [ -24.912300, 23.345800, 0.483422 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.770000, 0.770000, 0.740000, 0.770000, 0.740000, 0.770000, 0.770000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 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, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.640000, 1.710000, 1.760000, 1.860000, 1.960000, 2.060000, 2.110000, 2.260000, 2.360000, 2.510000, 2.660000, 2.810000, 3.010000, 3.260000, 3.510000, 3.810000, 4.160000, 4.660000, 5.110000, 5.810000, 6.710000, 7.910000, 9.460000, 12.360000, 16.610000, 16.610000, 14.610000, 14.560000, 16.660000, 14.560000, 14.460000, 12.260000, 10.410000, 9.210000, 7.710000, 6.860000, 6.210000, 5.560000, 5.560000, 5.110000, 4.460000, 4.160000, 3.910000, 3.660000, 3.460000, 3.310000, 3.060000, 2.960000, 2.860000, 2.760000, 2.610000, 2.510000, 2.410000, 2.310000, 2.210000, 2.240000, 2.110000, 2.110000, 2.110000, 2.160000, 2.160000, 2.010000, 2.010000, 2.010000, 1.960000, 1.910000, 1.810000, 1.810000, 1.760000, 1.760000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.310000, 1.260000, 1.260000, 1.190000, 1.260000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.140000, 1.140000 ], "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": [ 735, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.844700, 23.382000, 0.493300 ], "estimate": [ -24.844700, 23.382000, 0.493300 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.720000, 0.720000, 0.740000, 0.720000, 0.770000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.710000, 1.860000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.560000, 2.710000, 2.860000, 3.060000, 3.310000, 3.560000, 3.910000, 4.260000, 4.710000, 5.210000, 5.960000, 6.910000, 8.760000, 10.160000, 19.310000, 16.460000, 14.410000, 14.610000, 14.610000, 14.510000, 14.460000, 14.310000, 11.760000, 10.260000, 9.160000, 7.510000, 6.760000, 6.060000, 5.460000, 5.410000, 5.010000, 4.360000, 4.110000, 3.860000, 3.610000, 3.410000, 3.260000, 3.110000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.310000, 2.210000, 2.190000, 2.110000, 2.060000, 2.010000, 2.010000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.810000, 1.760000, 1.760000, 1.660000, 1.610000, 1.660000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.110000, 1.160000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.110000, 1.140000, 1.140000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 735, 580000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.758799, 23.427900, 0.491829 ], "estimate": [ -24.758799, 23.427900, 0.491829 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.720000, 0.720000, 0.740000, 0.720000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.140000, 1.190000, 1.190000, 1.290000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.760000, 1.810000, 1.910000, 1.960000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.710000, 2.910000, 3.110000, 3.360000, 3.610000, 4.010000, 4.410000, 4.860000, 5.460000, 6.210000, 7.260000, 8.760000, 10.960000, 16.360000, 16.410000, 14.460000, 14.410000, 16.510000, 14.460000, 14.460000, 14.210000, 11.060000, 9.260000, 8.110000, 7.260000, 6.510000, 5.860000, 5.360000, 5.310000, 4.910000, 4.260000, 4.010000, 3.760000, 3.560000, 3.360000, 3.210000, 3.010000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.360000, 2.260000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.960000, 1.960000, 2.060000, 2.010000, 1.960000, 1.860000, 1.860000, 1.810000, 1.810000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.140000, 1.140000, 1.140000, 1.140000 ], "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": [ 735, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.690601, 23.464899, 0.502338 ], "estimate": [ -24.690601, 23.464899, 0.502338 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.770000, 0.770000, 0.690000, 0.720000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.510000, 1.490000, 1.540000, 1.590000, 1.690000, 1.710000, 1.810000, 1.860000, 1.960000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.610000, 2.860000, 3.060000, 3.210000, 3.510000, 3.810000, 4.160000, 4.660000, 5.110000, 5.860000, 6.810000, 8.610000, 10.010000, 16.360000, 16.310000, 14.360000, 14.460000, 14.510000, 16.410000, 14.710000, 14.210000, 12.010000, 10.110000, 8.960000, 7.610000, 6.860000, 6.160000, 5.560000, 5.260000, 5.110000, 4.410000, 4.160000, 3.910000, 3.660000, 3.460000, 3.260000, 3.110000, 3.010000, 2.860000, 2.710000, 2.610000, 2.460000, 2.460000, 2.360000, 2.260000, 2.210000, 2.140000, 2.090000, 1.990000, 1.990000, 1.910000, 1.860000, 1.910000, 2.010000, 1.960000, 1.910000, 1.860000, 1.810000, 1.760000, 1.760000, 1.710000, 1.710000, 1.710000, 1.610000, 1.660000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.110000, 1.160000, 1.110000, 1.140000, 1.110000, 1.190000, 1.140000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 736, 61000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.602400, 23.513800, 0.509694 ], "estimate": [ -24.602400, 23.513800, 0.509694 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.770000, 0.720000, 0.770000, 0.720000, 0.770000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.360000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.710000, 1.760000, 1.860000, 1.960000, 2.060000, 2.110000, 2.310000, 2.410000, 2.590000, 2.710000, 2.860000, 3.060000, 3.260000, 3.560000, 3.910000, 4.260000, 4.760000, 5.310000, 6.060000, 7.060000, 8.560000, 10.310000, 16.160000, 16.260000, 16.510000, 14.410000, 16.310000, 16.660000, 14.610000, 14.110000, 11.410000, 10.010000, 8.860000, 7.360000, 6.610000, 5.960000, 5.460000, 5.160000, 5.010000, 4.260000, 4.110000, 3.810000, 3.610000, 3.410000, 3.260000, 3.110000, 2.960000, 2.810000, 2.710000, 2.560000, 2.510000, 2.410000, 2.310000, 2.210000, 2.190000, 2.110000, 2.090000, 1.990000, 1.940000, 1.890000, 1.860000, 1.810000, 1.810000, 1.910000, 1.910000, 1.860000, 1.810000, 1.760000, 1.710000, 1.760000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.560000, 1.560000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.160000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000 ], "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": [ 736, 289998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.544399, 23.546398, 0.510745 ], "estimate": [ -24.544399, 23.546398, 0.510745 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.740000, 0.690000, 0.720000, 0.720000, 0.740000, 0.770000, 0.690000, 0.740000, 0.740000, 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, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.310000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.590000, 1.590000, 1.690000, 1.710000, 1.760000, 1.810000, 1.960000, 2.010000, 2.110000, 2.260000, 2.410000, 2.560000, 2.660000, 2.810000, 3.010000, 3.260000, 3.510000, 3.810000, 4.160000, 4.660000, 5.160000, 5.860000, 6.810000, 8.410000, 9.860000, 16.160000, 16.160000, 14.210000, 14.310000, 16.210000, 16.360000, 14.410000, 14.010000, 11.910000, 9.960000, 8.810000, 7.610000, 6.810000, 6.110000, 5.560000, 5.110000, 5.110000, 4.860000, 4.110000, 3.860000, 3.660000, 3.510000, 3.260000, 3.160000, 3.010000, 2.860000, 2.760000, 2.610000, 2.510000, 2.360000, 2.360000, 2.260000, 2.190000, 2.140000, 2.090000, 2.040000, 1.940000, 1.890000, 1.890000, 1.790000, 1.810000, 1.710000, 1.760000, 1.810000, 1.860000, 1.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.310000, 1.260000, 1.260000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.140000, 1.190000, 1.190000, 1.140000, 1.140000 ], "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": [ 736, 610998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.465500, 23.590700, 0.515999 ], "estimate": [ -24.465500, 23.590700, 0.515999 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.720000, 0.720000, 0.690000, 0.720000, 0.740000, 0.720000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.690000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.210000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.740000, 1.710000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.260000, 2.460000, 2.560000, 2.710000, 2.910000, 3.060000, 3.360000, 3.660000, 4.010000, 4.410000, 4.910000, 5.510000, 6.310000, 7.410000, 8.860000, 11.210000, 16.010000, 16.060000, 14.110000, 14.210000, 16.160000, 14.410000, 14.360000, 13.910000, 10.910000, 9.910000, 8.710000, 7.160000, 6.460000, 5.860000, 5.360000, 5.010000, 5.010000, 4.660000, 4.010000, 3.760000, 3.560000, 3.410000, 3.160000, 3.010000, 2.910000, 2.810000, 2.660000, 2.560000, 2.460000, 2.360000, 2.340000, 2.210000, 2.190000, 2.140000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.790000, 1.740000, 1.710000, 1.660000, 1.710000, 1.760000, 1.810000, 1.760000, 1.710000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 736, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.395601, 23.630501, 0.516210 ], "estimate": [ -24.395601, 23.630501, 0.516210 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 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, 0.740000, 0.790000, 0.790000, 0.740000, 0.840000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.160000, 1.190000, 1.240000, 1.290000, 1.290000, 1.390000, 1.440000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.640000, 1.710000, 1.810000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.560000, 2.710000, 2.910000, 3.060000, 3.310000, 3.560000, 3.910000, 4.260000, 4.760000, 5.360000, 6.110000, 7.160000, 8.360000, 10.660000, 16.010000, 15.960000, 14.010000, 13.960000, 16.060000, 14.010000, 14.010000, 13.860000, 11.210000, 9.760000, 8.660000, 7.310000, 6.560000, 5.960000, 5.410000, 5.010000, 4.960000, 4.710000, 4.010000, 3.810000, 3.610000, 3.410000, 3.210000, 3.110000, 2.910000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.310000, 2.210000, 2.190000, 2.140000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.790000, 1.790000, 1.690000, 1.690000, 1.660000, 1.610000, 1.610000, 1.710000, 1.710000, 1.660000, 1.710000, 1.660000, 1.610000, 1.610000, 1.510000, 1.510000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.160000, 1.210000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.190000, 1.140000, 1.140000, 1.140000 ], "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": [ 737, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.310801, 23.679499, 0.541642 ], "estimate": [ -24.310801, 23.679499, 0.541642 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.660000, 1.740000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.310000, 2.360000, 2.510000, 2.710000, 2.860000, 3.110000, 3.310000, 3.610000, 3.960000, 4.310000, 4.860000, 5.410000, 6.210000, 7.260000, 8.760000, 10.960000, 15.910000, 15.910000, 13.910000, 13.860000, 16.010000, 13.910000, 13.910000, 13.760000, 11.110000, 9.760000, 8.610000, 7.210000, 6.560000, 5.910000, 5.460000, 4.960000, 4.860000, 4.710000, 4.060000, 3.810000, 3.610000, 3.410000, 3.210000, 3.060000, 2.960000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.310000, 2.260000, 2.240000, 2.140000, 2.090000, 1.990000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.640000, 1.640000, 1.640000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.160000, 1.210000, 1.160000, 1.160000, 1.110000, 1.160000, 1.160000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000 ], "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": [ 737, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.298401, 23.687000, 0.549840 ], "estimate": [ -24.298401, 23.687000, 0.549840 ], "true_pose": [ null, null, null ], "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, 0.740000, 0.720000, 0.720000, 0.770000, 0.720000, 0.720000, 0.740000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.060000, 1.090000, 1.140000, 1.190000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.560000, 2.710000, 2.860000, 3.060000, 3.360000, 3.610000, 3.960000, 4.360000, 4.810000, 5.460000, 6.260000, 7.260000, 8.710000, 11.060000, 15.810000, 14.010000, 13.910000, 13.810000, 15.510000, 13.810000, 13.910000, 13.710000, 10.960000, 9.710000, 8.560000, 7.210000, 6.460000, 5.860000, 5.410000, 4.910000, 4.810000, 4.660000, 4.310000, 3.760000, 3.610000, 3.410000, 3.210000, 3.060000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.410000, 2.310000, 2.240000, 2.190000, 2.140000, 2.040000, 2.040000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.590000, 1.510000, 1.560000, 1.590000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.460000, 1.510000, 1.460000, 1.410000, 1.460000, 1.510000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.160000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000 ], "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": [ 737, 379998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.252701, 23.715700, 0.571277 ], "estimate": [ -24.252701, 23.715700, 0.571277 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.740000, 0.720000, 0.740000, 0.740000, 0.720000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.060000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.710000, 1.860000, 1.940000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.710000, 2.960000, 3.160000, 3.460000, 3.760000, 4.060000, 4.510000, 4.960000, 5.660000, 6.610000, 8.110000, 9.510000, 18.610000, 15.810000, 14.060000, 13.760000, 13.760000, 15.960000, 13.810000, 13.860000, 12.410000, 10.410000, 8.810000, 8.460000, 6.960000, 6.260000, 5.710000, 5.260000, 4.810000, 4.760000, 4.560000, 3.960000, 3.710000, 3.510000, 3.360000, 3.160000, 3.010000, 2.860000, 2.760000, 2.610000, 2.560000, 2.460000, 2.360000, 2.260000, 2.240000, 2.160000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.460000, 1.510000, 1.510000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000 ], "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": [ 737, 620000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.186899, 23.758501, 0.573800 ], "estimate": [ -24.186899, 23.758501, 0.573800 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.720000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.960000, 0.960000, 0.990000, 0.990000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.690000, 1.690000, 1.760000, 1.890000, 1.910000, 2.010000, 2.160000, 2.160000, 2.310000, 2.460000, 2.560000, 2.760000, 2.910000, 3.110000, 3.410000, 3.660000, 4.010000, 4.410000, 4.910000, 5.510000, 6.410000, 8.010000, 9.410000, 11.410000, 15.660000, 15.760000, 13.660000, 13.660000, 15.910000, 13.710000, 13.710000, 13.560000, 10.710000, 9.560000, 8.360000, 7.110000, 6.410000, 5.810000, 5.360000, 4.960000, 4.710000, 4.660000, 4.360000, 3.710000, 3.510000, 3.360000, 3.210000, 3.060000, 2.910000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.460000, 1.410000, 1.460000, 1.440000, 1.510000, 1.510000, 1.510000, 1.510000, 1.410000, 1.460000, 1.460000, 1.460000, 1.410000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.110000, 1.160000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000 ], "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": [ 737, 929998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.113899, 23.805201, 0.561820 ], "estimate": [ -24.113899, 23.805201, 0.561820 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 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, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.910000, 0.910000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.490000, 1.490000, 1.540000, 1.590000, 1.690000, 1.760000, 1.790000, 1.840000, 1.940000, 2.010000, 2.060000, 2.210000, 2.310000, 2.460000, 2.560000, 2.710000, 2.860000, 3.110000, 3.410000, 3.710000, 4.010000, 4.410000, 4.860000, 5.510000, 6.310000, 7.910000, 9.360000, 11.410000, 15.610000, 13.710000, 13.510000, 13.610000, 15.260000, 13.560000, 13.660000, 13.510000, 10.760000, 9.410000, 8.310000, 7.110000, 6.360000, 5.810000, 5.360000, 4.960000, 4.610000, 4.610000, 4.360000, 3.710000, 3.560000, 3.360000, 3.210000, 3.010000, 2.910000, 2.810000, 2.660000, 2.510000, 2.460000, 2.360000, 2.340000, 2.240000, 2.190000, 2.090000, 2.040000, 1.990000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.360000, 1.360000, 1.390000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.310000, 1.210000, 1.310000, 1.260000, 1.310000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 738, 169998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -24.033798, 23.854700, 0.541222 ], "estimate": [ -24.033798, 23.854700, 0.541222 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.770000, 0.690000, 0.770000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.860000, 0.860000, 0.840000, 0.870000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.960000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.510000, 2.710000, 2.960000, 3.160000, 3.360000, 3.660000, 4.010000, 4.410000, 4.860000, 5.560000, 6.360000, 7.860000, 9.260000, 11.460000, 15.560000, 13.660000, 13.460000, 13.460000, 15.160000, 13.510000, 13.610000, 13.410000, 10.710000, 9.360000, 8.260000, 7.110000, 6.410000, 5.810000, 5.360000, 4.960000, 4.510000, 4.460000, 4.310000, 4.060000, 3.560000, 3.360000, 3.210000, 3.010000, 2.910000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.160000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.290000, 1.360000, 1.310000, 1.360000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.310000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.140000, 1.140000, 1.140000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 738, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.959299, 23.898701, 0.518942 ], "estimate": [ -23.959299, 23.898701, 0.518942 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.770000, 0.690000, 0.770000, 0.720000, 0.740000, 0.720000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.810000, 0.840000, 0.810000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.560000, 1.640000, 1.640000, 1.790000, 1.840000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.510000, 2.660000, 2.910000, 3.060000, 3.260000, 3.560000, 3.910000, 4.260000, 4.760000, 5.310000, 6.110000, 7.010000, 8.310000, 10.510000, 15.510000, 15.460000, 13.410000, 13.310000, 13.510000, 13.560000, 13.460000, 13.360000, 11.460000, 9.560000, 8.310000, 7.260000, 6.610000, 6.010000, 5.510000, 5.060000, 4.710000, 4.410000, 4.460000, 4.110000, 3.760000, 3.460000, 3.260000, 3.060000, 2.960000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.310000, 2.210000, 2.190000, 2.140000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.840000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.260000, 1.260000, 1.310000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.140000, 1.140000, 1.140000, 1.140000 ], "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": [ 738, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.896700, 23.933800, 0.506542 ], "estimate": [ -23.896700, 23.933800, 0.506542 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.770000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.540000, 1.590000, 1.640000, 1.640000, 1.740000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.560000, 2.710000, 2.960000, 3.210000, 3.460000, 3.760000, 4.110000, 4.560000, 5.010000, 5.760000, 6.660000, 7.710000, 9.460000, 15.560000, 15.360000, 13.460000, 13.310000, 13.310000, 15.460000, 13.360000, 13.410000, 13.210000, 10.260000, 9.210000, 8.010000, 6.910000, 6.210000, 5.660000, 5.210000, 4.860000, 4.510000, 4.360000, 4.210000, 4.010000, 3.510000, 3.360000, 3.160000, 3.010000, 2.910000, 2.760000, 2.610000, 2.560000, 2.460000, 2.360000, 2.260000, 2.240000, 2.160000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.390000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.210000, 1.210000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.140000, 1.140000, 1.140000 ], "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": [ 738, 970000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.805500, 23.984200, 0.495192 ], "estimate": [ -23.805500, 23.984200, 0.495192 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.190000, 1.290000, 1.340000, 1.340000, 1.360000, 1.410000, 1.490000, 1.490000, 1.590000, 1.590000, 1.640000, 1.660000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.610000, 2.810000, 3.060000, 3.260000, 3.560000, 3.810000, 4.210000, 4.610000, 5.210000, 5.910000, 6.810000, 8.110000, 10.210000, 18.060000, 15.260000, 13.210000, 13.210000, 13.360000, 13.460000, 13.260000, 13.160000, 11.560000, 9.860000, 9.110000, 7.960000, 6.710000, 6.060000, 5.510000, 5.160000, 4.760000, 4.410000, 4.260000, 4.210000, 3.960000, 3.710000, 3.260000, 3.110000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.310000, 2.240000, 2.140000, 2.040000, 2.040000, 1.990000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.160000, 1.210000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.310000, 1.260000, 1.210000, 1.210000, 1.260000, 1.210000, 1.160000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.160000, 1.190000, 1.140000 ], "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": [ 739, 211998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.748201, 24.014799, 0.485523 ], "estimate": [ -23.748201, 24.014799, 0.485523 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.770000, 0.690000, 0.720000, 0.720000, 0.770000, 0.690000, 0.690000, 0.720000, 0.740000, 0.690000, 0.740000, 0.690000, 0.720000, 0.770000, 0.720000, 0.740000, 0.740000, 0.690000, 0.690000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.360000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.610000, 1.660000, 1.710000, 1.810000, 1.910000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.560000, 2.660000, 2.860000, 3.060000, 3.310000, 3.610000, 3.910000, 4.360000, 4.860000, 5.460000, 6.260000, 7.560000, 8.910000, 11.110000, 15.160000, 15.210000, 13.210000, 13.160000, 50.000000, 13.260000, 13.210000, 13.110000, 10.910000, 9.160000, 8.110000, 7.860000, 6.510000, 5.860000, 5.410000, 5.010000, 4.660000, 4.260000, 4.210000, 4.110000, 3.910000, 3.710000, 3.260000, 3.060000, 2.910000, 2.810000, 2.710000, 2.610000, 2.460000, 2.410000, 2.310000, 2.210000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.210000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.110000, 1.140000 ], "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": [ 739, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.681398, 24.049700, 0.471651 ], "estimate": [ -23.681398, 24.049700, 0.471651 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.720000, 0.690000, 0.720000, 0.690000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.310000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.560000, 1.640000, 1.640000, 1.710000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.660000, 2.860000, 3.060000, 3.260000, 3.560000, 3.910000, 4.260000, 4.710000, 5.310000, 6.160000, 7.460000, 8.810000, 10.760000, 14.760000, 14.760000, 13.010000, 13.010000, 13.260000, 13.160000, 13.160000, 13.010000, 11.210000, 9.510000, 8.210000, 7.810000, 6.560000, 5.960000, 5.460000, 5.060000, 4.660000, 4.360000, 4.160000, 4.160000, 3.910000, 3.710000, 3.210000, 3.110000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.260000, 2.190000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.110000, 1.240000, 1.310000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.160000, 1.160000, 1.160000, 1.140000, 1.140000 ], "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": [ 739, 690000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.605501, 24.087700, 0.464505 ], "estimate": [ -23.605501, 24.087700, 0.464505 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.700000, 0.700000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.160000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.460000, 1.490000, 1.640000, 1.640000, 1.660000, 1.760000, 1.810000, 1.910000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.660000, 2.810000, 3.060000, 3.260000, 3.560000, 3.860000, 4.260000, 4.760000, 5.310000, 6.110000, 7.410000, 8.760000, 10.760000, 15.010000, 13.260000, 13.060000, 12.960000, 13.210000, 13.060000, 13.110000, 12.960000, 11.160000, 9.460000, 8.910000, 7.760000, 6.610000, 5.960000, 5.510000, 5.060000, 4.660000, 4.360000, 4.060000, 4.060000, 3.910000, 3.760000, 3.510000, 3.110000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.310000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.740000, 1.740000, 1.740000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.490000, 1.390000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.140000, 1.190000, 1.190000, 1.170000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.210000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.160000, 1.210000, 1.160000, 1.160000, 1.160000, 1.190000 ], "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": [ 739, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.540701, 24.120501, 0.467447 ], "estimate": [ -23.540701, 24.120501, 0.467447 ], "true_pose": [ null, null, null ], "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, 0.680000, 0.710000, 0.730000, 0.680000, 0.700000, 0.680000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.950000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.050000, 1.050000, 1.000000, 1.050000, 1.100000, 1.100000, 1.150000, 1.220000, 1.200000, 1.250000, 1.300000, 1.300000, 1.350000, 1.400000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.720000, 1.770000, 1.870000, 1.920000, 2.020000, 2.120000, 2.220000, 2.370000, 2.520000, 2.670000, 2.870000, 3.070000, 3.320000, 3.620000, 3.920000, 4.370000, 4.870000, 5.420000, 6.370000, 7.370000, 8.870000, 17.820000, 15.020000, 13.170000, 12.920000, 12.970000, 14.670000, 12.970000, 13.070000, 12.870000, 10.720000, 9.120000, 7.970000, 7.720000, 6.420000, 5.870000, 5.420000, 4.970000, 4.620000, 4.320000, 4.020000, 4.020000, 3.920000, 3.670000, 3.520000, 3.070000, 2.970000, 2.870000, 2.720000, 2.620000, 2.520000, 2.420000, 2.320000, 2.320000, 2.250000, 2.150000, 2.100000, 2.050000, 1.950000, 1.950000, 1.900000, 1.850000, 1.750000, 1.750000, 1.700000, 1.650000, 1.650000, 1.600000, 1.600000, 1.550000, 1.500000, 1.500000, 1.500000, 1.450000, 1.450000, 1.400000, 1.400000, 1.350000, 1.350000, 1.350000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.150000, 1.150000, 1.150000, 1.150000, 1.100000, 1.100000, 1.100000, 1.130000, 1.130000, 1.170000, 1.270000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.200000 ], "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": [ 740, 90000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.511599, 24.135201, 0.464085 ], "estimate": [ -23.511599, 24.135201, 0.464085 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.680000, 0.680000, 0.680000, 0.730000, 0.680000, 0.680000, 0.680000, 0.730000, 0.730000, 0.680000, 0.730000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.900000, 0.900000, 0.850000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.070000, 1.070000, 1.150000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.400000, 1.370000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.620000, 1.720000, 1.820000, 1.920000, 1.970000, 2.070000, 2.170000, 2.320000, 2.420000, 2.570000, 2.820000, 2.970000, 3.170000, 3.470000, 3.770000, 4.120000, 4.620000, 5.170000, 5.920000, 7.270000, 8.620000, 10.270000, 14.870000, 14.920000, 12.970000, 12.870000, 15.070000, 13.020000, 12.970000, 12.820000, 11.470000, 9.770000, 8.770000, 7.670000, 6.720000, 6.070000, 5.570000, 5.170000, 4.770000, 4.470000, 4.170000, 3.920000, 3.970000, 3.820000, 3.620000, 3.470000, 3.020000, 2.870000, 2.770000, 2.620000, 2.520000, 2.470000, 2.420000, 2.270000, 2.220000, 2.200000, 2.150000, 2.100000, 2.050000, 1.950000, 1.950000, 1.850000, 1.800000, 1.750000, 1.700000, 1.700000, 1.700000, 1.600000, 1.600000, 1.550000, 1.550000, 1.500000, 1.500000, 1.450000, 1.450000, 1.400000, 1.400000, 1.400000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.250000, 1.200000, 1.150000, 1.200000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.130000, 1.130000, 1.130000, 1.080000, 1.100000, 1.150000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 740, 330000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.432701, 24.174500, 0.462823 ], "estimate": [ -23.432701, 24.174500, 0.462823 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.720000, 0.670000, 0.670000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 0.990000, 0.990000, 1.060000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.260000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.610000, 1.660000, 1.710000, 1.760000, 1.910000, 2.010000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.760000, 3.060000, 3.210000, 3.460000, 3.810000, 4.260000, 4.710000, 5.310000, 6.210000, 7.160000, 8.560000, 10.960000, 14.810000, 14.860000, 12.810000, 12.810000, 14.960000, 12.810000, 12.910000, 12.760000, 11.010000, 9.360000, 8.710000, 7.560000, 6.560000, 5.960000, 5.460000, 5.060000, 4.710000, 4.360000, 4.160000, 3.860000, 3.910000, 3.710000, 3.560000, 3.410000, 2.940000, 2.860000, 2.760000, 2.660000, 2.510000, 2.460000, 2.360000, 2.310000, 2.190000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.190000, 1.190000, 1.170000, 1.170000, 1.140000, 1.140000, 1.140000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.170000, 1.150000, 1.100000, 1.150000, 1.160000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 740, 570000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.367199, 24.207500, 0.470180 ], "estimate": [ -23.367199, 24.207500, 0.470180 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.720000, 0.720000, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.960000, 0.960000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.260000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.490000, 1.590000, 1.610000, 1.660000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.660000, 2.860000, 3.060000, 3.310000, 3.610000, 3.960000, 4.410000, 4.960000, 5.610000, 7.060000, 7.610000, 9.610000, 17.610000, 14.760000, 12.760000, 12.760000, 12.710000, 14.860000, 12.810000, 12.860000, 12.660000, 10.210000, 8.660000, 7.760000, 7.460000, 6.260000, 5.760000, 5.360000, 4.960000, 4.560000, 4.260000, 4.010000, 3.760000, 3.760000, 3.660000, 3.510000, 3.310000, 3.010000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.360000, 2.290000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.170000, 1.140000, 1.140000, 1.170000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.100000 ], "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": [ 740, 809998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.275702, 24.254999, 0.490357 ], "estimate": [ -23.275702, 24.254999, 0.490357 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.670000, 0.720000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.910000, 0.910000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.390000, 1.390000, 1.490000, 1.540000, 1.590000, 1.610000, 1.660000, 1.760000, 1.860000, 1.910000, 2.060000, 2.110000, 2.210000, 2.360000, 2.510000, 2.660000, 2.860000, 3.060000, 3.360000, 3.610000, 4.010000, 4.460000, 4.960000, 5.710000, 7.010000, 8.410000, 9.810000, 14.810000, 14.660000, 12.610000, 12.660000, 12.710000, 14.710000, 12.710000, 12.760000, 12.510000, 10.060000, 8.560000, 7.610000, 7.360000, 6.260000, 5.710000, 5.260000, 4.910000, 4.560000, 4.260000, 4.010000, 3.710000, 3.710000, 3.660000, 3.510000, 3.310000, 3.160000, 2.840000, 2.710000, 2.560000, 2.510000, 2.410000, 2.310000, 2.310000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.390000, 1.340000, 1.340000, 1.240000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.170000, 1.190000, 1.190000, 1.140000, 1.170000, 1.170000, 1.140000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 741, 90000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.217800, 24.286400, 0.502338 ], "estimate": [ -23.217800, 24.286400, 0.502338 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.810000, 0.860000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.060000, 1.110000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.560000, 1.610000, 1.660000, 1.760000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.560000, 2.710000, 2.960000, 3.160000, 3.460000, 3.760000, 4.110000, 4.660000, 5.160000, 5.960000, 6.910000, 8.360000, 10.660000, 14.610000, 12.610000, 12.560000, 12.560000, 14.210000, 12.660000, 12.660000, 12.560000, 11.160000, 9.560000, 8.460000, 7.310000, 7.260000, 6.010000, 5.560000, 5.110000, 4.760000, 4.460000, 4.160000, 3.960000, 3.660000, 3.660000, 3.560000, 3.410000, 3.260000, 3.160000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.310000, 2.260000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.190000, 1.190000, 1.170000, 1.170000, 1.170000, 1.140000, 1.140000, 1.120000, 1.140000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.070000 ], "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": [ 741, 330000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.137100, 24.331100, 0.512007 ], "estimate": [ -23.137100, 24.331100, 0.512007 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.670000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.840000, 0.790000, 0.790000, 0.810000, 0.760000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.590000, 1.610000, 1.660000, 1.710000, 1.810000, 1.910000, 1.960000, 2.110000, 2.260000, 2.310000, 2.510000, 2.710000, 2.860000, 3.060000, 3.310000, 3.660000, 4.010000, 4.460000, 5.010000, 5.710000, 6.810000, 8.210000, 9.960000, 14.460000, 14.510000, 12.510000, 12.460000, 12.560000, 14.310000, 12.510000, 12.610000, 12.410000, 9.960000, 8.610000, 7.660000, 7.210000, 6.260000, 5.710000, 5.260000, 4.860000, 4.560000, 4.310000, 4.010000, 3.760000, 3.560000, 3.610000, 3.510000, 3.310000, 3.160000, 3.060000, 2.710000, 2.610000, 2.510000, 2.410000, 2.310000, 2.290000, 2.240000, 2.160000, 2.090000, 2.090000, 1.940000, 1.890000, 1.890000, 1.840000, 1.840000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.240000, 1.140000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.220000, 1.120000, 1.170000, 1.140000, 1.140000, 1.090000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 741, 570000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.069099, 24.369801, 0.519363 ], "estimate": [ -23.069099, 24.369801, 0.519363 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.760000, 0.760000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.960000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.710000, 1.810000, 1.810000, 1.910000, 2.010000, 2.160000, 2.260000, 2.360000, 2.510000, 2.760000, 2.910000, 3.110000, 3.410000, 3.710000, 4.110000, 4.610000, 5.110000, 5.810000, 6.860000, 8.260000, 17.310000, 14.310000, 12.460000, 12.360000, 12.360000, 14.010000, 12.510000, 12.460000, 12.360000, 11.260000, 9.510000, 8.310000, 7.360000, 7.110000, 6.010000, 5.610000, 5.160000, 4.810000, 4.460000, 4.160000, 3.910000, 3.710000, 3.510000, 3.460000, 3.410000, 3.260000, 3.110000, 3.010000, 2.960000, 2.560000, 2.460000, 2.410000, 2.360000, 2.290000, 2.160000, 2.190000, 2.090000, 1.990000, 1.990000, 1.940000, 1.890000, 1.840000, 1.840000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000, 1.170000, 1.120000, 1.170000, 1.120000, 1.090000, 1.120000, 1.170000, 1.120000, 1.170000, 1.120000, 1.070000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 741, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -23.014198, 24.401400, 0.527560 ], "estimate": [ -23.014198, 24.401400, 0.527560 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.660000, 0.710000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.910000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.710000, 1.790000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.660000, 2.810000, 3.060000, 3.310000, 3.610000, 4.010000, 4.460000, 4.910000, 5.760000, 6.710000, 8.090000, 9.860000, 14.360000, 14.360000, 12.310000, 12.310000, 12.410000, 14.060000, 12.360000, 12.460000, 12.260000, 10.010000, 8.660000, 8.210000, 7.060000, 6.160000, 5.660000, 5.260000, 4.860000, 4.560000, 4.260000, 4.010000, 3.760000, 3.560000, 3.460000, 3.460000, 3.310000, 3.160000, 3.060000, 2.960000, 2.860000, 2.510000, 2.410000, 2.360000, 2.290000, 2.210000, 2.140000, 2.090000, 2.090000, 1.990000, 1.990000, 1.890000, 1.890000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.120000, 1.170000, 1.140000, 1.090000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000 ], "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": [ 742, 39998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.941700, 24.444199, 0.534916 ], "estimate": [ -22.941700, 24.444199, 0.534916 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.860000, 0.860000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.540000, 1.540000, 1.640000, 1.690000, 1.790000, 1.860000, 1.910000, 2.010000, 2.160000, 2.260000, 2.360000, 2.560000, 2.660000, 2.910000, 3.110000, 3.410000, 3.660000, 4.110000, 4.560000, 5.060000, 5.710000, 6.710000, 8.110000, 10.310000, 14.260000, 12.360000, 12.260000, 12.260000, 12.510000, 14.860000, 12.290000, 12.360000, 12.160000, 9.760000, 8.460000, 8.160000, 7.010000, 6.060000, 5.610000, 5.160000, 4.860000, 4.510000, 4.210000, 3.960000, 3.760000, 3.560000, 3.360000, 3.360000, 3.260000, 3.160000, 3.010000, 2.910000, 2.810000, 2.460000, 2.410000, 2.360000, 2.290000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.140000, 1.140000, 1.170000, 1.170000, 1.140000, 1.140000, 1.170000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 742, 279998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.889198, 24.475300, 0.537018 ], "estimate": [ -22.889198, 24.475300, 0.537018 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.810000, 0.860000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.560000, 1.690000, 1.740000, 1.790000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.560000, 2.760000, 2.960000, 3.210000, 3.460000, 3.810000, 4.260000, 4.760000, 5.360000, 6.560000, 7.610000, 8.960000, 14.260000, 14.160000, 12.360000, 12.160000, 12.210000, 13.860000, 12.210000, 12.260000, 12.110000, 10.610000, 9.210000, 8.110000, 7.160000, 6.910000, 5.910000, 5.410000, 5.060000, 4.710000, 4.360000, 4.110000, 3.860000, 3.660000, 3.460000, 3.260000, 3.310000, 3.260000, 3.110000, 2.960000, 2.860000, 2.760000, 2.560000, 2.360000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.740000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.220000, 1.220000, 1.190000, 1.190000, 1.140000, 1.170000, 1.190000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 742, 519998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.832800, 24.509100, 0.544375 ], "estimate": [ -22.832800, 24.509100, 0.544375 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.670000, 0.640000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.760000, 0.760000, 0.810000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.560000, 1.640000, 1.690000, 1.740000, 1.840000, 1.910000, 1.910000, 2.060000, 2.160000, 2.310000, 2.460000, 2.560000, 2.710000, 2.960000, 3.210000, 3.510000, 3.860000, 4.310000, 4.710000, 5.410000, 6.560000, 7.860000, 9.110000, 14.160000, 14.160000, 12.310000, 12.110000, 12.110000, 13.760000, 12.110000, 12.210000, 12.060000, 10.510000, 9.160000, 8.060000, 7.160000, 6.860000, 5.910000, 5.460000, 5.010000, 4.660000, 4.410000, 4.110000, 3.860000, 3.660000, 3.460000, 3.310000, 3.260000, 3.210000, 3.060000, 2.960000, 2.810000, 2.710000, 2.660000, 2.410000, 2.340000, 2.210000, 2.190000, 2.090000, 2.040000, 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, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.220000, 1.190000, 1.190000, 1.240000, 1.140000, 1.140000, 1.170000, 1.170000, 1.190000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 742, 759998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.762800, 24.551102, 0.530082 ], "estimate": [ -22.762800, 24.551102, 0.530082 ], "true_pose": [ null, null, null ], "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, 0.700000, 0.700000, 0.700000, 0.690000, 0.670000, 0.670000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.710000, 0.760000, 0.760000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.410000, 1.470000, 1.590000, 1.590000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.760000, 3.010000, 3.210000, 3.510000, 3.910000, 4.360000, 4.710000, 5.460000, 6.410000, 7.840000, 9.310000, 16.910000, 13.610000, 12.010000, 12.000000, 12.160000, 14.610000, 12.060000, 12.160000, 12.010000, 10.360000, 8.960000, 7.960000, 7.010000, 6.810000, 5.860000, 5.360000, 4.960000, 4.660000, 4.360000, 4.060000, 3.810000, 3.610000, 3.410000, 3.260000, 3.160000, 3.160000, 3.060000, 2.960000, 2.810000, 2.760000, 2.660000, 2.560000, 2.290000, 2.240000, 2.190000, 2.140000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 742, 961000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.702801, 24.586298, 0.532814 ], "estimate": [ -22.702801, 24.586298, 0.532814 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.720000, 0.720000, 0.670000, 0.670000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.790000, 1.810000, 1.860000, 2.010000, 2.110000, 2.210000, 2.310000, 2.510000, 2.660000, 2.860000, 3.060000, 3.310000, 3.660000, 4.010000, 4.460000, 5.060000, 6.310000, 6.710000, 7.960000, 10.010000, 16.760000, 12.210000, 11.960000, 11.900000, 12.160000, 14.510000, 12.060000, 12.060000, 11.910000, 9.910000, 8.660000, 7.860000, 6.810000, 6.710000, 5.710000, 5.260000, 4.860000, 4.560000, 4.260000, 4.010000, 3.760000, 3.560000, 3.360000, 3.210000, 3.060000, 3.060000, 3.060000, 2.910000, 2.860000, 2.710000, 2.610000, 2.510000, 2.460000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.170000, 1.140000, 1.140000, 1.140000, 1.170000, 1.170000, 1.120000, 1.140000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 743, 291000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.639000, 24.623899, 0.527139 ], "estimate": [ -22.639000, 24.623899, 0.527139 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.720000, 0.670000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.190000, 1.240000, 1.290000, 1.320000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.840000, 1.860000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.810000, 3.010000, 3.260000, 3.510000, 3.910000, 4.310000, 4.860000, 5.510000, 6.310000, 7.610000, 9.310000, 16.760000, 13.510000, 11.860000, 11.790000, 11.910000, 14.510000, 11.960000, 11.960000, 11.810000, 10.360000, 9.010000, 7.810000, 6.910000, 6.660000, 5.710000, 5.360000, 5.010000, 4.660000, 4.360000, 4.060000, 3.810000, 3.610000, 3.460000, 3.260000, 3.110000, 3.010000, 3.010000, 3.010000, 2.860000, 2.710000, 2.610000, 2.510000, 2.510000, 2.410000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 743, 529998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.572500, 24.662701, 0.529241 ], "estimate": [ -22.572500, 24.662701, 0.529241 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.720000, 0.670000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.270000, 1.250000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.590000, 1.690000, 1.740000, 1.810000, 1.860000, 2.010000, 2.060000, 2.260000, 2.360000, 2.460000, 2.610000, 2.860000, 3.060000, 3.360000, 3.660000, 4.010000, 4.410000, 4.960000, 6.160000, 6.660000, 7.810000, 9.810000, 16.660000, 12.160000, 11.860000, 11.800000, 12.010000, 14.460000, 11.910000, 11.910000, 11.810000, 10.010000, 8.660000, 7.710000, 6.810000, 6.560000, 5.660000, 5.260000, 4.860000, 4.560000, 4.210000, 3.960000, 3.760000, 3.560000, 3.410000, 3.210000, 3.060000, 2.960000, 2.960000, 2.910000, 2.810000, 2.760000, 2.610000, 2.560000, 2.460000, 2.360000, 2.210000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.140000, 1.170000, 1.170000, 1.090000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 743, 769998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.516699, 24.695501, 0.533865 ], "estimate": [ -22.516699, 24.695501, 0.533865 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.690000, 0.670000, 0.670000, 0.700000, 0.700000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.220000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.790000, 1.860000, 1.910000, 2.010000, 2.110000, 2.260000, 2.410000, 2.510000, 2.710000, 2.910000, 3.160000, 3.410000, 3.760000, 4.110000, 4.610000, 5.160000, 6.110000, 7.510000, 8.560000, 16.560000, 16.610000, 11.860000, 11.700000, 11.710000, 14.360000, 14.360000, 11.810000, 11.860000, 11.710000, 9.560000, 8.360000, 7.660000, 6.660000, 6.510000, 5.510000, 5.160000, 4.760000, 4.460000, 4.160000, 3.960000, 3.710000, 3.510000, 3.310000, 3.160000, 3.060000, 2.910000, 2.910000, 2.860000, 2.810000, 2.710000, 2.560000, 2.510000, 2.460000, 2.360000, 2.310000, 2.110000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 744, 1998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.429899, 24.747099, 0.538909 ], "estimate": [ -22.429899, 24.747099, 0.538909 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.670000, 0.720000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.070000, 1.040000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.810000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.610000, 2.760000, 2.960000, 3.210000, 3.510000, 3.860000, 4.310000, 4.810000, 5.960000, 6.310000, 7.410000, 9.110000, 16.510000, 13.210000, 11.660000, 11.620000, 11.660000, 14.260000, 11.710000, 11.710000, 11.610000, 11.560000, 9.160000, 8.010000, 7.510000, 6.410000, 6.360000, 5.410000, 5.010000, 4.660000, 4.360000, 4.110000, 3.860000, 3.610000, 3.460000, 3.310000, 3.110000, 2.960000, 2.860000, 2.810000, 2.810000, 2.760000, 2.610000, 2.510000, 2.460000, 2.410000, 2.310000, 2.260000, 2.260000, 2.110000, 1.940000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.270000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.220000, 1.170000, 1.170000, 1.170000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 744, 321000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.348301, 24.796299, 0.543534 ], "estimate": [ -22.348301, 24.796299, 0.543534 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.640000, 1.690000, 1.790000, 1.790000, 1.860000, 1.910000, 2.010000, 2.110000, 2.260000, 2.410000, 2.610000, 2.760000, 2.960000, 3.210000, 3.460000, 3.810000, 4.210000, 4.760000, 5.960000, 6.210000, 7.360000, 8.910000, 16.410000, 13.260000, 11.660000, 11.500000, 11.610000, 14.160000, 11.660000, 11.660000, 11.560000, 11.560000, 9.260000, 8.060000, 7.460000, 6.510000, 6.360000, 5.410000, 5.060000, 4.660000, 4.360000, 4.110000, 3.910000, 3.660000, 3.410000, 3.310000, 3.110000, 3.010000, 2.860000, 2.760000, 2.760000, 2.760000, 2.660000, 2.610000, 2.510000, 2.460000, 2.360000, 2.310000, 2.210000, 2.140000, 2.060000, 1.890000, 1.840000, 1.790000, 1.790000, 1.790000, 1.690000, 1.640000, 1.640000, 1.640000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.390000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.290000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.220000, 1.170000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.120000, 1.170000, 1.120000, 1.040000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 744, 480000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.299400, 24.825800, 0.543534 ], "estimate": [ -22.299400, 24.825800, 0.543534 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.010000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.790000, 1.840000, 1.860000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.810000, 3.010000, 3.260000, 3.560000, 3.910000, 4.310000, 4.910000, 5.860000, 6.410000, 7.660000, 9.510000, 13.360000, 13.010000, 11.460000, 11.460000, 11.460000, 14.060000, 11.510000, 11.610000, 11.460000, 10.260000, 8.910000, 7.810000, 7.410000, 6.260000, 6.260000, 5.310000, 4.910000, 4.610000, 4.310000, 4.060000, 3.810000, 3.610000, 3.410000, 3.260000, 3.110000, 2.910000, 2.810000, 2.710000, 2.660000, 2.660000, 2.610000, 2.510000, 2.460000, 2.360000, 2.310000, 2.260000, 2.190000, 2.190000, 2.090000, 2.090000, 1.840000, 1.790000, 1.740000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.390000, 1.440000, 1.440000, 1.340000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.190000, 1.170000, 1.140000, 1.140000, 1.170000, 1.170000, 1.120000, 1.170000, 1.140000, 1.120000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 744, 720000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.230200, 24.868101, 0.548999 ], "estimate": [ -22.230200, 24.868101, 0.548999 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.670000, 0.690000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.910000, 0.960000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.910000, 1.960000, 2.110000, 2.210000, 2.310000, 2.510000, 2.660000, 2.810000, 3.010000, 3.310000, 3.560000, 3.910000, 4.360000, 4.860000, 5.810000, 6.410000, 7.710000, 9.460000, 13.210000, 12.960000, 11.410000, 11.340000, 11.510000, 14.010000, 11.460000, 11.510000, 11.360000, 10.360000, 8.910000, 7.810000, 7.360000, 6.310000, 6.160000, 5.210000, 4.960000, 4.560000, 4.310000, 4.060000, 3.810000, 3.610000, 3.410000, 3.260000, 3.060000, 2.960000, 2.860000, 2.710000, 2.610000, 2.610000, 2.610000, 2.560000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.140000, 2.090000, 2.040000, 1.990000, 1.860000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.290000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.220000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000, 1.170000, 1.140000, 1.120000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.070000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 744, 960000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.169600, 24.905100, 0.552151 ], "estimate": [ -22.169600, 24.905100, 0.552151 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.700000, 0.650000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.850000, 0.900000, 0.820000, 0.880000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.100000, 1.150000, 1.100000, 1.150000, 1.200000, 1.250000, 1.250000, 1.300000, 1.300000, 1.400000, 1.400000, 1.500000, 1.550000, 1.550000, 1.600000, 1.700000, 1.750000, 1.820000, 1.870000, 1.970000, 2.070000, 2.170000, 2.320000, 2.470000, 2.620000, 2.770000, 3.020000, 3.270000, 3.570000, 3.920000, 4.370000, 4.770000, 5.720000, 6.270000, 7.520000, 9.270000, 16.220000, 12.870000, 11.320000, 11.320000, 11.420000, 13.920000, 11.420000, 11.420000, 11.370000, 11.320000, 9.020000, 7.920000, 7.220000, 6.370000, 6.120000, 5.770000, 4.970000, 4.620000, 4.370000, 4.070000, 3.820000, 3.670000, 3.470000, 3.270000, 3.170000, 2.970000, 2.870000, 2.720000, 2.620000, 2.570000, 2.520000, 2.570000, 2.470000, 2.420000, 2.320000, 2.270000, 2.200000, 2.150000, 2.150000, 2.050000, 2.050000, 2.000000, 1.950000, 1.770000, 1.700000, 1.700000, 1.700000, 1.600000, 1.600000, 1.550000, 1.500000, 1.500000, 1.500000, 1.450000, 1.400000, 1.450000, 1.400000, 1.400000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.180000, 1.200000, 1.150000, 1.180000, 1.150000, 1.180000, 1.180000, 1.130000, 1.150000, 1.180000, 1.100000, 1.130000, 1.130000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.080000, 1.130000, 1.130000 ], "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": [ 745, 279998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.074900, 24.964699, 0.565603 ], "estimate": [ -22.074900, 24.964699, 0.565603 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.730000, 0.680000, 0.680000, 0.700000, 0.700000, 0.700000, 0.700000, 0.650000, 0.650000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.830000, 0.770000, 0.820000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.200000, 1.250000, 1.250000, 1.250000, 1.250000, 1.350000, 1.400000, 1.400000, 1.450000, 1.550000, 1.600000, 1.650000, 1.700000, 1.750000, 1.820000, 1.920000, 2.020000, 2.120000, 2.220000, 2.370000, 2.520000, 2.670000, 2.870000, 3.070000, 3.320000, 3.670000, 3.970000, 4.470000, 5.620000, 5.670000, 7.050000, 8.020000, 16.170000, 12.770000, 12.820000, 11.270000, 11.150000, 11.320000, 13.870000, 11.270000, 11.270000, 11.220000, 10.020000, 8.670000, 7.720000, 7.170000, 6.220000, 5.970000, 5.670000, 4.870000, 4.520000, 4.220000, 3.970000, 3.770000, 3.620000, 3.370000, 3.220000, 3.070000, 2.920000, 2.820000, 2.720000, 2.570000, 2.520000, 2.470000, 2.420000, 2.420000, 2.370000, 2.320000, 2.270000, 2.150000, 2.150000, 2.100000, 2.050000, 2.000000, 1.950000, 1.900000, 1.900000, 1.720000, 1.650000, 1.650000, 1.600000, 1.600000, 1.600000, 1.500000, 1.500000, 1.450000, 1.450000, 1.400000, 1.400000, 1.400000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.250000, 1.200000, 1.230000, 1.200000, 1.150000, 1.200000, 1.150000, 1.150000, 1.150000, 1.150000, 1.200000, 1.180000, 1.180000, 1.130000, 1.100000, 1.130000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "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": [ 745, 519998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -22.016102, 25.002100, 0.569386 ], "estimate": [ -22.016102, 25.002100, 0.569386 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.730000, 0.680000, 0.650000, 0.700000, 0.700000, 0.700000, 0.650000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.780000, 0.770000, 0.780000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.300000, 1.350000, 1.400000, 1.400000, 1.500000, 1.550000, 1.600000, 1.650000, 1.750000, 1.800000, 1.820000, 1.920000, 2.070000, 2.170000, 2.270000, 2.420000, 2.570000, 2.720000, 2.920000, 3.120000, 3.420000, 3.770000, 4.170000, 4.620000, 5.570000, 5.970000, 6.970000, 8.470000, 16.070000, 12.770000, 11.420000, 11.170000, 11.120000, 11.320000, 13.770000, 11.270000, 11.270000, 11.170000, 9.620000, 8.370000, 7.470000, 7.070000, 6.020000, 5.970000, 5.120000, 4.820000, 4.470000, 4.170000, 3.920000, 3.720000, 3.520000, 3.320000, 3.170000, 3.020000, 2.920000, 2.770000, 2.720000, 2.570000, 2.470000, 2.420000, 2.420000, 2.420000, 2.370000, 2.270000, 2.220000, 2.170000, 2.100000, 2.100000, 2.050000, 2.000000, 1.900000, 1.900000, 1.850000, 1.800000, 1.670000, 1.650000, 1.600000, 1.600000, 1.500000, 1.500000, 1.500000, 1.450000, 1.450000, 1.450000, 1.450000, 1.350000, 1.350000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.230000, 1.250000, 1.200000, 1.200000, 1.200000, 1.230000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "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": [ 745, 679998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.960100, 25.038200, 0.573800 ], "estimate": [ -21.960100, 25.038200, 0.573800 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.730000, 0.730000, 0.680000, 0.680000, 0.730000, 0.650000, 0.650000, 0.650000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.770000, 0.770000, 0.820000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.800000, 0.850000, 0.850000, 0.900000, 0.950000, 0.950000, 0.900000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.200000, 1.250000, 1.250000, 1.300000, 1.350000, 1.350000, 1.400000, 1.450000, 1.450000, 1.550000, 1.600000, 1.700000, 1.750000, 1.800000, 1.870000, 1.920000, 2.070000, 2.170000, 2.320000, 2.420000, 2.620000, 2.770000, 2.970000, 3.220000, 3.470000, 3.820000, 4.270000, 4.570000, 5.550000, 6.020000, 7.120000, 8.720000, 16.020000, 12.720000, 11.170000, 11.020000, 11.120000, 11.370000, 13.720000, 11.170000, 11.220000, 11.070000, 9.320000, 8.220000, 7.320000, 7.020000, 5.920000, 5.920000, 5.020000, 4.720000, 4.420000, 4.170000, 3.870000, 3.670000, 3.520000, 3.320000, 3.170000, 3.020000, 2.870000, 2.770000, 2.670000, 2.570000, 2.470000, 2.420000, 2.370000, 2.320000, 2.350000, 2.270000, 2.220000, 2.120000, 2.100000, 2.100000, 2.000000, 2.000000, 1.950000, 1.900000, 1.800000, 1.800000, 1.800000, 1.750000, 1.620000, 1.520000, 1.550000, 1.500000, 1.500000, 1.450000, 1.450000, 1.450000, 1.400000, 1.400000, 1.400000, 1.350000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.200000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.150000, 1.150000, 1.150000, 1.200000, 1.100000, 1.150000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 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": [ 745, 919998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.900400, 25.076799, 0.566444 ], "estimate": [ -21.900400, 25.076799, 0.566444 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.730000, 0.680000, 0.680000, 0.730000, 0.680000, 0.700000, 0.700000, 0.700000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.700000, 0.700000, 0.720000, 0.700000, 0.720000, 0.750000, 0.800000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.100000, 1.050000, 1.100000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.300000, 1.350000, 1.400000, 1.450000, 1.450000, 1.500000, 1.600000, 1.650000, 1.700000, 1.750000, 1.850000, 1.920000, 1.970000, 2.070000, 2.220000, 2.370000, 2.470000, 2.670000, 2.870000, 3.020000, 3.270000, 3.620000, 3.970000, 4.370000, 5.420000, 5.470000, 6.850000, 7.670000, 15.970000, 12.820000, 12.620000, 11.070000, 11.020000, 11.070000, 11.370000, 11.120000, 11.170000, 11.170000, 11.020000, 9.020000, 7.870000, 6.970000, 6.920000, 5.820000, 5.770000, 4.870000, 4.570000, 4.320000, 4.020000, 3.770000, 3.620000, 3.470000, 3.270000, 3.070000, 2.970000, 2.870000, 2.720000, 2.620000, 2.520000, 2.470000, 2.370000, 2.320000, 2.270000, 2.270000, 2.220000, 2.170000, 2.150000, 2.100000, 2.050000, 2.000000, 1.950000, 1.900000, 1.900000, 1.850000, 1.750000, 1.750000, 1.700000, 1.700000, 1.700000, 1.520000, 1.500000, 1.450000, 1.450000, 1.400000, 1.450000, 1.400000, 1.350000, 1.350000, 1.300000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.150000, 1.150000, 1.150000, 1.200000, 1.150000, 1.150000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.080000, 1.130000, 1.130000, 1.130000, 1.080000, 1.130000, 1.130000 ], "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": [ 746, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.835501, 25.117701, 0.557826 ], "estimate": [ -21.835501, 25.117701, 0.557826 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.730000, 0.680000, 0.680000, 0.700000, 0.700000, 0.650000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.680000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.300000, 1.300000, 1.350000, 1.400000, 1.450000, 1.500000, 1.600000, 1.600000, 1.700000, 1.750000, 1.770000, 1.870000, 1.970000, 2.070000, 2.170000, 2.270000, 2.420000, 2.570000, 2.770000, 3.020000, 3.220000, 3.520000, 3.870000, 4.270000, 5.370000, 5.370000, 6.750000, 7.220000, 8.820000, 15.870000, 11.220000, 11.220000, 10.920000, 11.020000, 12.570000, 13.570000, 11.020000, 11.070000, 10.920000, 9.270000, 8.170000, 7.270000, 6.870000, 5.920000, 5.770000, 5.420000, 4.720000, 4.420000, 4.120000, 3.870000, 3.670000, 3.470000, 3.270000, 3.120000, 3.020000, 2.870000, 2.770000, 2.670000, 2.570000, 2.470000, 2.420000, 2.270000, 2.300000, 2.220000, 2.220000, 2.220000, 2.200000, 2.100000, 2.050000, 2.000000, 2.000000, 1.900000, 1.900000, 1.850000, 1.800000, 1.800000, 1.750000, 1.700000, 1.700000, 1.650000, 1.550000, 1.420000, 1.450000, 1.400000, 1.450000, 1.350000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.150000, 1.150000, 1.150000, 1.150000, 1.130000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.080000, 1.130000, 1.130000, 1.130000, 1.080000, 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": [ 746, 360000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.762199, 25.162399, 0.533235 ], "estimate": [ -21.762199, 25.162399, 0.533235 ], "true_pose": [ null, null, null ], "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": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.680000, 0.670000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.200000, 1.200000, 1.200000, 1.250000, 1.300000, 1.350000, 1.350000, 1.450000, 1.450000, 1.550000, 1.600000, 1.650000, 1.700000, 1.770000, 1.820000, 1.920000, 1.970000, 2.120000, 2.270000, 2.370000, 2.520000, 2.670000, 2.820000, 3.070000, 3.370000, 3.620000, 4.020000, 4.370000, 5.370000, 5.670000, 6.750000, 7.920000, 15.870000, 12.970000, 11.220000, 10.970000, 11.070000, 10.970000, 13.070000, 11.020000, 11.020000, 11.020000, 10.920000, 8.820000, 7.770000, 6.870000, 6.820000, 5.720000, 5.720000, 4.820000, 4.570000, 4.270000, 4.020000, 3.770000, 3.570000, 3.420000, 3.220000, 3.120000, 2.920000, 2.820000, 2.720000, 2.620000, 2.520000, 2.420000, 2.370000, 2.270000, 2.220000, 2.170000, 2.170000, 2.200000, 2.150000, 2.100000, 2.050000, 2.000000, 1.950000, 1.900000, 1.850000, 1.850000, 1.750000, 1.750000, 1.700000, 1.700000, 1.650000, 1.600000, 1.600000, 1.520000, 1.450000, 1.400000, 1.400000, 1.400000, 1.400000, 1.350000, 1.300000, 1.350000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.250000, 1.150000, 1.200000, 1.150000, 1.150000, 1.100000, 1.150000, 1.130000, 1.130000, 1.130000, 1.180000, 1.180000, 1.130000, 1.130000, 1.130000, 1.080000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "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": [ 746, 480000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.731298, 25.180601, 0.526298 ], "estimate": [ -21.731298, 25.180601, 0.526298 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.640000, 0.670000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.540000, 1.640000, 1.640000, 1.740000, 1.840000, 1.860000, 1.960000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.810000, 3.010000, 3.260000, 3.510000, 3.910000, 4.260000, 5.260000, 5.410000, 6.640000, 7.460000, 9.060000, 12.910000, 12.910000, 10.960000, 10.860000, 11.010000, 12.960000, 10.960000, 10.960000, 10.960000, 10.810000, 9.110000, 8.010000, 7.160000, 6.760000, 5.860000, 5.610000, 5.360000, 4.610000, 4.360000, 4.060000, 3.810000, 3.610000, 3.410000, 3.260000, 3.110000, 2.960000, 2.860000, 2.760000, 2.610000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.190000, 2.110000, 2.110000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.640000, 1.590000, 1.640000, 1.590000, 1.590000, 1.540000, 1.410000, 1.360000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 746, 720000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.651201, 25.227100, 0.525668 ], "estimate": [ -21.651201, 25.227100, 0.525668 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.650000, 0.680000, 0.680000, 0.650000, 0.700000, 0.700000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.200000, 1.250000, 1.250000, 1.300000, 1.350000, 1.350000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.700000, 1.750000, 1.820000, 1.870000, 1.970000, 2.070000, 2.170000, 2.270000, 2.470000, 2.620000, 2.770000, 2.970000, 3.220000, 3.520000, 3.870000, 4.220000, 5.200000, 5.320000, 6.570000, 7.320000, 8.820000, 15.720000, 11.120000, 11.120000, 10.820000, 10.820000, 12.920000, 13.420000, 10.920000, 10.870000, 10.820000, 9.220000, 8.120000, 7.270000, 6.770000, 5.820000, 5.620000, 5.470000, 4.670000, 4.370000, 4.120000, 3.870000, 3.670000, 3.470000, 3.270000, 3.170000, 3.020000, 2.870000, 2.770000, 2.670000, 2.520000, 2.470000, 2.370000, 2.270000, 2.250000, 2.200000, 2.120000, 2.070000, 2.100000, 2.100000, 2.050000, 2.050000, 1.950000, 1.950000, 1.900000, 1.850000, 1.850000, 1.800000, 1.750000, 1.750000, 1.650000, 1.650000, 1.600000, 1.600000, 1.600000, 1.550000, 1.500000, 1.400000, 1.370000, 1.350000, 1.350000, 1.300000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.200000, 1.150000, 1.200000, 1.230000, 1.150000, 1.180000, 1.180000, 1.100000, 1.130000, 1.180000, 1.130000, 1.100000, 1.180000, 1.130000, 1.100000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "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": [ 746, 840000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.632000, 25.238201, 0.523987 ], "estimate": [ -21.632000, 25.238201, 0.523987 ], "true_pose": [ null, null, null ], "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": [ 0.710000, 0.710000, 0.680000, 0.650000, 0.700000, 0.680000, 0.680000, 0.650000, 0.700000, 0.700000, 0.700000, 0.650000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.900000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.250000, 1.250000, 1.300000, 1.350000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.770000, 1.870000, 1.970000, 2.020000, 2.120000, 2.270000, 2.420000, 2.620000, 2.820000, 2.920000, 3.220000, 3.420000, 3.820000, 4.170000, 5.120000, 5.270000, 6.500000, 7.170000, 8.720000, 15.620000, 11.020000, 10.970000, 10.720000, 10.720000, 10.970000, 13.320000, 10.820000, 10.820000, 10.670000, 9.320000, 8.220000, 7.370000, 6.620000, 6.470000, 5.470000, 5.470000, 5.070000, 4.420000, 4.120000, 3.870000, 3.720000, 3.520000, 3.320000, 3.220000, 3.070000, 2.870000, 2.770000, 2.670000, 2.570000, 2.470000, 2.370000, 2.320000, 2.300000, 2.200000, 2.150000, 2.100000, 2.020000, 2.020000, 2.020000, 2.000000, 1.950000, 1.950000, 1.900000, 1.850000, 1.800000, 1.800000, 1.750000, 1.700000, 1.700000, 1.650000, 1.650000, 1.600000, 1.550000, 1.550000, 1.550000, 1.500000, 1.450000, 1.500000, 1.450000, 1.320000, 1.300000, 1.250000, 1.300000, 1.250000, 1.250000, 1.250000, 1.250000, 1.200000, 1.200000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.180000, 1.150000, 1.180000, 1.100000, 1.180000, 1.180000, 1.130000, 1.150000, 1.180000, 1.180000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "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": [ 747, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.563702, 25.277800, 0.530712 ], "estimate": [ -21.563702, 25.277800, 0.530712 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.720000, 0.720000, 0.640000, 0.640000, 0.720000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.990000, 0.990000, 0.940000, 1.040000, 0.990000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 1.960000, 2.060000, 2.210000, 2.360000, 2.510000, 2.610000, 2.860000, 3.060000, 3.310000, 3.610000, 3.960000, 5.010000, 5.090000, 5.560000, 6.460000, 7.860000, 15.560000, 12.710000, 10.860000, 10.660000, 10.660000, 10.660000, 12.360000, 10.760000, 10.760000, 10.710000, 10.610000, 8.860000, 7.760000, 6.960000, 6.560000, 5.660000, 5.410000, 5.260000, 4.510000, 4.260000, 4.010000, 3.810000, 3.610000, 3.410000, 3.260000, 3.060000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.290000, 2.240000, 2.110000, 2.090000, 2.090000, 2.010000, 1.960000, 1.960000, 1.960000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.260000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.190000, 1.170000, 1.140000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.140000, 1.140000, 1.090000, 1.120000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 747, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.500401, 25.315201, 0.533865 ], "estimate": [ -21.500401, 25.315201, 0.533865 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.640000, 0.670000, 0.690000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.290000, 1.290000, 1.290000, 1.390000, 1.390000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.760000, 1.840000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.660000, 2.860000, 3.060000, 3.310000, 3.660000, 3.960000, 5.010000, 5.040000, 5.760000, 6.460000, 7.860000, 15.510000, 12.660000, 10.910000, 10.560000, 10.710000, 10.610000, 12.710000, 10.760000, 10.710000, 10.710000, 10.560000, 8.760000, 7.760000, 6.960000, 6.510000, 5.610000, 5.410000, 5.260000, 4.510000, 4.260000, 4.010000, 3.810000, 3.560000, 3.410000, 3.210000, 3.060000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.260000, 2.240000, 2.140000, 2.140000, 2.040000, 1.990000, 1.960000, 1.910000, 1.910000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.260000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.240000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.170000, 1.140000, 1.090000, 1.170000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000 ], "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": [ 747, 549998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.487000, 25.323101, 0.534076 ], "estimate": [ -21.487000, 25.323101, 0.534076 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.720000, 0.640000, 0.720000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 2.060000, 2.210000, 2.360000, 2.460000, 2.610000, 2.810000, 3.060000, 3.260000, 3.610000, 3.960000, 4.960000, 4.990000, 5.560000, 6.360000, 7.710000, 15.460000, 12.610000, 10.810000, 10.610000, 10.560000, 10.610000, 12.210000, 10.710000, 10.660000, 10.710000, 10.510000, 8.810000, 7.760000, 7.010000, 6.510000, 6.210000, 5.360000, 5.360000, 4.960000, 4.260000, 4.010000, 3.810000, 3.610000, 3.460000, 3.260000, 3.060000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.310000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.910000, 1.860000, 1.910000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.290000, 1.210000, 1.190000, 1.190000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.170000, 1.170000, 1.140000, 1.120000, 1.170000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 747, 710000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.430300, 25.356800, 0.541642 ], "estimate": [ -21.430300, 25.356800, 0.541642 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.670000, 0.640000, 0.720000, 0.640000, 0.670000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.810000, 1.960000, 2.060000, 2.210000, 2.260000, 2.460000, 2.610000, 2.760000, 2.910000, 3.160000, 3.510000, 3.860000, 4.860000, 4.890000, 5.310000, 6.290000, 7.360000, 15.410000, 15.360000, 12.110000, 10.510000, 10.410000, 10.510000, 10.760000, 13.060000, 10.510000, 10.610000, 10.460000, 9.060000, 8.060000, 7.260000, 6.410000, 6.410000, 5.460000, 5.260000, 5.060000, 4.360000, 4.060000, 3.810000, 3.660000, 3.460000, 3.310000, 3.110000, 3.010000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.210000, 2.140000, 2.140000, 2.090000, 2.040000, 1.940000, 1.890000, 1.840000, 1.810000, 1.840000, 1.810000, 1.840000, 1.840000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.290000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.140000, 1.140000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000 ], "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": [ 747, 950000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.366999, 25.395300, 0.544795 ], "estimate": [ -21.366999, 25.395300, 0.544795 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.690000, 0.670000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.490000, 1.490000, 1.590000, 1.640000, 1.640000, 1.740000, 1.810000, 1.860000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.810000, 3.060000, 3.260000, 3.560000, 3.860000, 4.810000, 4.810000, 6.160000, 6.260000, 7.610000, 15.310000, 12.310000, 12.410000, 10.410000, 10.360000, 10.360000, 10.710000, 10.510000, 10.410000, 10.460000, 10.360000, 8.910000, 7.860000, 7.060000, 6.310000, 6.310000, 5.360000, 5.160000, 5.010000, 4.260000, 4.010000, 3.760000, 3.610000, 3.410000, 3.210000, 3.110000, 3.010000, 2.860000, 2.760000, 2.610000, 2.510000, 2.410000, 2.360000, 2.290000, 2.240000, 2.190000, 2.140000, 2.040000, 2.040000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.710000, 1.740000, 1.760000, 1.740000, 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, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.140000, 1.140000, 1.140000, 1.190000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000, 1.170000, 1.120000, 1.170000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 748, 269998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.285400, 25.445400, 0.560348 ], "estimate": [ -21.285400, 25.445400, 0.560348 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.690000, 0.720000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.490000, 1.590000, 1.590000, 1.690000, 1.790000, 1.810000, 1.860000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.860000, 3.060000, 3.310000, 3.610000, 4.460000, 4.740000, 4.860000, 6.110000, 6.510000, 7.760000, 15.210000, 12.310000, 10.510000, 10.310000, 10.260000, 10.310000, 10.710000, 10.410000, 10.410000, 10.460000, 10.260000, 8.760000, 7.810000, 7.010000, 6.210000, 6.210000, 5.310000, 5.110000, 4.960000, 4.260000, 4.010000, 3.810000, 3.610000, 3.410000, 3.260000, 3.060000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.310000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.710000, 1.710000, 1.690000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.290000, 1.270000, 1.240000, 1.190000, 1.170000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 748, 509998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.227100, 25.482800, 0.583258 ], "estimate": [ -21.227100, 25.482800, 0.583258 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.720000, 0.670000, 0.690000, 0.720000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.190000, 1.140000, 1.190000, 1.240000, 1.290000, 1.240000, 1.290000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 1.960000, 2.110000, 2.210000, 2.360000, 2.460000, 2.660000, 2.860000, 3.060000, 3.310000, 3.610000, 4.510000, 4.610000, 4.910000, 6.010000, 6.610000, 7.860000, 15.110000, 12.260000, 10.360000, 10.260000, 10.210000, 10.310000, 10.560000, 10.360000, 10.360000, 10.360000, 10.210000, 8.760000, 7.710000, 6.910000, 6.210000, 6.210000, 5.210000, 5.060000, 4.960000, 4.560000, 4.010000, 3.760000, 3.560000, 3.360000, 3.210000, 3.110000, 2.910000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.660000, 1.610000, 1.660000, 1.660000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.270000, 1.240000, 1.240000, 1.240000, 1.220000, 1.170000, 1.120000, 1.120000, 1.140000, 1.120000, 1.120000, 1.120000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 748, 751998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.164700, 25.524599, 0.595659 ], "estimate": [ -21.164700, 25.524599, 0.595659 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.810000, 1.860000, 2.010000, 2.010000, 2.210000, 2.310000, 2.410000, 2.560000, 2.760000, 2.910000, 3.260000, 3.510000, 4.210000, 4.640000, 4.610000, 6.010000, 6.010000, 7.160000, 15.060000, 15.110000, 10.460000, 10.360000, 10.210000, 10.160000, 10.460000, 12.110000, 10.260000, 10.310000, 10.210000, 10.210000, 8.210000, 7.310000, 6.560000, 6.160000, 5.910000, 5.010000, 4.960000, 4.760000, 4.060000, 3.860000, 3.660000, 3.460000, 3.360000, 3.160000, 3.010000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.260000, 2.190000, 2.090000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.840000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.610000, 1.610000, 1.640000, 1.610000, 1.640000, 1.640000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.270000, 1.240000, 1.240000, 1.220000, 1.240000, 1.240000, 1.220000, 1.120000, 1.120000, 1.070000, 1.090000, 1.120000, 1.070000, 1.040000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 748, 990000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.117901, 25.556700, 0.607429 ], "estimate": [ -21.117901, 25.556700, 0.607429 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.720000, 0.670000, 0.690000, 0.670000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.790000, 1.810000, 1.910000, 2.010000, 2.160000, 2.260000, 2.410000, 2.560000, 2.710000, 2.810000, 3.110000, 3.410000, 3.610000, 4.510000, 4.590000, 5.060000, 5.890000, 6.860000, 8.110000, 12.110000, 12.110000, 10.260000, 10.160000, 10.160000, 10.260000, 11.810000, 10.210000, 10.260000, 10.260000, 10.060000, 8.560000, 7.610000, 6.760000, 6.110000, 6.060000, 5.110000, 4.910000, 4.860000, 4.560000, 3.960000, 3.710000, 3.510000, 3.310000, 3.160000, 3.060000, 2.910000, 2.760000, 2.710000, 2.610000, 2.460000, 2.360000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.540000, 1.510000, 1.560000, 1.560000, 1.540000, 1.590000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.220000, 1.270000, 1.220000, 1.270000, 1.270000, 1.170000, 1.220000, 1.120000, 1.150000, 1.100000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.070000 ], "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": [ 749, 230000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -21.052401, 25.602800, 0.614996 ], "estimate": [ -21.052401, 25.602800, 0.614996 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.670000, 0.670000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.790000, 1.860000, 1.910000, 2.060000, 2.160000, 2.310000, 2.410000, 2.560000, 2.710000, 2.960000, 3.160000, 3.460000, 4.210000, 4.440000, 4.510000, 5.840000, 5.840000, 6.910000, 8.110000, 12.210000, 11.710000, 10.160000, 10.060000, 10.010000, 10.110000, 11.660000, 10.110000, 10.160000, 10.160000, 9.960000, 8.460000, 7.560000, 6.810000, 6.110000, 5.960000, 5.110000, 4.810000, 4.810000, 4.510000, 3.910000, 3.710000, 3.560000, 3.310000, 3.160000, 3.060000, 2.910000, 2.810000, 2.710000, 2.510000, 2.460000, 2.410000, 2.310000, 2.240000, 2.190000, 2.140000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.460000, 1.510000, 1.510000, 1.510000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.240000, 1.240000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.150000, 1.120000, 1.100000, 1.070000, 1.120000, 1.120000, 1.120000, 1.070000 ], "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": [ 749, 549998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.976599, 25.656200, 0.616257 ], "estimate": [ -20.976599, 25.656200, 0.616257 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.640000, 1.640000, 1.740000, 1.840000, 1.860000, 1.960000, 2.060000, 2.160000, 2.360000, 2.410000, 2.610000, 2.810000, 3.010000, 3.260000, 3.490000, 4.360000, 4.360000, 4.710000, 5.790000, 6.010000, 7.060000, 14.860000, 14.810000, 11.910000, 10.160000, 9.910000, 9.960000, 10.110000, 11.610000, 10.060000, 10.060000, 10.110000, 9.910000, 8.260000, 7.410000, 6.660000, 5.910000, 5.910000, 5.010000, 4.760000, 4.760000, 4.410000, 3.810000, 3.660000, 3.460000, 3.260000, 3.160000, 2.960000, 2.860000, 2.760000, 2.610000, 2.560000, 2.460000, 2.410000, 2.290000, 2.240000, 2.190000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.410000, 1.440000, 1.460000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.340000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.220000, 1.270000, 1.220000, 1.220000, 1.190000, 1.190000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.200000, 1.120000, 1.120000, 1.100000, 1.070000 ], "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": [ 749, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.931700, 25.687901, 0.611633 ], "estimate": [ -20.931700, 25.687901, 0.611633 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 2.110000, 2.160000, 2.260000, 2.410000, 2.560000, 2.760000, 2.960000, 3.160000, 3.360000, 4.260000, 4.290000, 4.560000, 5.690000, 5.760000, 6.860000, 8.110000, 11.860000, 11.910000, 10.110000, 9.960000, 9.860000, 9.910000, 11.560000, 9.960000, 10.010000, 10.010000, 9.860000, 8.460000, 7.510000, 6.760000, 6.160000, 5.810000, 5.560000, 4.710000, 4.710000, 4.560000, 4.210000, 3.660000, 3.460000, 3.310000, 3.160000, 3.010000, 2.910000, 2.710000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.160000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.490000, 1.390000, 1.390000, 1.360000, 1.390000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.100000 ], "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": [ 750, 30998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.868999, 25.732500, 0.626766 ], "estimate": [ -20.868999, 25.732500, 0.626766 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.790000, 1.840000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.610000, 2.860000, 3.110000, 3.310000, 4.060000, 4.340000, 4.310000, 4.760000, 5.690000, 6.310000, 7.360000, 14.760000, 11.860000, 11.910000, 9.960000, 9.910000, 9.960000, 10.110000, 11.910000, 9.960000, 10.010000, 9.860000, 9.860000, 8.060000, 7.160000, 6.410000, 5.810000, 5.810000, 4.860000, 4.660000, 4.660000, 4.410000, 3.710000, 3.610000, 3.410000, 3.260000, 3.060000, 2.910000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 1.990000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.360000, 1.360000, 1.360000, 1.360000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.190000, 1.240000, 1.220000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.150000 ], "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": [ 750, 152000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.852200, 25.744699, 0.627817 ], "estimate": [ -20.852200, 25.744699, 0.627817 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.640000, 0.690000, 0.740000, 0.720000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.810000, 1.860000, 1.910000, 2.060000, 2.160000, 2.310000, 2.410000, 2.510000, 2.760000, 2.960000, 3.210000, 3.860000, 4.240000, 4.240000, 4.560000, 5.590000, 5.710000, 6.760000, 7.960000, 11.810000, 11.810000, 10.060000, 9.760000, 9.810000, 9.810000, 11.560000, 9.960000, 9.860000, 9.910000, 9.810000, 9.810000, 7.610000, 6.810000, 6.160000, 5.710000, 5.560000, 4.760000, 4.610000, 4.560000, 4.260000, 3.660000, 3.460000, 3.310000, 3.160000, 3.010000, 2.910000, 2.760000, 2.610000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.140000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.310000, 1.340000, 1.360000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.320000, 1.240000, 1.290000, 1.190000, 1.220000, 1.270000, 1.190000, 1.190000, 1.220000, 1.170000, 1.190000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 750, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.800501, 25.781898, 0.612894 ], "estimate": [ -20.800501, 25.781898, 0.612894 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.690000, 0.720000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.090000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.740000, 1.790000, 1.840000, 1.910000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.660000, 2.810000, 3.010000, 3.240000, 4.010000, 4.140000, 4.160000, 4.610000, 5.540000, 6.060000, 7.110000, 14.610000, 14.610000, 10.010000, 9.960000, 9.760000, 9.710000, 9.760000, 11.510000, 9.860000, 9.810000, 9.860000, 9.660000, 8.310000, 7.460000, 6.710000, 6.060000, 5.660000, 5.460000, 4.710000, 4.510000, 4.460000, 4.210000, 3.610000, 3.460000, 3.260000, 3.110000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.290000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.260000, 1.310000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.270000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.170000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000 ], "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": [ 750, 710000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.722000, 25.835199, 0.579265 ], "estimate": [ -20.722000, 25.835199, 0.579265 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.240000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 2.010000, 2.160000, 2.310000, 2.410000, 2.560000, 2.710000, 2.960000, 3.140000, 3.860000, 4.090000, 4.090000, 4.460000, 5.440000, 5.710000, 6.610000, 7.660000, 14.510000, 11.710000, 9.960000, 9.660000, 9.710000, 9.810000, 9.960000, 12.160000, 9.710000, 9.760000, 9.610000, 9.610000, 7.810000, 6.960000, 6.260000, 5.660000, 5.610000, 5.210000, 4.460000, 4.460000, 4.310000, 4.060000, 3.510000, 3.310000, 3.160000, 3.060000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.410000, 2.310000, 2.210000, 2.190000, 2.140000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.210000, 1.210000, 1.260000, 1.210000, 1.320000, 1.240000, 1.290000, 1.270000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.240000, 1.170000, 1.220000, 1.170000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 750, 951000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.659399, 25.875700, 0.567704 ], "estimate": [ -20.659399, 25.875700, 0.567704 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.590000, 1.690000, 1.790000, 1.840000, 1.910000, 2.010000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.710000, 2.960000, 3.610000, 3.910000, 3.990000, 4.160000, 4.660000, 5.360000, 5.860000, 6.810000, 14.510000, 11.560000, 11.560000, 9.660000, 9.610000, 9.560000, 9.610000, 9.810000, 9.810000, 9.610000, 9.660000, 9.510000, 9.510000, 7.660000, 6.860000, 6.160000, 5.510000, 5.460000, 5.160000, 4.460000, 4.360000, 4.260000, 4.010000, 3.460000, 3.260000, 3.110000, 3.010000, 2.860000, 2.760000, 2.660000, 2.510000, 2.460000, 2.360000, 2.260000, 2.240000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.490000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.240000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.210000, 1.240000, 1.270000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.220000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.150000, 1.170000 ], "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": [ 751, 190000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.589300, 25.920000, 0.567074 ], "estimate": [ -20.589300, 25.920000, 0.567074 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.690000, 0.670000, 0.690000, 0.720000, 0.720000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 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, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.860000, 1.960000, 2.060000, 2.160000, 2.210000, 2.410000, 2.510000, 2.660000, 2.860000, 3.110000, 3.760000, 3.890000, 3.940000, 4.310000, 5.260000, 5.310000, 6.260000, 7.210000, 14.410000, 11.460000, 11.510000, 9.610000, 9.510000, 9.460000, 9.660000, 11.160000, 9.610000, 9.610000, 9.610000, 9.460000, 8.110000, 7.260000, 6.510000, 5.910000, 5.410000, 5.460000, 4.810000, 4.310000, 4.310000, 4.160000, 3.910000, 3.360000, 3.260000, 3.110000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.360000, 2.310000, 2.260000, 2.190000, 2.140000, 2.040000, 2.040000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.140000, 1.190000, 1.190000, 1.140000, 1.140000, 1.160000, 1.210000, 1.190000, 1.220000, 1.190000, 1.270000, 1.190000, 1.220000, 1.190000, 1.190000, 1.140000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 751, 429998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.536201, 25.954100, 0.571698 ], "estimate": [ -20.536201, 25.954100, 0.571698 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.510000, 2.660000, 2.860000, 3.510000, 3.760000, 3.840000, 4.010000, 4.360000, 5.240000, 5.560000, 6.410000, 7.460000, 14.310000, 11.210000, 11.310000, 9.410000, 9.360000, 9.410000, 9.560000, 12.010000, 9.460000, 9.560000, 9.560000, 9.360000, 7.960000, 7.110000, 6.360000, 5.760000, 5.360000, 5.360000, 4.860000, 4.210000, 4.210000, 4.110000, 3.860000, 3.410000, 3.160000, 3.060000, 2.910000, 2.760000, 2.710000, 2.510000, 2.460000, 2.360000, 2.310000, 2.210000, 2.190000, 2.090000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.190000, 1.090000, 1.140000, 1.140000, 1.140000, 1.170000, 1.190000, 1.190000, 1.220000, 1.220000, 1.170000, 1.190000, 1.140000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 751, 669998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.454599, 26.006899, 0.574641 ], "estimate": [ -20.454599, 26.006899, 0.574641 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.690000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.590000, 1.640000, 1.640000, 1.790000, 1.840000, 1.910000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.560000, 2.710000, 3.110000, 3.510000, 3.760000, 3.740000, 4.060000, 5.010000, 5.140000, 5.710000, 6.510000, 14.310000, 11.610000, 11.260000, 9.460000, 9.310000, 9.310000, 9.310000, 9.510000, 11.960000, 9.360000, 9.410000, 9.510000, 9.260000, 7.810000, 7.010000, 6.260000, 5.710000, 5.260000, 5.310000, 4.910000, 4.210000, 4.160000, 4.010000, 3.810000, 3.610000, 3.210000, 3.060000, 2.910000, 2.760000, 2.660000, 2.610000, 2.460000, 2.410000, 2.290000, 2.240000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.190000, 1.090000, 1.140000, 1.140000, 1.090000, 1.140000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000 ], "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": [ 751, 909998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.393299, 26.046700, 0.574220 ], "estimate": [ -20.393299, 26.046700, 0.574220 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.770000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.140000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 2.010000, 2.060000, 2.210000, 2.260000, 2.460000, 2.610000, 2.660000, 3.260000, 3.560000, 3.690000, 3.740000, 4.010000, 5.060000, 5.140000, 5.660000, 6.510000, 14.210000, 14.160000, 10.910000, 9.510000, 9.260000, 9.310000, 9.260000, 9.410000, 11.860000, 9.360000, 9.410000, 9.410000, 9.210000, 7.860000, 7.060000, 6.360000, 5.710000, 5.260000, 5.210000, 4.910000, 4.210000, 4.060000, 4.110000, 3.810000, 3.660000, 3.160000, 3.010000, 2.860000, 2.760000, 2.710000, 2.560000, 2.460000, 2.410000, 2.310000, 2.240000, 2.190000, 2.090000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.170000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.200000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 752, 70000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.345900, 26.077200, 0.572119 ], "estimate": [ -20.345900, 26.077200, 0.572119 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.720000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.740000, 1.710000, 1.810000, 1.860000, 1.960000, 2.060000, 2.210000, 2.310000, 2.410000, 2.560000, 2.760000, 3.360000, 3.560000, 3.640000, 3.660000, 4.060000, 4.990000, 4.990000, 5.660000, 6.560000, 14.110000, 11.260000, 11.010000, 9.310000, 9.210000, 9.160000, 9.160000, 9.310000, 11.810000, 9.310000, 9.260000, 9.310000, 9.110000, 7.760000, 7.010000, 6.310000, 5.710000, 5.160000, 5.110000, 4.910000, 4.160000, 3.960000, 3.960000, 3.810000, 3.560000, 3.410000, 3.010000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.290000, 2.210000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.390000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.120000, 1.090000, 1.120000, 1.090000, 1.070000, 1.120000, 1.070000, 1.070000, 1.070000, 1.150000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 752, 390998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.270500, 26.126299, 0.578634 ], "estimate": [ -20.270500, 26.126299, 0.578634 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.710000, 1.710000, 1.810000, 1.860000, 2.010000, 2.060000, 2.210000, 2.310000, 2.410000, 2.560000, 3.110000, 3.360000, 3.560000, 3.540000, 3.760000, 4.110000, 4.890000, 5.060000, 5.810000, 6.710000, 14.060000, 11.160000, 11.110000, 9.210000, 9.060000, 9.110000, 9.110000, 9.310000, 11.710000, 9.210000, 9.210000, 9.210000, 9.060000, 7.710000, 6.910000, 6.210000, 5.660000, 5.160000, 5.060000, 4.860000, 4.110000, 3.960000, 3.960000, 3.810000, 3.560000, 3.410000, 3.010000, 2.810000, 2.710000, 2.660000, 2.560000, 2.460000, 2.360000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.340000, 1.290000, 1.340000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.070000, 1.070000, 1.090000, 1.070000, 1.120000, 1.070000, 1.070000, 1.120000, 1.070000, 1.050000, 1.050000, 1.050000, 1.170000, 1.170000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 752, 629998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.217100, 26.161100, 0.574850 ], "estimate": [ -20.217100, 26.161100, 0.574850 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 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, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.710000, 1.760000, 1.810000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.560000, 3.060000, 3.260000, 3.460000, 3.540000, 3.660000, 3.960000, 4.890000, 4.890000, 5.560000, 6.460000, 13.960000, 11.360000, 11.110000, 9.260000, 9.110000, 9.010000, 9.110000, 9.210000, 10.760000, 9.160000, 9.160000, 9.210000, 9.010000, 9.060000, 7.060000, 6.360000, 5.810000, 5.310000, 5.010000, 4.960000, 4.610000, 4.010000, 3.860000, 3.860000, 3.610000, 3.460000, 3.110000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.360000, 2.260000, 2.260000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.040000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.070000, 1.070000, 1.100000, 1.050000, 1.170000, 1.170000 ], "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": [ 752, 750000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.165001, 26.195101, 0.583468 ], "estimate": [ -20.165001, 26.195101, 0.583468 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.670000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.890000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.610000, 1.660000, 1.660000, 1.760000, 1.840000, 1.960000, 2.010000, 2.160000, 2.210000, 2.360000, 2.510000, 3.010000, 3.210000, 3.410000, 3.440000, 3.560000, 3.860000, 4.760000, 4.790000, 5.260000, 6.010000, 7.010000, 13.910000, 10.860000, 10.560000, 9.110000, 9.060000, 8.960000, 9.010000, 9.210000, 9.460000, 9.060000, 9.110000, 9.010000, 8.960000, 7.460000, 6.660000, 6.010000, 5.560000, 5.060000, 4.960000, 4.760000, 4.060000, 3.810000, 3.810000, 3.760000, 3.510000, 3.360000, 2.960000, 2.860000, 2.710000, 2.560000, 2.510000, 2.410000, 2.310000, 2.260000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.170000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.120000, 1.140000, 1.090000, 1.120000, 1.120000, 1.120000, 1.040000, 1.120000, 1.070000, 1.070000, 1.070000, 1.040000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.100000, 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": [ 752, 990000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.100700, 26.238001, 0.588513 ], "estimate": [ -20.100700, 26.238001, 0.588513 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.770000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.560000, 1.610000, 1.660000, 1.710000, 1.810000, 1.860000, 2.010000, 2.060000, 2.160000, 2.260000, 2.360000, 2.610000, 3.060000, 3.260000, 3.440000, 3.390000, 3.610000, 3.910000, 4.790000, 4.760000, 5.510000, 6.310000, 13.910000, 13.860000, 10.610000, 10.660000, 9.010000, 8.960000, 8.960000, 9.060000, 9.260000, 9.060000, 9.060000, 9.060000, 8.910000, 8.910000, 7.210000, 6.460000, 5.860000, 5.360000, 4.910000, 4.910000, 4.660000, 3.960000, 3.810000, 3.760000, 3.660000, 3.510000, 3.310000, 2.910000, 2.810000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.140000, 2.140000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.140000, 1.120000, 1.090000, 1.070000, 1.070000, 1.090000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.120000, 1.070000 ], "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": [ 753, 115000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.062799, 26.263300, 0.587252 ], "estimate": [ -20.062799, 26.263300, 0.587252 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.690000, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.510000, 1.560000, 1.560000, 1.660000, 1.710000, 1.840000, 1.860000, 1.960000, 2.010000, 2.160000, 2.260000, 2.410000, 2.860000, 3.060000, 3.260000, 3.340000, 3.390000, 3.610000, 4.410000, 4.740000, 4.710000, 5.460000, 6.210000, 13.810000, 13.810000, 10.760000, 10.810000, 8.960000, 8.910000, 8.860000, 9.010000, 9.160000, 9.010000, 9.010000, 9.060000, 8.860000, 8.860000, 7.160000, 6.510000, 5.910000, 5.410000, 4.960000, 4.910000, 4.610000, 4.010000, 3.760000, 3.760000, 3.660000, 3.460000, 3.310000, 3.160000, 2.810000, 2.710000, 2.560000, 2.460000, 2.410000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.240000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.120000, 1.070000, 1.120000, 1.090000, 1.120000, 1.070000, 1.120000, 1.070000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 753, 301000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -20.041801, 26.277300, 0.588513 ], "estimate": [ -20.041801, 26.277300, 0.588513 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.740000, 0.770000, 0.690000, 0.690000, 0.720000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.340000, 1.340000, 1.440000, 1.440000, 1.460000, 1.510000, 1.560000, 1.610000, 1.690000, 1.790000, 1.840000, 1.890000, 2.010000, 2.060000, 2.210000, 2.310000, 2.660000, 2.910000, 3.060000, 3.260000, 3.290000, 3.410000, 3.710000, 4.560000, 4.640000, 5.010000, 5.610000, 6.460000, 13.810000, 10.810000, 10.810000, 9.060000, 8.860000, 8.860000, 8.810000, 8.960000, 10.560000, 8.960000, 8.960000, 8.960000, 8.810000, 8.860000, 7.010000, 6.360000, 5.760000, 5.310000, 4.810000, 4.790000, 4.610000, 4.010000, 3.760000, 3.660000, 3.610000, 3.460000, 3.310000, 3.110000, 2.790000, 2.660000, 2.560000, 2.410000, 2.360000, 2.260000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.340000, 1.240000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.120000, 1.090000, 1.090000, 1.170000, 1.090000, 1.090000, 1.120000, 1.140000, 1.120000, 1.040000, 1.070000, 1.120000, 1.070000, 1.040000, 1.120000, 1.070000, 1.070000, 1.120000, 1.070000, 1.070000, 1.020000, 1.070000, 1.070000, 1.020000, 1.070000 ], "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": [ 753, 539998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.962601, 26.330601, 0.591035 ], "estimate": [ -19.962601, 26.330601, 0.591035 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.360000, 1.410000, 1.490000, 1.510000, 1.590000, 1.640000, 1.690000, 1.790000, 1.890000, 1.910000, 2.010000, 2.110000, 2.210000, 2.340000, 2.760000, 2.910000, 3.060000, 3.240000, 3.210000, 3.410000, 3.660000, 4.560000, 4.590000, 5.010000, 5.660000, 6.460000, 13.710000, 10.810000, 10.510000, 8.960000, 8.760000, 8.710000, 8.760000, 8.910000, 10.660000, 8.860000, 8.860000, 8.910000, 8.710000, 8.760000, 7.010000, 6.360000, 5.760000, 5.310000, 4.910000, 4.760000, 4.560000, 4.310000, 3.710000, 3.610000, 3.610000, 3.410000, 3.310000, 3.160000, 2.860000, 2.660000, 2.510000, 2.410000, 2.360000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.190000, 1.240000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.120000, 1.090000, 1.090000, 1.090000, 1.090000, 1.070000, 1.120000, 1.120000, 1.040000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.120000, 1.070000, 1.070000, 1.070000, 1.020000, 1.070000, 1.070000 ], "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": [ 753, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.918600, 26.360001, 0.587673 ], "estimate": [ -19.918600, 26.360001, 0.587673 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.770000, 0.740000, 0.770000, 0.720000, 0.740000, 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, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.360000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.890000, 1.960000, 2.060000, 2.160000, 2.360000, 2.710000, 2.810000, 3.060000, 3.140000, 3.140000, 3.360000, 3.560000, 4.460000, 4.540000, 4.860000, 5.360000, 6.160000, 13.660000, 13.560000, 10.660000, 10.710000, 8.810000, 8.660000, 8.660000, 8.760000, 8.910000, 8.810000, 8.760000, 8.810000, 8.710000, 8.610000, 7.260000, 6.510000, 5.910000, 5.410000, 5.010000, 4.610000, 4.660000, 4.360000, 3.760000, 3.610000, 3.510000, 3.510000, 3.310000, 3.160000, 3.060000, 2.810000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 1.090000, 1.070000, 1.040000, 1.120000, 1.070000, 1.070000, 1.070000, 1.040000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 754, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.852100, 26.404200, 0.580526 ], "estimate": [ -19.852100, 26.404200, 0.580526 ], "true_pose": [ null, null, null ], "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, 0.730000, 0.730000, 0.730000, 0.780000, 0.730000, 0.730000, 0.700000, 0.700000, 0.750000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.150000, 1.200000, 1.250000, 1.250000, 1.250000, 1.270000, 1.320000, 1.350000, 1.370000, 1.400000, 1.500000, 1.550000, 1.600000, 1.650000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.070000, 2.270000, 2.620000, 2.720000, 2.870000, 3.070000, 3.050000, 3.120000, 3.370000, 4.070000, 4.370000, 4.400000, 4.920000, 5.520000, 6.270000, 13.570000, 10.920000, 10.670000, 8.920000, 8.620000, 8.570000, 8.620000, 8.720000, 8.920000, 8.670000, 8.720000, 8.670000, 8.570000, 8.570000, 7.170000, 6.520000, 5.870000, 5.420000, 4.970000, 4.570000, 4.520000, 4.370000, 4.070000, 3.520000, 3.470000, 3.420000, 3.270000, 3.120000, 3.020000, 2.920000, 2.570000, 2.470000, 2.370000, 2.270000, 2.250000, 2.200000, 2.150000, 2.100000, 2.000000, 1.950000, 1.850000, 1.900000, 1.800000, 1.750000, 1.700000, 1.700000, 1.650000, 1.600000, 1.550000, 1.550000, 1.500000, 1.500000, 1.450000, 1.450000, 1.450000, 1.400000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.250000, 1.250000, 1.300000, 1.250000, 1.200000, 1.200000, 1.200000, 1.200000, 1.150000, 1.200000, 1.200000, 1.150000, 1.150000, 1.150000, 1.150000, 1.100000, 1.100000, 1.100000, 1.100000, 1.130000, 1.130000, 1.080000, 1.130000, 1.100000, 1.050000, 1.080000, 1.080000, 1.050000, 1.080000, 1.130000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 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": [ 754, 340000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.771601, 26.456100, 0.561820 ], "estimate": [ -19.771601, 26.456100, 0.561820 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.740000, 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, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.740000, 1.840000, 1.910000, 2.010000, 2.160000, 2.510000, 2.610000, 2.760000, 2.910000, 2.990000, 2.940000, 3.160000, 3.360000, 4.210000, 4.340000, 4.510000, 5.110000, 5.760000, 6.560000, 13.410000, 13.410000, 8.910000, 8.710000, 8.560000, 8.510000, 8.510000, 8.660000, 10.210000, 8.660000, 8.610000, 8.610000, 8.460000, 8.460000, 6.960000, 6.260000, 5.660000, 5.260000, 4.860000, 4.460000, 4.460000, 4.260000, 4.060000, 3.510000, 3.360000, 3.360000, 3.210000, 3.110000, 2.960000, 2.860000, 2.760000, 2.460000, 2.360000, 2.260000, 2.240000, 2.110000, 2.090000, 2.040000, 1.990000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.140000, 1.090000, 1.040000, 1.090000, 1.090000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 754, 580000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.690800, 26.506699, 0.551941 ], "estimate": [ -19.690800, 26.506699, 0.551941 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.210000, 1.290000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.910000, 2.060000, 2.410000, 2.510000, 2.610000, 2.760000, 2.890000, 2.860000, 2.960000, 3.210000, 3.910000, 4.240000, 4.290000, 4.610000, 5.160000, 5.810000, 13.310000, 13.360000, 10.610000, 10.160000, 8.510000, 8.410000, 8.410000, 8.410000, 8.560000, 11.060000, 8.510000, 8.510000, 8.560000, 8.410000, 8.410000, 6.810000, 6.160000, 5.610000, 5.160000, 4.760000, 4.410000, 4.410000, 4.210000, 3.960000, 3.460000, 3.260000, 3.260000, 3.210000, 3.110000, 2.960000, 2.810000, 2.710000, 2.510000, 2.310000, 2.260000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.940000, 1.890000, 1.790000, 1.740000, 1.690000, 1.690000, 1.690000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.220000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.120000, 1.090000, 1.090000, 1.070000, 1.070000, 1.090000, 1.070000, 1.090000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 754, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.624300, 26.546799, 0.536598 ], "estimate": [ -19.624300, 26.546799, 0.536598 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.720000, 0.690000, 0.720000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.160000, 1.190000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.590000, 1.640000, 1.740000, 1.810000, 1.940000, 2.160000, 2.310000, 2.410000, 2.510000, 2.660000, 2.790000, 2.840000, 2.860000, 3.060000, 3.260000, 4.010000, 4.190000, 4.260000, 4.810000, 5.310000, 6.110000, 13.260000, 13.210000, 9.910000, 9.910000, 8.410000, 8.310000, 8.310000, 8.360000, 8.610000, 10.960000, 8.410000, 8.410000, 8.460000, 8.260000, 8.360000, 6.610000, 6.010000, 5.410000, 5.060000, 4.710000, 4.310000, 4.310000, 4.160000, 3.910000, 3.360000, 3.310000, 3.210000, 3.160000, 3.060000, 2.960000, 2.810000, 2.660000, 2.610000, 2.340000, 2.240000, 2.190000, 2.110000, 2.040000, 2.040000, 1.990000, 1.890000, 1.840000, 1.840000, 1.740000, 1.690000, 1.690000, 1.690000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.490000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.140000, 1.090000, 1.090000, 1.090000, 1.120000, 1.040000, 1.120000, 1.090000, 1.070000, 1.040000, 1.070000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 755, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.548700, 26.591599, 0.529031 ], "estimate": [ -19.548700, 26.591599, 0.529031 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.090000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.590000, 1.590000, 1.640000, 1.740000, 1.790000, 1.840000, 2.160000, 2.210000, 2.360000, 2.460000, 2.660000, 2.710000, 2.740000, 2.760000, 2.960000, 3.190000, 3.860000, 4.090000, 4.090000, 4.560000, 5.060000, 5.710000, 13.160000, 13.210000, 13.160000, 9.860000, 8.460000, 8.310000, 8.260000, 8.260000, 8.360000, 10.860000, 8.360000, 8.360000, 8.360000, 8.260000, 8.210000, 6.860000, 6.260000, 5.660000, 5.260000, 4.860000, 4.510000, 4.210000, 4.210000, 4.010000, 3.810000, 3.310000, 3.160000, 3.160000, 3.110000, 3.010000, 2.860000, 2.710000, 2.660000, 2.560000, 2.360000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.840000, 1.740000, 1.690000, 1.690000, 1.590000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.120000, 1.120000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 755, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.479399, 26.631201, 0.507802 ], "estimate": [ -19.479399, 26.631201, 0.507802 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 0.960000, 1.010000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.810000, 2.060000, 2.160000, 2.260000, 2.360000, 2.460000, 2.610000, 2.640000, 2.690000, 2.810000, 2.960000, 3.610000, 3.910000, 3.990000, 4.210000, 4.660000, 5.160000, 5.860000, 13.110000, 13.060000, 9.810000, 9.710000, 8.310000, 8.160000, 8.110000, 8.160000, 8.310000, 10.760000, 8.310000, 8.260000, 8.260000, 8.060000, 8.160000, 6.760000, 6.160000, 5.610000, 5.160000, 4.760000, 4.460000, 4.110000, 4.160000, 3.960000, 3.760000, 3.460000, 3.160000, 3.010000, 3.010000, 3.010000, 2.860000, 2.760000, 2.610000, 2.510000, 2.460000, 2.310000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.240000, 1.140000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.140000, 1.090000, 1.090000, 1.120000, 1.070000, 1.120000, 1.120000, 1.070000, 1.070000, 1.120000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 755, 580000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.399700, 26.674400, 0.486784 ], "estimate": [ -19.399700, 26.674400, 0.486784 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 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, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.010000, 1.010000, 0.990000, 1.040000, 1.040000, 1.090000, 1.190000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.540000, 1.640000, 1.640000, 1.760000, 1.960000, 2.110000, 2.160000, 2.260000, 2.410000, 2.510000, 2.590000, 2.590000, 2.660000, 2.860000, 3.060000, 3.710000, 3.940000, 3.990000, 4.410000, 4.910000, 5.460000, 6.260000, 13.060000, 13.010000, 9.710000, 8.410000, 8.110000, 8.110000, 8.160000, 8.160000, 8.460000, 10.660000, 8.210000, 8.210000, 8.260000, 8.060000, 8.110000, 6.410000, 5.910000, 5.410000, 5.010000, 4.610000, 4.310000, 4.110000, 4.110000, 3.910000, 3.660000, 3.210000, 3.110000, 3.010000, 2.960000, 2.960000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.310000, 2.140000, 2.090000, 1.990000, 1.940000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.170000, 1.090000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.090000, 1.120000, 1.070000, 1.070000 ], "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": [ 755, 701000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.334000, 26.708502, 0.472492 ], "estimate": [ -19.334000, 26.708502, 0.472492 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.590000, 1.660000, 1.960000, 2.060000, 2.110000, 2.210000, 2.360000, 2.460000, 2.560000, 2.540000, 2.560000, 2.760000, 2.910000, 3.560000, 3.860000, 3.890000, 4.110000, 4.510000, 5.010000, 5.710000, 13.010000, 13.010000, 9.860000, 9.660000, 8.310000, 8.060000, 8.060000, 8.110000, 8.210000, 10.710000, 8.210000, 8.160000, 8.160000, 8.110000, 8.060000, 8.060000, 6.210000, 5.660000, 5.260000, 4.860000, 4.510000, 4.260000, 4.060000, 4.010000, 3.810000, 3.660000, 3.110000, 3.010000, 2.960000, 2.960000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.410000, 2.360000, 2.090000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.190000, 1.140000, 1.140000, 1.170000, 1.140000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.070000, 1.070000 ], "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": [ 755, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.309599, 26.721001, 0.473542 ], "estimate": [ -19.309599, 26.721001, 0.473542 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.720000, 0.690000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 0.990000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.660000, 1.910000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.490000, 2.490000, 2.440000, 2.660000, 2.810000, 3.410000, 3.710000, 3.840000, 3.840000, 4.310000, 4.760000, 5.360000, 6.110000, 12.910000, 12.910000, 9.560000, 8.210000, 8.060000, 8.010000, 7.960000, 8.060000, 8.260000, 10.560000, 8.060000, 8.110000, 8.110000, 8.010000, 8.010000, 6.510000, 5.960000, 5.410000, 5.060000, 4.710000, 4.360000, 4.060000, 3.960000, 3.910000, 3.710000, 3.560000, 3.090000, 2.960000, 2.910000, 2.860000, 2.860000, 2.710000, 2.660000, 2.560000, 2.410000, 2.410000, 2.260000, 2.110000, 2.010000, 1.990000, 1.890000, 1.840000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.090000, 1.140000, 1.170000, 1.170000, 1.090000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.070000 ], "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": [ 756, 61000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.235300, 26.759300, 0.475014 ], "estimate": [ -19.235300, 26.759300, 0.475014 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.720000, 0.640000, 0.670000, 0.720000, 0.690000, 0.640000, 0.690000, 0.640000, 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, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.390000, 1.490000, 1.490000, 1.610000, 1.860000, 1.910000, 1.960000, 2.110000, 2.160000, 2.260000, 2.360000, 2.490000, 2.440000, 2.560000, 2.660000, 2.810000, 3.460000, 3.710000, 3.790000, 3.910000, 4.360000, 4.860000, 5.410000, 12.860000, 12.860000, 12.860000, 9.560000, 8.210000, 7.910000, 7.960000, 7.960000, 8.010000, 8.360000, 10.460000, 8.060000, 8.110000, 8.110000, 7.960000, 7.960000, 6.410000, 5.860000, 5.410000, 5.010000, 4.610000, 4.310000, 4.010000, 3.910000, 3.910000, 3.660000, 3.510000, 3.060000, 2.960000, 2.860000, 2.860000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.410000, 2.310000, 2.210000, 2.010000, 1.990000, 1.940000, 1.840000, 1.790000, 1.790000, 1.740000, 1.740000, 1.690000, 1.690000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.120000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 756, 179998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.210199, 26.772301, 0.477536 ], "estimate": [ -19.210199, 26.772301, 0.477536 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.720000, 0.720000, 0.690000, 0.640000, 0.670000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.610000, 1.790000, 1.860000, 1.860000, 2.010000, 2.060000, 2.160000, 2.260000, 2.390000, 2.340000, 2.340000, 2.510000, 2.660000, 3.010000, 3.510000, 3.690000, 3.690000, 3.960000, 4.460000, 4.910000, 5.610000, 12.810000, 12.810000, 9.560000, 9.410000, 8.010000, 7.860000, 7.910000, 7.860000, 8.010000, 10.410000, 8.010000, 7.960000, 8.010000, 8.010000, 7.810000, 7.910000, 6.310000, 5.760000, 5.360000, 4.910000, 4.560000, 4.310000, 4.010000, 3.860000, 3.860000, 3.660000, 3.460000, 3.310000, 2.910000, 2.860000, 2.760000, 2.760000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.310000, 2.210000, 2.190000, 2.010000, 1.890000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.090000, 1.140000, 1.120000, 1.120000, 1.090000, 1.120000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 756, 461000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.156700, 26.800501, 0.492670 ], "estimate": [ -19.156700, 26.800501, 0.492670 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.720000, 0.670000, 0.690000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.790000, 0.740000, 0.760000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.460000, 1.640000, 1.740000, 1.840000, 1.860000, 1.960000, 2.010000, 2.110000, 2.210000, 2.290000, 2.290000, 2.290000, 2.410000, 2.560000, 2.690000, 3.310000, 3.560000, 3.590000, 3.640000, 4.110000, 4.560000, 5.060000, 5.810000, 12.710000, 12.660000, 9.410000, 8.010000, 7.810000, 7.810000, 7.810000, 7.860000, 8.010000, 10.360000, 7.910000, 7.910000, 7.910000, 7.910000, 7.760000, 7.810000, 6.060000, 5.660000, 5.260000, 4.810000, 4.510000, 4.210000, 3.960000, 3.760000, 3.810000, 3.610000, 3.460000, 3.260000, 2.910000, 2.810000, 2.710000, 2.660000, 2.660000, 2.610000, 2.510000, 2.410000, 2.310000, 2.260000, 2.210000, 2.140000, 2.140000, 1.910000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.290000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.190000, 1.170000, 1.140000, 1.140000, 1.170000, 1.140000, 1.170000, 1.120000, 1.090000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 756, 780998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.084801, 26.840000, 0.506121 ], "estimate": [ -19.084801, 26.840000, 0.506121 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.720000, 0.720000, 0.720000, 0.670000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.410000, 1.590000, 1.690000, 1.740000, 1.840000, 1.860000, 1.960000, 1.960000, 2.110000, 2.160000, 2.240000, 2.240000, 2.210000, 2.310000, 2.510000, 2.660000, 3.260000, 3.560000, 3.540000, 3.710000, 4.060000, 4.560000, 5.060000, 5.760000, 12.660000, 9.960000, 9.760000, 8.010000, 7.860000, 7.760000, 7.710000, 7.810000, 8.060000, 9.560000, 7.810000, 7.860000, 7.860000, 7.860000, 7.710000, 7.760000, 6.160000, 5.610000, 5.260000, 4.860000, 4.510000, 4.210000, 3.960000, 3.760000, 3.760000, 3.660000, 3.460000, 3.310000, 3.110000, 2.760000, 2.710000, 2.660000, 2.660000, 2.560000, 2.510000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.090000, 2.040000, 1.910000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.340000, 1.240000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.170000, 1.170000, 1.140000, 1.140000, 1.170000, 1.090000, 1.120000, 1.140000, 1.140000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.070000 ], "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": [ 757, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -19.024700, 26.873501, 0.515999 ], "estimate": [ -19.024700, 26.873501, 0.515999 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.720000, 0.640000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.310000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.740000, 1.890000, 1.910000, 1.960000, 2.060000, 2.140000, 2.140000, 2.140000, 2.260000, 2.410000, 2.510000, 3.060000, 3.260000, 3.460000, 3.490000, 3.710000, 4.110000, 4.560000, 5.160000, 5.760000, 12.560000, 9.610000, 9.660000, 7.910000, 7.760000, 7.710000, 7.660000, 7.760000, 7.910000, 9.460000, 7.760000, 7.710000, 7.760000, 7.810000, 7.610000, 7.610000, 6.110000, 5.660000, 5.210000, 4.860000, 4.510000, 4.210000, 3.960000, 3.710000, 3.610000, 3.610000, 3.410000, 3.310000, 3.160000, 2.810000, 2.710000, 2.610000, 2.610000, 2.590000, 2.560000, 2.410000, 2.360000, 2.310000, 2.240000, 2.190000, 2.140000, 2.040000, 1.990000, 1.990000, 1.810000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.120000, 1.090000, 1.140000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 757, 341000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.945900, 26.919100, 0.527560 ], "estimate": [ -18.945900, 26.919100, 0.527560 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.640000, 0.690000, 0.670000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.210000, 1.390000, 1.490000, 1.540000, 1.540000, 1.590000, 1.690000, 1.740000, 1.790000, 1.860000, 1.910000, 1.960000, 2.090000, 2.040000, 2.040000, 2.110000, 2.210000, 2.360000, 2.490000, 3.060000, 3.260000, 3.390000, 3.390000, 3.710000, 4.060000, 4.510000, 5.110000, 5.710000, 12.510000, 9.660000, 9.460000, 7.910000, 7.660000, 7.560000, 7.560000, 7.610000, 7.810000, 9.560000, 7.710000, 7.660000, 7.660000, 7.660000, 7.560000, 7.560000, 6.110000, 5.610000, 5.210000, 4.810000, 4.510000, 4.210000, 3.960000, 3.760000, 3.610000, 3.610000, 3.460000, 3.310000, 3.160000, 3.010000, 2.710000, 2.560000, 2.560000, 2.460000, 2.510000, 2.410000, 2.360000, 2.310000, 2.290000, 2.160000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.140000, 1.140000, 1.220000, 1.170000, 1.170000, 1.140000, 1.120000, 1.170000, 1.170000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 757, 580000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.898001, 26.946999, 0.526298 ], "estimate": [ -18.898001, 26.946999, 0.526298 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.670000, 0.670000, 0.670000, 0.720000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.210000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.690000, 1.790000, 1.810000, 1.860000, 1.960000, 2.040000, 2.040000, 2.040000, 2.110000, 2.260000, 2.360000, 2.710000, 3.010000, 3.260000, 3.390000, 3.390000, 3.710000, 4.110000, 4.560000, 5.060000, 12.510000, 12.410000, 9.610000, 9.110000, 7.810000, 7.560000, 7.510000, 7.560000, 7.660000, 7.810000, 10.160000, 7.610000, 7.660000, 7.660000, 7.660000, 7.460000, 7.560000, 6.110000, 5.610000, 5.210000, 4.810000, 4.460000, 4.210000, 3.960000, 3.710000, 3.560000, 3.560000, 3.460000, 3.310000, 3.210000, 3.010000, 2.660000, 2.560000, 2.510000, 2.510000, 2.460000, 2.460000, 2.410000, 2.310000, 2.240000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.760000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.340000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.220000, 1.190000, 1.240000, 1.190000, 1.220000, 1.190000, 1.220000, 1.190000, 1.140000, 1.170000, 1.140000, 1.170000, 1.170000, 1.140000, 1.170000, 1.120000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 757, 740000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.851900, 26.974199, 0.538489 ], "estimate": [ -18.851900, 26.974199, 0.538489 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.640000, 0.670000, 0.690000, 0.670000, 0.670000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.160000, 1.290000, 1.390000, 1.390000, 1.490000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.910000, 1.990000, 1.990000, 1.960000, 2.060000, 2.160000, 2.310000, 2.760000, 3.010000, 3.210000, 3.340000, 3.340000, 3.610000, 3.960000, 4.410000, 4.910000, 5.610000, 10.460000, 12.360000, 9.060000, 7.810000, 7.610000, 7.460000, 7.510000, 7.510000, 7.610000, 10.010000, 9.910000, 7.560000, 7.560000, 7.610000, 7.460000, 7.460000, 7.460000, 5.760000, 5.310000, 4.960000, 4.560000, 4.310000, 4.010000, 3.760000, 3.610000, 3.510000, 3.510000, 3.360000, 3.210000, 3.060000, 2.960000, 2.640000, 2.510000, 2.460000, 2.460000, 2.460000, 2.410000, 2.360000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.890000, 1.790000, 1.710000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.540000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.220000, 1.140000, 1.190000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.090000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 757, 980000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.810101, 26.999199, 0.535336 ], "estimate": [ -18.810101, 26.999199, 0.535336 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.670000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.640000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.160000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.540000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.910000, 1.940000, 1.940000, 1.910000, 2.060000, 2.110000, 2.210000, 2.460000, 2.860000, 3.110000, 3.260000, 3.290000, 3.410000, 3.810000, 4.210000, 4.710000, 5.210000, 12.360000, 12.360000, 12.360000, 9.160000, 7.560000, 7.410000, 7.460000, 7.460000, 7.560000, 7.660000, 10.010000, 7.510000, 7.560000, 7.510000, 7.560000, 7.360000, 7.410000, 5.960000, 5.510000, 5.160000, 4.760000, 4.410000, 4.160000, 3.910000, 3.660000, 3.460000, 3.460000, 3.410000, 3.260000, 3.110000, 2.960000, 2.910000, 2.590000, 2.460000, 2.460000, 2.440000, 2.410000, 2.360000, 2.260000, 2.210000, 2.190000, 2.090000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.790000, 1.660000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.220000, 1.190000, 1.190000, 1.170000, 1.220000, 1.190000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 758, 221000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.776501, 27.019098, 0.535127 ], "estimate": [ -18.776501, 27.019098, 0.535127 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.620000, 0.590000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.060000, 1.190000, 1.290000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.860000, 1.890000, 1.860000, 1.840000, 1.960000, 2.110000, 2.210000, 2.290000, 2.710000, 2.960000, 3.210000, 3.240000, 3.190000, 3.560000, 3.960000, 4.410000, 4.910000, 5.510000, 10.310000, 12.260000, 9.260000, 7.710000, 7.410000, 7.410000, 7.410000, 7.410000, 7.610000, 9.060000, 9.810000, 7.460000, 7.460000, 7.510000, 7.360000, 7.360000, 7.410000, 5.710000, 5.310000, 4.960000, 4.610000, 4.310000, 4.010000, 3.810000, 3.610000, 3.460000, 3.410000, 3.360000, 3.160000, 3.060000, 2.910000, 2.860000, 2.540000, 2.410000, 2.360000, 2.360000, 2.360000, 2.310000, 2.290000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.890000, 1.790000, 1.790000, 1.790000, 1.610000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.190000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 758, 460000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.724800, 27.050400, 0.552572 ], "estimate": [ -18.724800, 27.050400, 0.552572 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.010000, 1.140000, 1.240000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.790000, 1.810000, 1.910000, 1.960000, 2.110000, 2.210000, 2.610000, 2.810000, 2.960000, 3.140000, 3.140000, 3.260000, 3.610000, 3.960000, 4.360000, 4.960000, 12.260000, 12.260000, 9.460000, 9.310000, 7.660000, 7.460000, 7.310000, 7.310000, 7.360000, 7.560000, 8.960000, 9.760000, 7.410000, 7.410000, 7.410000, 7.260000, 7.310000, 7.310000, 5.710000, 5.310000, 4.960000, 4.610000, 4.310000, 4.060000, 3.810000, 3.610000, 3.410000, 3.360000, 3.360000, 3.210000, 3.060000, 2.910000, 2.810000, 2.660000, 2.410000, 2.310000, 2.310000, 2.310000, 2.310000, 2.260000, 2.240000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.560000, 1.540000, 1.540000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 758, 779998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.667801, 27.085901, 0.558456 ], "estimate": [ -18.667801, 27.085901, 0.558456 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.720000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.960000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.790000, 1.760000, 1.810000, 1.810000, 1.910000, 2.060000, 2.190000, 2.610000, 2.810000, 2.960000, 3.090000, 3.090000, 3.260000, 3.560000, 3.910000, 4.360000, 4.910000, 5.610000, 10.210000, 12.160000, 9.010000, 9.110000, 7.260000, 7.260000, 7.260000, 7.310000, 7.460000, 7.560000, 9.760000, 7.360000, 7.360000, 7.410000, 7.360000, 7.210000, 7.310000, 5.810000, 5.360000, 4.960000, 4.660000, 4.360000, 4.060000, 3.810000, 3.660000, 3.410000, 3.310000, 3.310000, 3.260000, 3.110000, 2.960000, 2.810000, 2.710000, 2.460000, 2.390000, 2.310000, 2.260000, 2.260000, 2.260000, 2.240000, 2.190000, 2.090000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.460000, 1.490000, 1.490000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 759, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.626999, 27.111300, 0.555304 ], "estimate": [ -18.626999, 27.111300, 0.555304 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.690000, 0.670000, 0.720000, 0.640000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.960000, 0.990000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 1.960000, 2.060000, 2.110000, 2.610000, 2.760000, 2.960000, 3.040000, 3.040000, 3.260000, 3.560000, 3.860000, 4.310000, 4.860000, 12.160000, 10.110000, 12.110000, 8.910000, 7.560000, 7.210000, 7.260000, 7.260000, 7.210000, 7.410000, 7.510000, 9.710000, 7.360000, 7.310000, 7.360000, 7.360000, 7.160000, 7.210000, 5.810000, 5.410000, 5.010000, 4.610000, 4.310000, 4.110000, 3.860000, 3.660000, 3.410000, 3.260000, 3.260000, 3.260000, 3.060000, 2.960000, 2.860000, 2.710000, 2.660000, 2.440000, 2.310000, 2.210000, 2.210000, 2.210000, 2.240000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.460000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.170000 ], "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": [ 759, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.585300, 27.137400, 0.559928 ], "estimate": [ -18.585300, 27.137400, 0.559928 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.640000, 0.670000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.910000, 0.910000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.190000, 1.240000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.690000, 1.660000, 1.710000, 1.810000, 1.910000, 2.010000, 2.110000, 2.510000, 2.610000, 2.810000, 3.010000, 2.990000, 3.040000, 3.310000, 3.610000, 4.010000, 4.460000, 4.910000, 12.160000, 12.110000, 9.160000, 9.160000, 7.460000, 7.260000, 7.210000, 7.160000, 7.210000, 7.410000, 7.610000, 9.610000, 7.260000, 7.260000, 7.260000, 7.160000, 7.160000, 7.210000, 5.760000, 5.310000, 4.910000, 4.560000, 4.260000, 4.010000, 3.810000, 3.560000, 3.410000, 3.210000, 3.210000, 3.210000, 3.060000, 2.960000, 2.860000, 2.760000, 2.610000, 2.390000, 2.290000, 2.190000, 2.160000, 2.160000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.460000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000, 1.170000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 759, 451000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.561199, 27.152500, 0.558037 ], "estimate": [ -18.561199, 27.152500, 0.558037 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.860000, 0.910000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.610000, 1.660000, 1.740000, 1.790000, 1.860000, 1.960000, 2.040000, 2.460000, 2.560000, 2.760000, 2.910000, 2.990000, 2.990000, 3.260000, 3.510000, 3.910000, 4.260000, 4.810000, 12.060000, 10.110000, 12.010000, 7.510000, 7.510000, 7.160000, 7.110000, 7.160000, 7.160000, 7.310000, 7.410000, 9.710000, 7.210000, 7.210000, 7.260000, 7.260000, 7.110000, 7.160000, 5.810000, 5.410000, 5.010000, 4.660000, 4.360000, 4.060000, 3.860000, 3.710000, 3.460000, 3.260000, 3.160000, 3.160000, 3.060000, 2.960000, 2.860000, 2.760000, 2.660000, 2.560000, 2.290000, 2.290000, 2.190000, 2.160000, 2.160000, 2.110000, 2.090000, 2.040000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.460000, 1.410000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.220000, 1.240000, 1.240000, 1.270000, 1.190000, 1.140000, 1.190000, 1.190000, 1.170000, 1.170000, 1.170000, 1.190000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 759, 692000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.516500, 27.180300, 0.551521 ], "estimate": [ -18.516500, 27.180300, 0.551521 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.810000, 0.860000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.590000, 1.610000, 1.610000, 1.640000, 1.740000, 1.810000, 1.910000, 1.960000, 2.360000, 2.510000, 2.660000, 2.810000, 2.940000, 2.940000, 3.060000, 3.310000, 3.660000, 4.010000, 4.460000, 5.060000, 12.010000, 11.960000, 12.060000, 8.660000, 7.260000, 7.060000, 7.060000, 7.060000, 7.160000, 7.310000, 9.660000, 7.960000, 7.160000, 7.210000, 7.210000, 7.060000, 7.060000, 7.060000, 5.710000, 5.260000, 4.860000, 4.560000, 4.260000, 3.960000, 3.760000, 3.610000, 3.410000, 3.260000, 3.110000, 3.160000, 3.060000, 2.910000, 2.810000, 2.660000, 2.660000, 2.560000, 2.260000, 2.240000, 2.190000, 2.110000, 2.090000, 2.110000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.410000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.220000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 759, 929998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.474201, 27.206001, 0.540801 ], "estimate": [ -18.474201, 27.206001, 0.540801 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.670000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.760000, 0.810000, 0.810000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.540000, 1.560000, 1.590000, 1.510000, 1.560000, 1.640000, 1.740000, 1.810000, 1.860000, 1.940000, 2.310000, 2.460000, 2.610000, 2.760000, 2.890000, 2.890000, 3.010000, 3.260000, 3.510000, 3.860000, 4.310000, 4.810000, 11.960000, 12.010000, 11.910000, 7.410000, 7.360000, 7.160000, 7.010000, 7.060000, 7.010000, 7.160000, 7.360000, 9.610000, 7.110000, 7.110000, 7.110000, 7.160000, 6.960000, 7.060000, 7.110000, 5.360000, 5.010000, 4.660000, 4.360000, 4.060000, 3.810000, 3.660000, 3.410000, 3.310000, 3.160000, 3.110000, 3.110000, 2.960000, 2.810000, 2.760000, 2.660000, 2.560000, 2.460000, 2.210000, 2.190000, 2.140000, 2.060000, 2.060000, 2.060000, 2.040000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.360000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.290000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.140000, 1.170000, 1.220000, 1.220000, 1.140000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000 ], "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": [ 760, 169998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.443199, 27.224600, 0.542693 ], "estimate": [ -18.443199, 27.224600, 0.542693 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.620000, 0.670000, 0.640000, 0.670000, 0.640000, 0.670000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.760000, 0.760000, 0.840000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.510000, 1.460000, 1.590000, 1.640000, 1.740000, 1.760000, 1.810000, 1.890000, 2.310000, 2.410000, 2.560000, 2.710000, 2.790000, 2.840000, 2.910000, 3.210000, 3.510000, 3.860000, 4.260000, 4.710000, 11.910000, 9.810000, 11.860000, 8.610000, 7.360000, 7.110000, 7.010000, 7.010000, 7.010000, 7.160000, 7.260000, 9.560000, 7.110000, 7.110000, 7.110000, 7.110000, 6.960000, 7.010000, 7.010000, 5.460000, 5.060000, 4.710000, 4.360000, 4.160000, 3.910000, 3.660000, 3.460000, 3.310000, 3.160000, 3.010000, 3.040000, 3.010000, 2.860000, 2.760000, 2.710000, 2.610000, 2.510000, 2.410000, 2.190000, 2.140000, 2.090000, 2.010000, 2.010000, 2.060000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.390000, 1.360000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.220000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.190000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.140000, 1.170000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000 ], "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": [ 760, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.391100, 27.255800, 0.531553 ], "estimate": [ -18.391100, 27.255800, 0.531553 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.640000, 0.620000, 0.670000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.760000, 0.760000, 0.790000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.440000, 1.460000, 1.440000, 1.460000, 1.510000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.890000, 2.210000, 2.310000, 2.510000, 2.610000, 2.790000, 2.790000, 2.790000, 3.060000, 3.310000, 3.610000, 4.010000, 4.460000, 4.960000, 11.860000, 9.860000, 11.810000, 7.260000, 7.110000, 6.960000, 7.010000, 6.960000, 6.960000, 7.160000, 7.260000, 9.360000, 7.010000, 7.060000, 7.060000, 7.060000, 6.860000, 6.960000, 5.610000, 5.210000, 4.910000, 4.560000, 4.260000, 4.010000, 3.760000, 3.610000, 3.410000, 3.260000, 3.110000, 3.010000, 3.010000, 2.960000, 2.810000, 2.710000, 2.610000, 2.560000, 2.460000, 2.360000, 2.160000, 2.090000, 2.040000, 2.010000, 2.010000, 1.960000, 1.960000, 1.940000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.310000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.140000, 1.120000, 1.170000, 1.090000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 760, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.329599, 27.292000, 0.536808 ], "estimate": [ -18.329599, 27.292000, 0.536808 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.720000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.710000, 0.710000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 0.990000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.360000, 1.440000, 1.360000, 1.410000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.760000, 1.960000, 2.210000, 2.310000, 2.410000, 2.560000, 2.690000, 2.690000, 2.710000, 2.960000, 3.210000, 3.510000, 3.860000, 4.310000, 4.860000, 11.760000, 11.810000, 8.860000, 8.760000, 7.210000, 6.910000, 6.810000, 6.860000, 6.910000, 7.060000, 7.110000, 9.460000, 6.960000, 6.960000, 6.960000, 6.960000, 6.860000, 6.860000, 6.910000, 5.360000, 5.010000, 4.660000, 4.360000, 4.060000, 3.860000, 3.660000, 3.460000, 3.260000, 3.110000, 3.010000, 2.910000, 2.910000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.360000, 2.160000, 2.090000, 1.990000, 1.940000, 1.910000, 1.910000, 1.910000, 1.890000, 1.890000, 1.890000, 1.790000, 1.790000, 1.790000, 1.690000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.260000, 1.290000, 1.240000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.220000, 1.190000, 1.190000, 1.140000, 1.220000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000 ], "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": [ 760, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.254999, 27.337400, 0.559718 ], "estimate": [ -18.254999, 27.337400, 0.559718 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.670000, 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.620000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 1.040000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.360000, 1.340000, 1.310000, 1.360000, 1.360000, 1.390000, 1.440000, 1.540000, 1.590000, 1.690000, 1.690000, 1.860000, 2.110000, 2.210000, 2.310000, 2.510000, 2.610000, 2.640000, 2.610000, 2.810000, 3.010000, 3.260000, 3.560000, 3.910000, 4.360000, 4.910000, 11.710000, 9.710000, 8.810000, 8.410000, 7.010000, 6.810000, 6.760000, 6.810000, 6.810000, 7.010000, 7.060000, 9.310000, 6.910000, 6.860000, 6.910000, 6.910000, 6.760000, 6.760000, 6.810000, 5.310000, 4.960000, 4.610000, 4.310000, 4.060000, 3.810000, 3.610000, 3.410000, 3.310000, 3.110000, 3.010000, 2.860000, 2.860000, 2.810000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.310000, 2.260000, 2.110000, 1.990000, 1.940000, 1.940000, 1.860000, 1.860000, 1.860000, 1.840000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.440000, 1.420000, 1.340000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.220000, 1.190000, 1.140000, 1.190000, 1.170000, 1.220000, 1.170000, 1.170000, 1.120000, 1.140000, 1.120000, 1.170000, 1.140000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 761, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.185501, 27.381800, 0.578214 ], "estimate": [ -18.185501, 27.381800, 0.578214 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.670000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.620000, 0.670000, 0.620000, 0.690000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.260000, 1.290000, 1.210000, 1.260000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.660000, 1.960000, 2.060000, 2.110000, 2.310000, 2.410000, 2.510000, 2.540000, 2.540000, 2.710000, 2.860000, 3.160000, 3.410000, 3.710000, 4.060000, 4.560000, 11.610000, 9.560000, 11.610000, 8.310000, 7.010000, 6.860000, 6.660000, 6.660000, 6.710000, 6.760000, 6.860000, 9.260000, 7.310000, 6.810000, 6.760000, 6.810000, 6.810000, 6.610000, 6.710000, 6.760000, 5.160000, 4.810000, 4.510000, 4.160000, 3.960000, 3.760000, 3.560000, 3.360000, 3.210000, 3.060000, 2.910000, 2.860000, 2.790000, 2.760000, 2.710000, 2.610000, 2.560000, 2.460000, 2.360000, 2.310000, 2.260000, 2.190000, 2.010000, 1.960000, 1.890000, 1.840000, 1.760000, 1.810000, 1.790000, 1.810000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.590000, 1.590000, 1.590000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.420000, 1.420000, 1.340000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.190000, 1.190000, 1.170000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 761, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.122601, 27.424299, 0.611843 ], "estimate": [ -18.122601, 27.424299, 0.611843 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.700000, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.160000, 1.190000, 1.210000, 1.210000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.590000, 1.810000, 1.910000, 2.010000, 2.110000, 2.160000, 2.310000, 2.410000, 2.490000, 2.490000, 2.610000, 2.760000, 3.010000, 3.260000, 3.510000, 3.860000, 4.260000, 4.710000, 11.510000, 11.510000, 8.560000, 8.210000, 6.860000, 6.660000, 6.560000, 6.660000, 6.610000, 6.760000, 6.860000, 9.210000, 6.710000, 6.710000, 6.760000, 6.710000, 6.610000, 6.560000, 6.610000, 6.660000, 5.010000, 4.660000, 4.360000, 4.110000, 3.860000, 3.660000, 3.460000, 3.260000, 3.110000, 3.010000, 2.910000, 2.760000, 2.710000, 2.760000, 2.660000, 2.560000, 2.510000, 2.360000, 2.310000, 2.260000, 2.210000, 2.190000, 2.140000, 1.960000, 1.890000, 1.840000, 1.740000, 1.740000, 1.710000, 1.710000, 1.710000, 1.790000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.370000, 1.370000, 1.340000, 1.370000, 1.290000, 1.290000, 1.290000, 1.320000, 1.320000, 1.220000, 1.190000, 1.140000, 1.170000, 1.190000, 1.190000, 1.170000, 1.170000, 1.170000, 1.120000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 761, 730000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.066700, 27.464899, 0.633703 ], "estimate": [ -18.066700, 27.464899, 0.633703 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.770000, 0.770000, 0.770000, 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, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.160000, 1.140000, 1.160000, 1.110000, 1.160000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.790000, 1.860000, 1.910000, 2.010000, 2.110000, 2.260000, 2.360000, 2.390000, 2.440000, 2.410000, 2.610000, 2.810000, 3.010000, 3.310000, 3.560000, 3.910000, 4.360000, 11.510000, 11.460000, 9.410000, 11.460000, 8.160000, 6.760000, 6.560000, 6.510000, 6.560000, 6.560000, 6.710000, 6.760000, 9.160000, 6.660000, 6.610000, 6.660000, 6.660000, 6.510000, 6.560000, 6.560000, 5.410000, 4.960000, 4.610000, 4.310000, 4.060000, 3.860000, 3.610000, 3.460000, 3.260000, 3.110000, 2.960000, 2.810000, 2.760000, 2.660000, 2.660000, 2.610000, 2.560000, 2.460000, 2.410000, 2.310000, 2.260000, 2.190000, 2.140000, 2.140000, 2.040000, 1.910000, 1.790000, 1.790000, 1.740000, 1.690000, 1.660000, 1.660000, 1.640000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.390000, 1.370000, 1.370000, 1.370000, 1.370000, 1.340000, 1.290000, 1.320000, 1.270000, 1.320000, 1.270000, 1.270000, 1.270000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.090000, 1.120000, 1.140000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 761, 971998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -18.012100, 27.504999, 0.640218 ], "estimate": [ -18.012100, 27.504999, 0.640218 ], "true_pose": [ null, null, null ], "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, 0.820000, 0.770000, 0.770000, 0.770000, 0.790000, 0.770000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.110000, 1.090000, 1.110000, 1.110000, 1.110000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.740000, 1.790000, 1.860000, 1.960000, 2.010000, 2.110000, 2.210000, 2.310000, 2.340000, 2.340000, 2.410000, 2.560000, 2.760000, 2.960000, 3.210000, 3.510000, 3.860000, 4.310000, 11.410000, 11.360000, 11.360000, 8.460000, 6.860000, 6.760000, 6.560000, 6.510000, 6.560000, 6.460000, 6.660000, 6.710000, 8.560000, 6.760000, 6.610000, 6.560000, 6.560000, 6.610000, 6.410000, 6.460000, 6.560000, 5.010000, 4.660000, 4.360000, 4.060000, 3.860000, 3.660000, 3.510000, 3.310000, 3.160000, 3.010000, 2.860000, 2.760000, 2.660000, 2.560000, 2.590000, 2.510000, 2.510000, 2.410000, 2.310000, 2.260000, 2.210000, 2.190000, 2.090000, 2.040000, 2.040000, 1.990000, 1.790000, 1.740000, 1.690000, 1.640000, 1.660000, 1.610000, 1.640000, 1.610000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.370000, 1.320000, 1.370000, 1.370000, 1.320000, 1.290000, 1.240000, 1.290000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.170000, 1.170000, 1.140000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 762, 210000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.951601, 27.550501, 0.644001 ], "estimate": [ -17.951601, 27.550501, 0.644001 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.040000, 1.090000, 1.060000, 1.060000, 1.060000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.510000, 1.640000, 1.790000, 1.790000, 1.860000, 1.960000, 2.010000, 2.110000, 2.210000, 2.290000, 2.340000, 2.340000, 2.510000, 2.610000, 2.810000, 3.060000, 3.260000, 3.560000, 3.910000, 4.360000, 11.360000, 11.310000, 9.310000, 8.410000, 8.260000, 6.810000, 6.460000, 6.410000, 6.460000, 6.410000, 6.560000, 6.610000, 8.460000, 6.660000, 6.560000, 6.560000, 6.560000, 6.560000, 6.360000, 6.460000, 6.460000, 4.960000, 4.610000, 4.360000, 4.060000, 3.810000, 3.610000, 3.460000, 3.310000, 3.110000, 2.960000, 2.860000, 2.760000, 2.610000, 2.560000, 2.560000, 2.560000, 2.510000, 2.360000, 2.310000, 2.260000, 2.190000, 2.140000, 2.140000, 2.040000, 2.040000, 1.940000, 1.890000, 1.710000, 1.690000, 1.640000, 1.640000, 1.590000, 1.560000, 1.560000, 1.590000, 1.560000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.440000, 1.390000, 1.420000, 1.390000, 1.370000, 1.370000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.220000, 1.270000, 1.220000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.150000, 1.100000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 762, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.889500, 27.597500, 0.655561 ], "estimate": [ -17.889500, 27.597500, 0.655561 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.770000, 0.770000, 0.820000, 0.790000, 0.770000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.010000, 1.040000, 1.010000, 1.010000, 1.010000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.390000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.860000, 1.960000, 2.010000, 2.110000, 2.240000, 2.190000, 2.240000, 2.310000, 2.460000, 2.660000, 2.860000, 3.010000, 3.210000, 3.560000, 3.910000, 4.310000, 11.310000, 11.260000, 9.310000, 8.310000, 8.110000, 6.710000, 6.460000, 6.360000, 6.360000, 6.360000, 6.460000, 6.610000, 8.310000, 6.860000, 6.460000, 6.460000, 6.460000, 6.510000, 6.310000, 6.360000, 6.410000, 4.960000, 4.560000, 4.360000, 4.060000, 3.810000, 3.660000, 3.460000, 3.260000, 3.160000, 3.010000, 2.860000, 2.710000, 2.660000, 2.510000, 2.460000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.710000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.510000, 1.510000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.320000, 1.320000, 1.320000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.240000, 1.270000, 1.240000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.220000, 1.150000, 1.100000, 1.070000, 1.070000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000 ], "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": [ 762, 690000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.827600, 27.646700, 0.690452 ], "estimate": [ -17.827600, 27.646700, 0.690452 ], "true_pose": [ null, null, null ], "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": [ 0.790000, 0.820000, 0.820000, 0.790000, 0.740000, 0.820000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.960000, 0.910000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.260000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.760000, 1.840000, 1.860000, 1.910000, 2.010000, 2.110000, 2.140000, 2.140000, 2.210000, 2.310000, 2.460000, 2.610000, 2.760000, 2.960000, 3.210000, 3.510000, 3.810000, 4.160000, 11.210000, 11.160000, 9.160000, 11.160000, 6.610000, 6.610000, 6.410000, 6.210000, 6.310000, 6.210000, 6.360000, 6.410000, 6.560000, 8.710000, 6.360000, 6.410000, 6.410000, 6.360000, 6.210000, 6.260000, 6.260000, 6.310000, 4.710000, 4.410000, 4.160000, 3.910000, 3.610000, 3.510000, 3.310000, 3.160000, 3.010000, 2.860000, 2.760000, 2.610000, 2.560000, 2.460000, 2.360000, 2.390000, 2.410000, 2.260000, 2.260000, 2.160000, 2.140000, 2.090000, 2.090000, 1.990000, 1.940000, 1.890000, 1.890000, 1.790000, 1.790000, 1.740000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.410000, 1.410000, 1.460000, 1.440000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.320000, 1.320000, 1.290000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.220000, 1.170000, 1.220000, 1.170000, 1.220000, 1.170000, 1.150000, 1.120000, 1.120000, 1.070000, 1.120000, 1.070000, 1.070000, 1.120000, 1.120000, 1.070000 ], "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": [ 763, 9998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.772100, 27.693798, 0.708318 ], "estimate": [ -17.772100, 27.693798, 0.708318 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.820000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.970000, 0.960000, 0.890000, 0.910000, 0.860000, 0.910000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.260000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.860000, 1.910000, 2.060000, 2.060000, 2.090000, 2.090000, 2.160000, 2.210000, 2.360000, 2.510000, 2.660000, 2.860000, 3.110000, 3.310000, 3.560000, 3.960000, 4.310000, 11.160000, 11.110000, 9.110000, 8.260000, 7.760000, 6.560000, 6.310000, 6.160000, 6.210000, 6.160000, 6.210000, 6.310000, 6.560000, 8.610000, 6.260000, 6.310000, 6.310000, 6.310000, 6.160000, 6.160000, 6.210000, 6.260000, 4.610000, 4.310000, 4.060000, 3.810000, 3.610000, 3.410000, 3.210000, 3.110000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.310000, 2.310000, 2.260000, 2.260000, 2.160000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.560000, 1.540000, 1.440000, 1.440000, 1.440000, 1.440000, 1.410000, 1.360000, 1.410000, 1.410000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.340000, 1.290000, 1.320000, 1.270000, 1.240000, 1.240000, 1.270000, 1.270000, 1.220000, 1.220000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.150000, 1.070000, 1.120000, 1.070000, 1.070000, 1.070000, 1.070000 ], "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": [ 763, 250000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.716900, 27.740400, 0.688349 ], "estimate": [ -17.716900, 27.740400, 0.688349 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.790000, 0.820000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.910000, 0.910000, 0.860000, 0.860000, 0.810000, 0.860000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.210000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.690000, 1.790000, 1.840000, 1.910000, 1.960000, 2.040000, 2.040000, 2.040000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.760000, 2.960000, 3.210000, 3.460000, 3.710000, 4.110000, 11.060000, 11.060000, 8.910000, 11.010000, 7.710000, 7.710000, 6.310000, 6.110000, 6.110000, 6.060000, 6.160000, 6.210000, 6.310000, 8.710000, 6.260000, 6.210000, 6.260000, 6.310000, 6.260000, 6.110000, 6.110000, 6.110000, 4.760000, 4.460000, 4.210000, 3.960000, 3.710000, 3.460000, 3.310000, 3.160000, 3.010000, 2.910000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.310000, 2.210000, 2.210000, 2.260000, 2.160000, 2.160000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.690000, 1.690000, 1.560000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.360000, 1.310000, 1.360000, 1.390000, 1.340000, 1.340000, 1.390000, 1.340000, 1.340000, 1.290000, 1.320000, 1.320000, 1.290000, 1.270000, 1.270000, 1.240000, 1.190000, 1.240000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.100000 ], "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": [ 763, 480000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.654499, 27.790100, 0.644422 ], "estimate": [ -17.654499, 27.790100, 0.644422 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.820000, 0.820000, 0.820000, 0.770000, 0.820000, 0.840000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.840000, 0.860000, 0.810000, 0.810000, 0.810000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.110000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 1.940000, 1.940000, 1.940000, 1.960000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.760000, 2.960000, 3.210000, 3.460000, 3.760000, 4.110000, 10.960000, 10.960000, 8.760000, 10.910000, 6.410000, 7.510000, 6.310000, 6.010000, 6.110000, 6.010000, 6.010000, 6.010000, 6.210000, 6.410000, 6.210000, 6.160000, 6.160000, 6.160000, 6.210000, 6.010000, 6.010000, 6.060000, 6.060000, 4.510000, 4.210000, 3.910000, 3.710000, 3.510000, 3.310000, 3.160000, 3.010000, 2.860000, 2.760000, 2.660000, 2.510000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.140000, 2.160000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.410000, 1.390000, 1.390000, 1.390000, 1.340000, 1.290000, 1.340000, 1.260000, 1.260000, 1.310000, 1.340000, 1.340000, 1.340000, 1.290000, 1.320000, 1.270000, 1.320000, 1.320000, 1.290000, 1.220000, 1.190000, 1.270000, 1.240000, 1.190000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.200000, 1.170000, 1.120000, 1.170000, 1.170000 ], "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": [ 763, 720000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.594500, 27.833601, 0.603856 ], "estimate": [ -17.594500, 27.833601, 0.603856 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.860000, 0.790000, 0.760000, 0.840000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.110000, 1.140000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.590000, 1.640000, 1.740000, 1.760000, 1.860000, 1.890000, 1.840000, 1.890000, 1.910000, 1.960000, 2.110000, 2.160000, 2.310000, 2.410000, 2.560000, 2.760000, 2.960000, 3.160000, 3.410000, 3.710000, 4.060000, 10.910000, 10.910000, 8.910000, 10.860000, 7.610000, 7.560000, 6.210000, 6.010000, 6.010000, 5.960000, 5.910000, 6.060000, 6.160000, 6.360000, 6.510000, 6.060000, 6.110000, 6.110000, 6.110000, 5.910000, 5.910000, 5.960000, 6.010000, 4.510000, 4.210000, 3.960000, 3.760000, 3.560000, 3.310000, 3.160000, 3.010000, 2.910000, 2.760000, 2.710000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.160000, 2.110000, 2.110000, 2.110000, 2.090000, 2.040000, 1.990000, 1.990000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.360000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.210000, 1.260000, 1.290000, 1.310000, 1.290000, 1.320000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.270000, 1.220000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.150000, 1.200000, 1.170000 ], "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": [ 763, 879998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.517099, 27.884600, 0.563291 ], "estimate": [ -17.517099, 27.884600, 0.563291 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.820000, 0.770000, 0.770000, 0.770000, 0.820000, 0.820000, 0.820000, 0.820000, 0.790000, 0.820000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.820000, 0.790000, 0.810000, 0.760000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.010000, 1.010000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.790000, 1.790000, 1.790000, 1.840000, 1.910000, 1.960000, 2.110000, 2.210000, 2.360000, 2.460000, 2.660000, 2.760000, 2.960000, 3.210000, 3.460000, 3.760000, 10.910000, 10.860000, 10.810000, 10.860000, 10.760000, 7.410000, 6.210000, 6.110000, 5.860000, 5.860000, 5.860000, 5.860000, 5.910000, 6.110000, 6.310000, 6.010000, 5.960000, 6.010000, 6.010000, 6.010000, 5.810000, 5.810000, 5.860000, 5.910000, 4.410000, 4.110000, 3.960000, 3.660000, 3.510000, 3.310000, 3.160000, 2.960000, 2.910000, 2.760000, 2.660000, 2.510000, 2.460000, 2.360000, 2.260000, 2.210000, 2.190000, 2.090000, 2.010000, 2.040000, 2.060000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.310000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.160000, 1.210000, 1.290000, 1.290000, 1.240000, 1.270000, 1.240000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.200000 ], "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": [ 764, 120000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.446400, 27.928701, 0.557616 ], "estimate": [ -17.446400, 27.928701, 0.557616 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.710000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.960000, 1.010000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.690000, 1.690000, 1.740000, 1.740000, 1.690000, 1.840000, 1.860000, 1.910000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.760000, 2.960000, 3.210000, 3.460000, 3.760000, 10.810000, 10.810000, 10.760000, 10.760000, 10.710000, 7.360000, 6.110000, 6.010000, 5.810000, 5.810000, 5.810000, 5.810000, 5.910000, 5.910000, 6.160000, 6.110000, 5.910000, 5.960000, 5.960000, 5.960000, 5.760000, 5.760000, 5.810000, 5.860000, 4.410000, 4.110000, 3.910000, 3.710000, 3.460000, 3.310000, 3.160000, 3.010000, 2.860000, 2.760000, 2.660000, 2.510000, 2.460000, 2.360000, 2.310000, 2.160000, 2.140000, 2.090000, 2.040000, 2.010000, 1.990000, 1.960000, 1.990000, 1.890000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.490000, 1.440000, 1.390000, 1.390000, 1.260000, 1.290000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.160000, 1.220000, 1.240000, 1.240000, 1.270000, 1.220000, 1.190000, 1.220000, 1.220000, 1.220000, 1.190000, 1.140000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.150000 ], "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": [ 764, 279998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.379700, 27.970100, 0.548999 ], "estimate": [ -17.379700, 27.970100, 0.548999 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.770000, 0.820000, 0.820000, 0.820000, 0.770000, 0.820000, 0.820000, 0.720000, 0.740000, 0.720000, 0.720000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.910000, 0.910000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.690000, 1.690000, 1.690000, 1.740000, 1.840000, 1.890000, 1.960000, 2.060000, 2.160000, 2.210000, 2.410000, 2.560000, 2.660000, 2.860000, 3.060000, 3.310000, 3.560000, 3.860000, 10.760000, 10.710000, 10.710000, 10.660000, 8.010000, 7.310000, 6.010000, 5.860000, 5.710000, 5.760000, 5.710000, 5.760000, 5.860000, 5.960000, 6.210000, 5.860000, 5.810000, 5.860000, 5.860000, 5.910000, 5.710000, 5.710000, 5.760000, 5.760000, 4.310000, 4.010000, 3.810000, 3.610000, 3.410000, 3.210000, 3.060000, 2.960000, 2.860000, 2.660000, 2.610000, 2.460000, 2.410000, 2.310000, 2.290000, 2.190000, 2.190000, 2.090000, 1.990000, 1.910000, 1.910000, 1.940000, 1.910000, 1.890000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.210000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.170000, 1.190000, 1.190000, 1.270000, 1.220000, 1.220000, 1.170000, 1.170000, 1.220000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 764, 490000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.326000, 28.002600, 0.538279 ], "estimate": [ -17.326000, 28.002600, 0.538279 ], "true_pose": [ null, null, null ], "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": [ 0.820000, 0.770000, 0.750000, 0.700000, 0.750000, 0.700000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.810000, 0.810000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.590000, 1.560000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 1.960000, 2.060000, 2.160000, 2.310000, 2.460000, 2.610000, 2.760000, 2.910000, 3.160000, 3.410000, 3.710000, 10.660000, 10.610000, 10.610000, 10.610000, 10.510000, 7.160000, 5.960000, 5.810000, 5.610000, 5.610000, 5.610000, 5.610000, 5.660000, 5.710000, 6.010000, 8.010000, 5.760000, 5.760000, 5.760000, 5.760000, 5.760000, 5.610000, 5.660000, 5.660000, 5.660000, 4.160000, 3.910000, 3.760000, 3.510000, 3.360000, 3.210000, 3.010000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.240000, 2.160000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.860000, 1.840000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.440000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.340000, 1.210000, 1.160000, 1.140000, 1.140000, 1.190000, 1.140000, 1.170000, 1.190000, 1.120000, 1.140000, 1.140000, 1.120000, 1.140000, 1.190000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 764, 809998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.237801, 28.053900, 0.513477 ], "estimate": [ -17.237801, 28.053900, 0.513477 ], "true_pose": [ null, null, null ], "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, 0.700000, 0.750000, 0.720000, 0.720000, 0.690000, 0.720000, 0.670000, 0.740000, 0.690000, 0.720000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.810000, 0.810000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.490000, 1.490000, 1.540000, 1.540000, 1.540000, 1.510000, 1.460000, 1.590000, 1.640000, 1.690000, 1.790000, 1.840000, 1.910000, 1.960000, 2.060000, 2.210000, 2.310000, 2.410000, 2.560000, 2.760000, 2.960000, 3.160000, 3.460000, 3.710000, 10.610000, 10.560000, 10.510000, 8.410000, 10.460000, 5.910000, 5.960000, 5.810000, 5.510000, 5.560000, 5.510000, 5.560000, 5.560000, 5.760000, 6.010000, 6.310000, 5.660000, 5.710000, 5.710000, 5.710000, 5.710000, 5.560000, 5.560000, 5.610000, 5.610000, 4.160000, 3.960000, 3.710000, 3.510000, 3.360000, 3.160000, 3.060000, 2.910000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.310000, 2.190000, 2.190000, 2.140000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.810000, 1.760000, 1.810000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.490000, 1.440000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 764, 919998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.154200, 28.100000, 0.498345 ], "estimate": [ -17.154200, 28.100000, 0.498345 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.720000, 0.720000, 0.670000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.760000, 0.760000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.490000, 1.510000, 1.440000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.840000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.660000, 2.810000, 3.060000, 3.260000, 3.510000, 10.610000, 10.510000, 10.510000, 10.460000, 10.460000, 7.460000, 5.910000, 5.810000, 5.660000, 5.560000, 5.510000, 5.410000, 5.510000, 5.560000, 5.710000, 8.110000, 5.760000, 5.660000, 5.660000, 5.660000, 5.660000, 5.510000, 5.510000, 5.510000, 5.560000, 5.560000, 4.060000, 3.860000, 3.610000, 3.460000, 3.260000, 3.110000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.410000, 2.310000, 2.310000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.760000, 1.760000, 1.760000, 1.760000, 1.740000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.190000, 1.140000, 1.170000, 1.120000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.120000, 1.090000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 765, 49998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.132401, 28.111900, 0.492459 ], "estimate": [ -17.132401, 28.111900, 0.492459 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.670000, 0.720000, 0.720000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.710000, 0.760000, 0.740000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.410000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.960000, 2.010000, 2.110000, 2.260000, 2.360000, 2.460000, 2.610000, 2.810000, 3.010000, 3.260000, 3.510000, 10.460000, 10.460000, 10.410000, 8.160000, 10.360000, 5.760000, 5.760000, 5.660000, 5.510000, 5.410000, 5.410000, 5.410000, 5.460000, 5.460000, 5.610000, 5.910000, 5.660000, 5.560000, 5.560000, 5.560000, 5.560000, 5.510000, 5.410000, 5.460000, 5.510000, 5.510000, 4.060000, 3.810000, 3.610000, 3.410000, 3.260000, 3.110000, 2.960000, 2.860000, 2.710000, 2.560000, 2.560000, 2.410000, 2.310000, 2.260000, 2.190000, 2.190000, 2.090000, 2.090000, 1.990000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.710000, 1.660000, 1.690000, 1.710000, 1.740000, 1.640000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.140000, 1.140000, 1.140000, 1.170000, 1.140000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.070000, 1.100000, 1.100000, 1.150000 ], "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": [ 765, 291000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.069201, 28.145401, 0.486995 ], "estimate": [ -17.069201, 28.145401, 0.486995 ], "true_pose": [ null, null, null ], "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, 0.670000, 0.670000, 0.720000, 0.670000, 0.670000, 0.720000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.310000, 1.360000, 1.360000, 1.360000, 1.440000, 1.490000, 1.490000, 1.590000, 1.590000, 1.690000, 1.740000, 1.840000, 1.910000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.610000, 2.760000, 2.960000, 3.210000, 3.460000, 10.460000, 10.410000, 10.410000, 8.360000, 10.310000, 7.310000, 5.810000, 5.560000, 5.460000, 5.360000, 5.410000, 5.410000, 5.410000, 5.560000, 5.560000, 5.810000, 6.110000, 5.460000, 5.460000, 5.510000, 5.510000, 5.560000, 5.360000, 5.410000, 5.410000, 5.460000, 4.110000, 3.910000, 3.660000, 3.460000, 3.310000, 3.160000, 3.010000, 2.910000, 2.810000, 2.660000, 2.510000, 2.460000, 2.410000, 2.310000, 2.240000, 2.190000, 2.090000, 2.040000, 2.040000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.660000, 1.660000, 1.640000, 1.690000, 1.690000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.270000, 1.240000, 1.270000, 1.240000, 1.140000, 1.090000, 1.140000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 765, 519998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -17.026199, 28.168301, 0.490987 ], "estimate": [ -17.026199, 28.168301, 0.490987 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.670000, 0.670000, 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.310000, 1.290000, 1.260000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.790000, 1.810000, 1.910000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.610000, 2.810000, 3.060000, 3.260000, 10.360000, 10.360000, 10.310000, 10.260000, 10.410000, 7.510000, 5.710000, 5.660000, 5.510000, 5.410000, 5.310000, 5.310000, 5.310000, 5.410000, 5.510000, 5.460000, 7.910000, 5.510000, 5.460000, 5.460000, 5.460000, 5.460000, 5.410000, 5.310000, 5.310000, 5.360000, 5.360000, 4.010000, 3.810000, 3.560000, 3.460000, 3.260000, 3.110000, 2.960000, 2.860000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.310000, 2.240000, 2.140000, 2.140000, 2.040000, 1.990000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.610000, 1.560000, 1.640000, 1.640000, 1.640000, 1.590000, 1.540000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.340000, 1.340000, 1.290000, 1.240000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.270000, 1.220000, 1.220000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 765, 760998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.953300, 28.208101, 0.507802 ], "estimate": [ -16.953300, 28.208101, 0.507802 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.670000, 0.720000, 0.690000, 0.670000, 0.650000, 0.670000, 0.670000, 0.670000, 0.770000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.210000, 1.190000, 1.160000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.590000, 1.690000, 1.690000, 1.760000, 1.860000, 1.910000, 2.010000, 2.110000, 2.260000, 2.360000, 2.560000, 2.660000, 2.910000, 3.110000, 3.410000, 10.260000, 10.260000, 10.160000, 8.060000, 10.110000, 7.310000, 5.510000, 5.460000, 5.310000, 5.210000, 5.210000, 5.210000, 5.260000, 5.310000, 5.410000, 5.610000, 7.660000, 5.310000, 5.260000, 5.360000, 5.360000, 5.360000, 5.160000, 5.210000, 5.210000, 5.260000, 5.260000, 3.910000, 3.660000, 3.510000, 3.310000, 3.210000, 3.060000, 2.910000, 2.810000, 2.710000, 2.560000, 2.510000, 2.410000, 2.310000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.940000, 1.940000, 1.890000, 1.790000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.510000, 1.540000, 1.560000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.490000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.340000, 1.290000, 1.240000, 1.240000, 1.270000, 1.270000, 1.220000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.150000, 1.150000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 766, 81000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.859900, 28.262400, 0.545215 ], "estimate": [ -16.859900, 28.262400, 0.545215 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.750000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.110000, 1.140000, 1.110000, 1.110000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.590000, 1.590000, 1.690000, 1.740000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.310000, 2.410000, 2.610000, 2.760000, 3.010000, 3.160000, 10.210000, 10.160000, 10.110000, 10.110000, 7.860000, 10.060000, 5.410000, 5.460000, 5.360000, 5.260000, 5.110000, 5.060000, 5.160000, 5.160000, 5.210000, 5.410000, 5.560000, 5.660000, 5.260000, 5.210000, 5.260000, 5.310000, 5.310000, 5.110000, 5.110000, 5.110000, 5.210000, 5.210000, 3.810000, 3.610000, 3.410000, 3.260000, 3.110000, 3.010000, 2.860000, 2.710000, 2.610000, 2.510000, 2.460000, 2.360000, 2.340000, 2.240000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.510000, 1.460000, 1.510000, 1.510000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.270000, 1.240000, 1.240000, 1.240000, 1.240000, 1.220000, 1.220000, 1.220000, 1.270000, 1.220000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 766, 320000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.787100, 28.307301, 0.547948 ], "estimate": [ -16.787100, 28.307301, 0.547948 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.720000, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.790000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 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, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.060000, 1.040000, 1.040000, 1.060000, 1.010000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.690000, 1.740000, 1.760000, 1.810000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.560000, 2.660000, 2.860000, 3.110000, 10.110000, 10.060000, 10.060000, 10.010000, 7.860000, 9.960000, 5.310000, 5.360000, 5.210000, 5.160000, 5.060000, 5.010000, 5.010000, 5.010000, 5.060000, 5.160000, 5.310000, 7.460000, 5.160000, 5.160000, 5.160000, 5.160000, 5.160000, 5.160000, 4.960000, 5.110000, 5.110000, 5.110000, 5.110000, 3.710000, 3.560000, 3.310000, 3.210000, 3.060000, 2.910000, 2.810000, 2.660000, 2.560000, 2.510000, 2.410000, 2.360000, 2.260000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.410000, 1.410000, 1.440000, 1.410000, 1.440000, 1.440000, 1.440000, 1.390000, 1.440000, 1.340000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.270000, 1.270000, 1.270000, 1.270000, 1.220000, 1.220000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000 ], "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": [ 766, 639998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.739799, 28.336298, 0.552992 ], "estimate": [ -16.739799, 28.336298, 0.552992 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.010000, 1.040000, 1.010000, 1.010000, 1.010000, 1.040000, 1.040000, 1.040000, 1.140000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.810000, 1.860000, 1.960000, 2.060000, 2.110000, 2.310000, 2.460000, 2.560000, 2.760000, 2.960000, 10.060000, 10.060000, 9.960000, 9.960000, 9.960000, 7.660000, 5.210000, 5.210000, 5.260000, 5.210000, 5.060000, 4.960000, 4.960000, 5.010000, 5.010000, 5.010000, 5.210000, 5.360000, 7.410000, 5.110000, 5.060000, 5.110000, 5.110000, 5.110000, 5.010000, 4.960000, 5.010000, 5.010000, 5.010000, 5.110000, 3.610000, 3.460000, 3.310000, 3.160000, 3.010000, 2.910000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.310000, 2.210000, 2.190000, 2.140000, 2.090000, 1.990000, 1.990000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.590000, 1.540000, 1.490000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.410000, 1.360000, 1.410000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.270000, 1.240000, 1.270000, 1.220000, 1.190000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.220000, 1.170000 ], "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": [ 766, 879998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.684999, 28.370100, 0.551941 ], "estimate": [ -16.684999, 28.370100, 0.551941 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.720000, 0.720000, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 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, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.010000, 0.990000, 1.010000, 0.960000, 1.010000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.810000, 1.860000, 1.910000, 2.010000, 2.160000, 2.260000, 2.410000, 2.560000, 2.710000, 2.960000, 10.010000, 9.960000, 9.910000, 9.910000, 9.860000, 7.610000, 5.160000, 5.210000, 5.260000, 5.110000, 5.060000, 4.860000, 4.860000, 4.910000, 4.960000, 4.910000, 5.160000, 5.310000, 7.260000, 5.060000, 5.010000, 5.010000, 5.060000, 5.060000, 5.060000, 4.910000, 4.910000, 4.910000, 4.960000, 4.960000, 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, 2.190000, 2.190000, 2.090000, 1.990000, 1.990000, 1.940000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.360000, 1.360000, 1.390000, 1.410000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.320000, 1.290000, 1.320000, 1.290000, 1.290000, 1.270000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.270000, 1.270000, 1.270000, 1.220000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000 ], "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": [ 767, 120000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.608801, 28.417400, 0.559297 ], "estimate": [ -16.608801, 28.417400, 0.559297 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.770000, 0.770000, 0.720000, 0.720000, 0.820000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 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, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.910000, 0.940000, 0.940000, 0.910000, 0.910000, 0.910000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.860000, 1.960000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.710000, 2.910000, 9.910000, 9.910000, 9.860000, 9.760000, 9.810000, 9.810000, 9.760000, 5.110000, 5.110000, 5.010000, 4.910000, 4.810000, 4.760000, 4.810000, 4.860000, 4.860000, 4.960000, 5.010000, 5.260000, 5.110000, 4.910000, 4.960000, 4.960000, 5.010000, 5.010000, 4.860000, 4.810000, 4.860000, 4.860000, 4.910000, 4.960000, 3.510000, 3.360000, 3.160000, 3.010000, 2.910000, 2.810000, 2.710000, 2.610000, 2.460000, 2.410000, 2.310000, 2.290000, 2.210000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.310000, 1.310000, 1.310000, 1.360000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.340000, 1.240000, 1.290000, 1.290000, 1.270000, 1.240000, 1.290000, 1.270000, 1.270000, 1.190000, 1.220000, 1.190000, 1.270000, 1.270000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000 ], "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": [ 767, 360000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.542299, 28.459700, 0.566864 ], "estimate": [ -16.542299, 28.459700, 0.566864 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.910000, 0.890000, 0.890000, 0.860000, 0.910000, 0.860000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.760000, 1.810000, 1.910000, 2.010000, 2.110000, 2.260000, 2.360000, 2.510000, 2.710000, 2.910000, 9.810000, 9.810000, 9.810000, 9.760000, 9.760000, 7.410000, 5.210000, 5.060000, 5.060000, 4.960000, 4.810000, 4.710000, 4.710000, 4.760000, 4.810000, 4.760000, 4.910000, 4.910000, 5.160000, 5.010000, 4.860000, 4.860000, 4.910000, 4.910000, 4.910000, 4.810000, 4.760000, 4.760000, 4.810000, 4.860000, 4.910000, 3.510000, 3.310000, 3.210000, 3.010000, 2.910000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.340000, 2.290000, 2.190000, 2.190000, 2.090000, 2.040000, 1.990000, 1.890000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.440000, 1.340000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.260000, 1.260000, 1.290000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.270000, 1.220000, 1.270000, 1.270000, 1.240000, 1.270000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 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": [ 767, 559998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.485699, 28.495701, 0.568336 ], "estimate": [ -16.485699, 28.495701, 0.568336 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.720000, 0.770000, 0.820000, 0.720000, 0.770000, 0.720000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.860000, 0.840000, 0.810000, 0.860000, 0.810000, 0.810000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.810000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.560000, 2.760000, 9.860000, 9.760000, 9.710000, 9.710000, 9.660000, 9.660000, 9.610000, 6.460000, 4.960000, 4.960000, 4.860000, 4.760000, 4.660000, 4.660000, 4.710000, 4.760000, 4.710000, 4.910000, 5.110000, 5.210000, 4.910000, 4.810000, 4.810000, 4.860000, 4.860000, 4.860000, 4.660000, 4.710000, 4.710000, 4.760000, 4.810000, 4.760000, 3.460000, 3.260000, 3.110000, 3.010000, 2.860000, 2.810000, 2.660000, 2.560000, 2.460000, 2.390000, 2.310000, 2.240000, 2.210000, 2.140000, 2.040000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.260000, 1.260000, 1.270000, 1.290000, 1.290000, 1.340000, 1.290000, 1.240000, 1.290000, 1.240000, 1.270000, 1.320000, 1.270000, 1.270000, 1.240000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000 ], "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": [ 767, 759998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.422800, 28.536100, 0.569807 ], "estimate": [ -16.422800, 28.536100, 0.569807 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.720000, 0.770000, 0.770000, 0.720000, 0.770000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.860000, 0.790000, 0.760000, 0.760000, 0.760000, 0.810000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.540000, 1.590000, 1.640000, 1.740000, 1.740000, 1.810000, 1.960000, 2.060000, 2.160000, 2.260000, 2.360000, 2.510000, 2.710000, 9.710000, 9.660000, 9.660000, 9.610000, 9.610000, 9.610000, 9.560000, 6.560000, 4.860000, 4.860000, 4.810000, 4.710000, 4.610000, 4.610000, 4.660000, 4.710000, 4.810000, 4.810000, 4.910000, 5.010000, 4.860000, 4.710000, 4.710000, 4.760000, 4.810000, 4.810000, 4.710000, 4.610000, 4.660000, 4.660000, 4.710000, 4.710000, 4.760000, 3.310000, 3.160000, 3.010000, 2.910000, 2.810000, 2.660000, 2.610000, 2.510000, 2.410000, 2.340000, 2.260000, 2.190000, 2.190000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.320000, 1.290000, 1.240000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.220000, 1.270000, 1.220000, 1.220000, 1.220000, 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": [ 768, 0 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.362400, 28.574600, 0.565393 ], "estimate": [ -16.362400, 28.574600, 0.565393 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.720000, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.810000, 0.760000, 0.740000, 0.760000, 0.710000, 0.710000, 0.710000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.590000, 1.690000, 1.690000, 1.790000, 1.810000, 1.910000, 2.010000, 2.160000, 2.260000, 2.410000, 2.510000, 9.560000, 9.660000, 9.560000, 9.560000, 9.560000, 9.560000, 4.910000, 9.460000, 4.810000, 4.810000, 4.810000, 4.710000, 4.660000, 4.460000, 4.510000, 4.560000, 4.610000, 4.660000, 4.710000, 4.810000, 4.910000, 4.960000, 4.610000, 4.660000, 4.660000, 4.660000, 4.710000, 4.710000, 4.560000, 4.510000, 4.560000, 4.610000, 4.660000, 4.710000, 7.910000, 3.160000, 3.010000, 2.910000, 2.810000, 2.660000, 2.610000, 2.460000, 2.410000, 2.310000, 2.260000, 2.160000, 2.090000, 2.040000, 2.040000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.190000, 1.260000, 1.270000, 1.240000, 1.270000, 1.270000, 1.270000, 1.220000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.270000, 1.170000, 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": [ 768, 240000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.287600, 28.622601, 0.567704 ], "estimate": [ -16.287600, 28.622601, 0.567704 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.770000, 0.720000, 0.720000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.760000, 0.710000, 0.690000, 0.710000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.140000, 1.140000, 1.140000, 1.140000, 1.240000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.810000, 1.910000, 1.960000, 2.060000, 2.210000, 2.360000, 2.510000, 9.310000, 9.560000, 9.560000, 9.510000, 9.460000, 9.410000, 9.410000, 7.160000, 6.460000, 4.560000, 4.710000, 4.660000, 4.510000, 4.410000, 4.460000, 4.460000, 4.510000, 4.510000, 4.660000, 4.710000, 4.810000, 6.860000, 4.610000, 4.610000, 4.610000, 4.610000, 4.560000, 4.660000, 4.510000, 4.460000, 4.460000, 4.510000, 4.560000, 4.560000, 4.660000, 3.210000, 3.060000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.410000, 2.360000, 2.260000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.240000, 1.190000, 1.190000, 1.170000, 1.220000, 1.220000, 1.140000, 1.190000, 1.220000, 1.210000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.170000, 1.270000, 1.220000, 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": [ 768, 480000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.227900, 28.660500, 0.565603 ], "estimate": [ -16.227900, 28.660500, 0.565603 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.720000, 0.770000, 0.720000, 0.720000, 0.770000, 0.770000, 0.770000, 0.770000, 0.790000, 0.740000, 0.740000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.540000, 1.590000, 1.640000, 1.690000, 1.840000, 1.810000, 1.910000, 2.010000, 2.160000, 2.260000, 2.410000, 9.010000, 9.460000, 9.460000, 9.410000, 9.360000, 9.360000, 9.310000, 7.360000, 9.260000, 4.610000, 4.660000, 4.560000, 4.510000, 4.310000, 4.310000, 4.310000, 4.360000, 4.410000, 4.360000, 4.610000, 4.610000, 4.860000, 4.810000, 4.460000, 4.410000, 4.460000, 4.510000, 4.510000, 4.560000, 4.360000, 4.360000, 4.410000, 4.460000, 4.460000, 4.460000, 4.610000, 6.860000, 3.010000, 2.860000, 2.810000, 2.660000, 2.560000, 2.510000, 2.410000, 2.360000, 2.290000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.220000, 1.270000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000 ], "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": [ 768, 750998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.138100, 28.718500, 0.575902 ], "estimate": [ -16.138100, 28.718500, 0.575902 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.720000, 0.750000, 0.620000, 0.700000, 0.700000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 2.060000, 2.160000, 2.210000, 2.360000, 9.060000, 9.410000, 9.360000, 9.360000, 9.310000, 9.310000, 4.710000, 9.310000, 4.660000, 4.460000, 4.510000, 4.460000, 4.460000, 4.260000, 4.310000, 4.210000, 4.310000, 4.310000, 4.310000, 4.510000, 4.510000, 4.710000, 4.860000, 4.460000, 4.360000, 4.410000, 4.460000, 4.410000, 4.460000, 4.360000, 4.260000, 4.310000, 4.310000, 4.360000, 4.410000, 4.460000, 7.560000, 2.960000, 2.860000, 2.760000, 2.660000, 2.560000, 2.460000, 2.410000, 2.360000, 2.290000, 2.240000, 2.140000, 2.040000, 2.040000, 1.990000, 1.940000, 1.940000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.390000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.220000, 1.190000, 1.190000, 1.190000, 1.140000, 1.220000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.150000, 1.150000, 1.170000, 1.220000, 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": [ 768, 990000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -16.064699, 28.766001, 0.577584 ], "estimate": [ -16.064699, 28.766001, 0.577584 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.620000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000, 1.640000, 1.690000, 1.810000, 1.910000, 1.960000, 2.060000, 2.160000, 2.310000, 8.760000, 9.260000, 9.260000, 9.210000, 9.210000, 9.210000, 9.110000, 6.860000, 9.110000, 4.410000, 4.410000, 4.410000, 4.360000, 4.260000, 4.110000, 4.160000, 4.160000, 4.260000, 4.210000, 4.260000, 4.410000, 4.460000, 4.660000, 4.460000, 4.310000, 4.310000, 4.310000, 4.360000, 4.310000, 4.360000, 4.210000, 4.160000, 4.160000, 4.210000, 4.260000, 4.310000, 4.310000, 6.860000, 2.960000, 2.810000, 2.710000, 2.610000, 2.510000, 2.460000, 2.390000, 2.260000, 2.290000, 2.190000, 2.140000, 2.040000, 2.040000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.240000, 1.190000, 1.190000, 1.220000, 1.220000, 1.140000, 1.140000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.120000, 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": [ 769, 309998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.971601, 28.828402, 0.606799 ], "estimate": [ -15.971601, 28.828402, 0.606799 ], "true_pose": [ null, null, null ], "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, 0.620000, 0.640000, 0.670000, 0.640000, 0.670000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.840000, 0.840000, 0.890000, 0.790000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.810000, 1.910000, 2.060000, 2.160000, 8.060000, 8.560000, 9.060000, 9.160000, 9.110000, 9.060000, 9.110000, 9.060000, 9.010000, 4.310000, 4.310000, 4.360000, 4.260000, 4.210000, 4.160000, 4.060000, 4.060000, 4.000000, 4.110000, 4.160000, 4.110000, 4.260000, 4.360000, 4.410000, 4.410000, 4.260000, 4.160000, 4.210000, 4.210000, 4.210000, 4.260000, 4.260000, 4.060000, 4.060000, 4.110000, 4.160000, 4.160000, 4.210000, 4.260000, 6.510000, 6.460000, 2.760000, 2.660000, 2.560000, 2.460000, 2.360000, 2.340000, 2.240000, 2.190000, 2.140000, 2.040000, 1.990000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.220000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 769, 629998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.897400, 28.881201, 0.628868 ], "estimate": [ -15.897400, 28.881201, 0.628868 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.720000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.490000, 1.490000, 1.490000, 1.590000, 1.640000, 1.740000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 8.060000, 8.560000, 9.010000, 9.110000, 9.060000, 9.010000, 9.010000, 4.460000, 4.460000, 8.960000, 4.360000, 4.260000, 4.260000, 4.160000, 4.110000, 4.010000, 4.010000, 3.910000, 4.010000, 4.060000, 3.960000, 4.210000, 4.310000, 4.360000, 4.260000, 4.210000, 4.060000, 4.110000, 4.110000, 4.160000, 4.160000, 4.160000, 4.010000, 4.010000, 4.060000, 4.060000, 4.110000, 4.110000, 4.160000, 6.510000, 6.410000, 2.710000, 2.610000, 2.510000, 2.460000, 2.410000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.540000, 1.590000, 1.590000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.170000, 1.190000, 1.190000, 1.170000, 1.140000, 1.120000, 1.170000, 1.140000, 1.140000, 1.170000, 1.120000, 1.120000, 1.090000, 1.120000, 1.170000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.170000 ], "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": [ 769, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.853800, 28.912901, 0.620671 ], "estimate": [ -15.853800, 28.912901, 0.620671 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.810000, 1.910000, 2.010000, 2.060000, 7.710000, 8.160000, 8.660000, 9.060000, 9.010000, 8.960000, 8.910000, 8.910000, 4.360000, 4.160000, 4.360000, 4.060000, 4.160000, 4.110000, 4.060000, 4.060000, 3.910000, 3.910000, 3.890000, 3.910000, 3.960000, 3.960000, 4.060000, 4.010000, 4.260000, 4.410000, 4.110000, 4.010000, 4.060000, 4.060000, 4.060000, 4.110000, 4.110000, 3.910000, 3.910000, 3.960000, 3.960000, 4.010000, 4.010000, 4.060000, 7.210000, 6.360000, 6.310000, 2.560000, 2.510000, 2.460000, 2.360000, 2.310000, 2.240000, 2.140000, 2.090000, 2.090000, 1.990000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.690000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.270000, 1.190000, 1.220000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.120000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 770, 190000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.785700, 28.961102, 0.614155 ], "estimate": [ -15.785700, 28.961102, 0.614155 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.720000, 0.670000, 0.690000, 0.670000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.240000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.790000, 1.840000, 1.910000, 2.010000, 7.310000, 7.710000, 8.160000, 8.660000, 8.960000, 8.960000, 8.910000, 8.910000, 8.860000, 4.260000, 50.000000, 4.210000, 4.160000, 4.110000, 4.010000, 4.010000, 3.910000, 3.810000, 3.810000, 3.810000, 3.860000, 3.910000, 3.860000, 4.110000, 4.110000, 4.210000, 4.110000, 4.060000, 3.960000, 3.960000, 3.960000, 3.960000, 4.010000, 4.010000, 3.960000, 3.910000, 3.860000, 3.910000, 3.910000, 3.960000, 4.010000, 7.160000, 6.260000, 6.260000, 2.560000, 2.460000, 2.410000, 2.310000, 2.340000, 2.240000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.940000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.490000, 1.390000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.140000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 770, 429998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.720000, 29.007500, 0.612053 ], "estimate": [ -15.720000, 29.007500, 0.612053 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.690000, 0.670000, 0.670000, 0.670000, 0.720000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.890000, 2.110000, 4.010000, 7.560000, 7.960000, 8.410000, 8.910000, 8.860000, 8.860000, 8.810000, 4.260000, 4.210000, 4.010000, 4.260000, 4.110000, 3.910000, 4.010000, 3.910000, 3.810000, 3.760000, 3.810000, 3.720000, 3.710000, 3.810000, 3.810000, 3.810000, 4.010000, 4.060000, 4.160000, 4.010000, 3.910000, 3.860000, 3.860000, 3.910000, 3.910000, 3.910000, 3.910000, 3.860000, 3.810000, 3.810000, 3.810000, 3.860000, 3.860000, 3.860000, 7.060000, 6.210000, 6.160000, 2.610000, 2.460000, 2.410000, 2.290000, 2.240000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.940000, 1.890000, 1.790000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.270000, 1.240000, 1.240000, 1.220000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.170000, 1.140000, 1.170000, 1.120000, 1.170000, 1.170000, 1.140000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 770, 750000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.650100, 29.056101, 0.607429 ], "estimate": [ -15.650100, 29.056101, 0.607429 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.720000, 0.670000, 0.640000, 0.720000, 0.640000, 0.670000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.340000, 1.440000, 1.490000, 1.590000, 1.640000, 1.640000, 1.740000, 1.790000, 1.910000, 3.860000, 7.210000, 7.560000, 7.960000, 8.510000, 8.860000, 8.810000, 8.760000, 8.710000, 8.660000, 4.110000, 6.410000, 4.060000, 4.010000, 3.860000, 3.860000, 3.860000, 3.760000, 3.660000, 3.760000, 3.640000, 3.710000, 3.760000, 3.710000, 3.710000, 3.910000, 3.960000, 4.110000, 3.960000, 3.810000, 3.810000, 3.810000, 3.860000, 3.810000, 3.810000, 3.860000, 3.810000, 3.710000, 3.710000, 3.710000, 3.810000, 3.810000, 3.860000, 3.910000, 6.160000, 6.110000, 6.060000, 2.410000, 2.360000, 2.290000, 2.240000, 2.190000, 2.140000, 2.090000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.690000, 1.640000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.270000, 1.190000, 1.190000, 1.220000, 1.190000, 1.190000, 1.190000, 1.170000, 1.170000, 1.170000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 770, 950000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.585699, 29.101101, 0.608480 ], "estimate": [ -15.585699, 29.101101, 0.608480 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.090000, 1.090000, 1.140000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.690000, 1.790000, 3.710000, 3.810000, 7.110000, 7.510000, 7.960000, 8.410000, 8.760000, 8.710000, 8.660000, 8.660000, 8.610000, 4.060000, 3.960000, 3.960000, 3.860000, 3.860000, 3.860000, 3.810000, 3.660000, 3.610000, 3.660000, 3.590000, 3.560000, 3.610000, 3.660000, 3.610000, 3.760000, 3.710000, 4.010000, 4.060000, 3.860000, 3.710000, 3.710000, 3.710000, 3.760000, 3.760000, 3.810000, 3.810000, 3.660000, 3.640000, 3.690000, 3.740000, 3.710000, 3.760000, 3.760000, 6.160000, 6.010000, 6.010000, 6.010000, 2.440000, 2.290000, 2.240000, 2.190000, 2.140000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 771, 201000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.500601, 29.160301, 0.609531 ], "estimate": [ -15.500601, 29.160301, 0.609531 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.720000, 0.720000, 0.670000, 0.670000, 0.690000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.540000, 1.590000, 1.640000, 1.740000, 1.760000, 3.660000, 3.810000, 7.110000, 7.460000, 7.810000, 8.310000, 8.710000, 8.660000, 8.660000, 8.610000, 8.610000, 4.010000, 4.010000, 3.910000, 3.910000, 3.810000, 3.810000, 3.760000, 3.660000, 3.510000, 3.610000, 3.520000, 3.510000, 3.660000, 3.610000, 3.560000, 3.760000, 3.860000, 3.960000, 3.760000, 3.810000, 3.660000, 3.660000, 3.710000, 3.710000, 3.710000, 3.710000, 3.760000, 3.610000, 3.610000, 3.640000, 3.660000, 3.710000, 3.710000, 3.710000, 3.810000, 6.010000, 6.010000, 5.960000, 2.560000, 2.340000, 2.290000, 2.190000, 2.140000, 2.090000, 2.040000, 1.940000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.540000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.220000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 771, 320000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.481501, 29.173700, 0.612264 ], "estimate": [ -15.481501, 29.173700, 0.612264 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.640000, 0.670000, 0.670000, 0.720000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.990000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 3.760000, 3.610000, 3.760000, 6.860000, 7.210000, 7.560000, 8.010000, 8.460000, 8.610000, 8.610000, 4.060000, 4.010000, 3.910000, 3.960000, 6.210000, 3.810000, 3.760000, 3.810000, 3.660000, 3.660000, 3.560000, 3.460000, 3.510000, 3.420000, 3.460000, 3.560000, 3.560000, 3.510000, 3.760000, 3.760000, 3.810000, 3.710000, 3.660000, 3.660000, 3.610000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.610000, 3.540000, 3.540000, 3.590000, 3.610000, 3.610000, 3.660000, 3.760000, 5.910000, 5.910000, 5.910000, 5.860000, 2.290000, 2.240000, 2.190000, 2.140000, 2.040000, 1.990000, 1.940000, 1.890000, 1.890000, 1.790000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.190000, 1.140000, 1.120000, 1.170000, 1.120000, 1.140000, 1.120000, 1.120000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 771, 549998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.426600, 29.212200, 0.612053 ], "estimate": [ -15.426600, 29.212200, 0.612053 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.720000, 0.640000, 0.690000, 0.670000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.540000, 1.590000, 3.660000, 3.660000, 3.510000, 3.660000, 6.810000, 7.160000, 7.510000, 7.910000, 8.360000, 8.560000, 8.510000, 3.910000, 8.410000, 3.860000, 3.810000, 6.210000, 3.810000, 3.560000, 3.710000, 3.610000, 3.560000, 3.510000, 3.410000, 3.460000, 3.340000, 3.360000, 3.460000, 3.410000, 3.410000, 3.610000, 3.460000, 3.760000, 3.760000, 3.610000, 3.560000, 3.510000, 3.510000, 3.510000, 3.510000, 3.560000, 3.610000, 3.610000, 3.410000, 3.440000, 3.490000, 3.490000, 3.510000, 3.510000, 3.560000, 3.660000, 5.810000, 5.810000, 5.810000, 5.760000, 2.260000, 2.140000, 2.090000, 2.090000, 1.990000, 1.940000, 1.890000, 1.890000, 1.790000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.190000, 1.140000, 1.140000, 1.140000, 1.220000, 1.140000, 1.140000, 1.140000, 1.170000, 1.170000, 1.090000, 1.120000, 1.090000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 771, 909998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.362400, 29.258400, 0.635804 ], "estimate": [ -15.362400, 29.258400, 0.635804 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.640000, 0.670000, 0.690000, 0.670000, 0.670000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 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, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.560000, 3.660000, 3.610000, 3.460000, 3.510000, 6.510000, 6.910000, 7.260000, 7.610000, 8.010000, 8.460000, 8.460000, 8.410000, 3.810000, 3.710000, 3.760000, 3.710000, 3.710000, 3.660000, 3.410000, 3.560000, 3.510000, 3.510000, 3.410000, 3.310000, 3.360000, 3.260000, 3.310000, 3.360000, 3.310000, 3.360000, 3.460000, 3.460000, 3.710000, 3.760000, 3.610000, 3.410000, 3.410000, 3.460000, 3.460000, 3.460000, 3.510000, 3.510000, 3.510000, 3.310000, 3.390000, 3.440000, 3.440000, 3.460000, 3.460000, 3.510000, 3.560000, 5.760000, 5.760000, 5.710000, 5.710000, 5.860000, 2.190000, 2.090000, 2.040000, 1.990000, 1.890000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.490000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.220000, 1.190000, 1.140000, 1.140000, 1.170000, 1.170000, 1.140000, 1.170000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 772, 149998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.285200, 29.316500, 0.647364 ], "estimate": [ -15.285200, 29.316500, 0.647364 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.720000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.740000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.610000, 3.710000, 3.610000, 3.510000, 3.360000, 3.410000, 6.260000, 6.610000, 6.910000, 7.310000, 7.610000, 8.060000, 8.360000, 8.360000, 8.360000, 8.310000, 3.610000, 3.660000, 3.610000, 3.460000, 3.510000, 3.510000, 3.360000, 3.360000, 3.360000, 3.160000, 3.210000, 3.260000, 3.170000, 3.210000, 3.260000, 3.210000, 3.310000, 3.410000, 3.510000, 3.510000, 3.460000, 3.510000, 3.360000, 3.310000, 3.360000, 3.360000, 3.360000, 3.360000, 3.410000, 3.410000, 3.310000, 3.260000, 3.290000, 3.340000, 3.340000, 3.360000, 3.360000, 3.460000, 5.710000, 5.660000, 5.610000, 5.610000, 5.610000, 6.360000, 2.110000, 1.990000, 1.990000, 1.940000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.390000, 1.440000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.220000, 1.140000, 1.190000, 1.140000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.090000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000 ], "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": [ 772, 470000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.212100, 29.371799, 0.648415 ], "estimate": [ -15.212100, 29.371799, 0.648415 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.670000, 0.640000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.360000, 3.710000, 3.660000, 3.560000, 3.460000, 3.360000, 3.310000, 3.810000, 6.410000, 6.710000, 7.010000, 7.360000, 7.760000, 8.160000, 8.310000, 8.310000, 8.210000, 3.560000, 3.560000, 3.460000, 3.410000, 3.310000, 3.360000, 3.410000, 3.210000, 3.260000, 3.210000, 3.110000, 3.260000, 3.140000, 3.110000, 3.160000, 3.210000, 3.210000, 3.160000, 3.460000, 3.410000, 3.460000, 3.410000, 3.410000, 3.310000, 3.260000, 3.260000, 3.260000, 3.260000, 3.360000, 3.310000, 3.310000, 3.260000, 3.160000, 3.190000, 3.240000, 3.290000, 3.260000, 3.310000, 3.360000, 3.460000, 5.660000, 5.610000, 5.610000, 5.560000, 6.310000, 6.110000, 1.990000, 1.940000, 1.890000, 1.840000, 1.840000, 1.790000, 1.740000, 1.740000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.140000, 1.140000, 1.090000, 1.140000, 1.140000, 1.090000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000 ], "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": [ 772, 711000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.151100, 29.418201, 0.646524 ], "estimate": [ -15.151100, 29.418201, 0.646524 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.690000, 0.670000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.310000, 3.660000, 3.610000, 3.610000, 3.560000, 3.410000, 3.310000, 3.260000, 6.010000, 6.260000, 6.560000, 6.860000, 7.210000, 7.560000, 8.010000, 8.260000, 8.210000, 3.610000, 8.160000, 3.510000, 3.460000, 3.360000, 3.360000, 3.410000, 3.360000, 3.210000, 3.260000, 3.210000, 3.060000, 3.160000, 3.110000, 3.040000, 3.060000, 3.110000, 3.060000, 3.110000, 3.310000, 3.360000, 3.360000, 3.460000, 3.360000, 3.360000, 3.160000, 3.160000, 3.210000, 3.160000, 3.260000, 3.260000, 3.260000, 3.310000, 3.160000, 3.110000, 3.190000, 3.190000, 3.210000, 3.210000, 3.260000, 3.260000, 5.560000, 5.560000, 5.560000, 5.510000, 5.510000, 6.160000, 6.110000, 2.360000, 1.890000, 1.840000, 1.790000, 1.740000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.140000, 1.120000, 1.140000, 1.090000, 1.120000, 1.120000, 1.090000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.070000, 1.120000, 1.120000, 1.120000, 1.070000, 1.070000 ], "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": [ 772, 950000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.088600, 29.464500, 0.624664 ], "estimate": [ -15.088600, 29.464500, 0.624664 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.670000, 0.720000, 0.690000, 0.670000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 3.610000, 3.660000, 3.610000, 3.510000, 3.510000, 3.410000, 3.360000, 3.210000, 3.260000, 6.010000, 6.210000, 6.560000, 6.860000, 7.210000, 7.560000, 7.960000, 8.260000, 3.460000, 8.110000, 3.460000, 3.360000, 3.410000, 3.260000, 3.210000, 3.310000, 3.310000, 3.160000, 3.160000, 3.110000, 2.910000, 3.110000, 3.060000, 2.960000, 2.990000, 3.110000, 3.110000, 3.010000, 3.210000, 3.260000, 3.360000, 3.310000, 3.360000, 3.260000, 3.110000, 3.110000, 3.160000, 3.160000, 3.160000, 3.160000, 3.160000, 3.210000, 3.210000, 3.060000, 3.090000, 3.140000, 3.140000, 3.160000, 3.160000, 3.210000, 3.210000, 5.510000, 5.510000, 5.460000, 5.460000, 5.710000, 6.010000, 6.110000, 8.110000, 1.810000, 1.790000, 1.790000, 1.740000, 1.740000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.220000, 1.190000, 1.190000, 1.220000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.090000, 1.120000, 1.140000, 1.090000, 1.120000, 1.090000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 773, 191000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -15.036500, 29.501202, 0.594398 ], "estimate": [ -15.036500, 29.501202, 0.594398 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.690000, 0.720000, 0.690000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.990000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 3.610000, 3.560000, 3.560000, 3.560000, 3.510000, 3.460000, 3.410000, 3.310000, 3.160000, 3.110000, 3.310000, 5.960000, 6.260000, 6.510000, 6.810000, 7.160000, 7.560000, 7.860000, 8.110000, 8.110000, 3.460000, 3.360000, 3.360000, 3.410000, 3.160000, 3.260000, 3.210000, 3.160000, 3.160000, 3.160000, 3.110000, 2.910000, 2.960000, 3.010000, 2.900000, 2.940000, 3.010000, 2.960000, 2.960000, 3.160000, 3.160000, 3.260000, 3.110000, 3.160000, 3.160000, 3.110000, 3.060000, 3.060000, 3.110000, 3.110000, 3.060000, 3.110000, 3.110000, 3.110000, 3.060000, 2.960000, 3.040000, 3.090000, 3.060000, 3.060000, 3.060000, 3.110000, 3.210000, 5.410000, 5.410000, 5.410000, 5.410000, 6.060000, 5.910000, 8.010000, 8.010000, 1.840000, 1.790000, 1.740000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.390000, 1.390000, 1.440000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000, 1.220000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.120000, 1.140000, 1.140000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.070000, 1.120000, 1.070000 ], "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": [ 773, 429998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.967700, 29.546202, 0.569807 ], "estimate": [ -14.967700, 29.546202, 0.569807 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.720000, 0.670000, 0.670000, 0.670000, 0.720000, 0.640000, 0.640000, 0.690000, 0.740000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 3.610000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.360000, 3.360000, 3.210000, 3.210000, 3.060000, 3.110000, 5.710000, 5.960000, 6.210000, 6.460000, 6.760000, 7.060000, 7.460000, 7.810000, 3.360000, 3.310000, 3.310000, 3.210000, 3.310000, 7.860000, 3.010000, 3.210000, 3.110000, 3.160000, 3.060000, 3.060000, 3.010000, 2.810000, 2.910000, 2.910000, 2.770000, 2.820000, 2.860000, 2.910000, 2.860000, 2.910000, 3.060000, 3.110000, 3.110000, 3.010000, 3.160000, 3.110000, 2.960000, 2.960000, 2.960000, 3.010000, 2.960000, 3.010000, 3.060000, 3.060000, 3.060000, 2.910000, 2.910000, 2.940000, 2.940000, 2.990000, 3.010000, 3.010000, 3.010000, 3.160000, 5.310000, 5.310000, 5.310000, 5.460000, 5.860000, 5.910000, 7.960000, 9.210000, 6.360000, 1.740000, 1.740000, 1.640000, 1.690000, 1.590000, 1.540000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.140000, 1.140000, 1.140000, 1.120000, 1.120000, 1.090000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 773, 711000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.886600, 29.598200, 0.564342 ], "estimate": [ -14.886600, 29.598200, 0.564342 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.670000, 0.640000, 0.670000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 3.560000, 3.510000, 3.460000, 3.510000, 3.460000, 3.410000, 3.410000, 3.410000, 3.310000, 3.310000, 3.260000, 3.110000, 3.060000, 2.960000, 3.060000, 5.610000, 5.810000, 6.010000, 6.260000, 6.560000, 6.910000, 7.260000, 7.610000, 7.960000, 3.210000, 3.160000, 3.110000, 3.010000, 3.160000, 3.010000, 2.860000, 3.060000, 3.010000, 2.810000, 2.760000, 2.860000, 2.810000, 2.710000, 2.810000, 2.760000, 2.740000, 2.710000, 2.760000, 2.860000, 2.760000, 2.960000, 2.960000, 3.060000, 3.060000, 3.160000, 3.060000, 3.010000, 2.860000, 2.860000, 2.860000, 2.860000, 2.910000, 2.910000, 2.910000, 2.960000, 2.910000, 2.910000, 2.810000, 2.840000, 2.890000, 2.890000, 2.910000, 2.910000, 2.960000, 2.960000, 5.360000, 5.310000, 5.260000, 5.360000, 5.810000, 5.810000, 7.860000, 9.260000, 6.290000, 6.190000, 6.290000, 1.640000, 1.640000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.170000, 1.120000, 1.140000, 1.090000, 1.120000, 1.120000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.070000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 774, 29998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.821500, 29.638800, 0.551941 ], "estimate": [ -14.821500, 29.638800, 0.551941 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.720000, 0.720000, 0.720000, 0.670000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.610000, 3.510000, 3.510000, 3.510000, 3.460000, 3.410000, 3.410000, 3.360000, 3.360000, 3.310000, 3.260000, 3.210000, 3.110000, 3.010000, 2.910000, 3.010000, 5.510000, 5.710000, 6.010000, 6.260000, 6.510000, 6.810000, 7.160000, 7.510000, 7.860000, 3.210000, 7.860000, 3.110000, 3.110000, 3.010000, 2.910000, 2.760000, 3.010000, 2.860000, 2.910000, 2.710000, 2.760000, 2.760000, 2.660000, 2.810000, 2.760000, 2.700000, 2.650000, 2.710000, 2.810000, 2.710000, 2.760000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 2.960000, 2.910000, 2.760000, 2.860000, 2.860000, 2.860000, 2.860000, 2.860000, 2.910000, 2.910000, 2.910000, 2.760000, 2.810000, 2.840000, 2.840000, 2.860000, 2.860000, 2.910000, 2.960000, 2.960000, 5.210000, 5.260000, 5.260000, 5.910000, 5.790000, 7.810000, 7.860000, 6.310000, 6.160000, 6.190000, 6.290000, 1.640000, 1.640000, 1.540000, 1.590000, 1.540000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.290000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.140000, 1.170000, 1.190000, 1.170000, 1.090000, 1.140000, 1.140000, 1.170000, 1.120000, 1.170000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 774, 149998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.772700, 29.668501, 0.539960 ], "estimate": [ -14.772700, 29.668501, 0.539960 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.670000, 0.670000, 0.670000, 0.670000, 0.720000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.790000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 1.040000, 3.410000, 3.510000, 3.510000, 3.460000, 3.460000, 3.360000, 3.360000, 3.310000, 3.310000, 3.310000, 3.210000, 3.210000, 3.060000, 3.010000, 2.860000, 2.960000, 5.410000, 5.610000, 5.910000, 6.160000, 6.360000, 6.660000, 7.010000, 7.360000, 7.710000, 3.160000, 3.210000, 3.060000, 3.110000, 3.060000, 3.010000, 2.810000, 2.960000, 2.960000, 2.910000, 2.860000, 2.860000, 2.860000, 2.710000, 2.710000, 2.710000, 2.690000, 2.640000, 2.660000, 2.810000, 2.660000, 2.710000, 2.860000, 2.960000, 2.960000, 2.960000, 3.060000, 2.960000, 2.960000, 2.810000, 2.810000, 2.810000, 2.860000, 2.860000, 2.860000, 2.860000, 2.860000, 2.910000, 2.810000, 2.760000, 2.790000, 2.790000, 2.840000, 2.860000, 2.860000, 2.860000, 2.910000, 3.010000, 5.160000, 5.160000, 5.160000, 5.810000, 5.760000, 7.810000, 9.060000, 6.240000, 6.190000, 6.290000, 6.510000, 1.640000, 1.590000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.440000, 1.390000, 1.390000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.140000, 1.170000, 1.140000, 1.140000, 1.140000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 774, 269998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.766701, 29.671999, 0.534916 ], "estimate": [ -14.766701, 29.671999, 0.534916 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.690000, 0.670000, 0.670000, 0.670000, 0.640000, 0.720000, 0.670000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.960000, 3.460000, 3.410000, 3.410000, 3.410000, 3.360000, 3.360000, 3.410000, 3.360000, 3.310000, 3.310000, 3.260000, 3.210000, 3.160000, 3.110000, 3.010000, 2.910000, 2.810000, 2.910000, 5.310000, 5.560000, 5.760000, 6.010000, 6.260000, 6.510000, 6.810000, 7.160000, 7.510000, 3.060000, 7.760000, 3.060000, 3.060000, 2.960000, 3.060000, 2.810000, 2.710000, 2.910000, 2.910000, 2.710000, 2.760000, 2.760000, 2.710000, 2.560000, 2.710000, 2.610000, 2.590000, 2.590000, 2.660000, 2.710000, 2.610000, 2.660000, 2.810000, 2.910000, 2.910000, 2.960000, 3.010000, 2.960000, 2.810000, 2.710000, 2.760000, 2.760000, 2.760000, 2.760000, 2.810000, 2.810000, 2.810000, 2.860000, 2.810000, 2.710000, 2.690000, 2.740000, 2.740000, 2.790000, 2.810000, 2.810000, 2.860000, 2.910000, 5.110000, 5.110000, 5.160000, 5.710000, 5.740000, 7.760000, 9.110000, 6.240000, 6.090000, 6.190000, 6.560000, 7.010000, 6.740000, 1.540000, 1.540000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.140000, 1.140000, 1.190000, 1.220000, 1.220000, 1.140000, 1.140000, 1.140000, 1.190000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 774, 511998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.697000, 29.711599, 0.493510 ], "estimate": [ -14.697000, 29.711599, 0.493510 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.670000, 0.670000, 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.860000, 3.760000, 3.510000, 3.410000, 3.360000, 3.360000, 3.360000, 3.360000, 3.310000, 3.360000, 3.310000, 3.260000, 3.210000, 3.160000, 3.160000, 3.110000, 3.060000, 2.960000, 2.910000, 2.760000, 2.810000, 2.910000, 5.260000, 5.460000, 5.660000, 5.960000, 6.210000, 6.410000, 6.710000, 7.060000, 7.410000, 3.010000, 3.010000, 2.860000, 2.910000, 2.910000, 3.010000, 2.660000, 2.660000, 2.810000, 2.810000, 2.810000, 2.710000, 2.710000, 2.710000, 2.460000, 2.560000, 2.560000, 2.500000, 2.490000, 2.560000, 2.610000, 2.560000, 2.560000, 2.810000, 2.760000, 2.860000, 2.710000, 2.660000, 2.860000, 2.810000, 2.760000, 2.660000, 2.660000, 2.660000, 2.710000, 2.660000, 2.660000, 2.710000, 2.710000, 2.760000, 2.760000, 2.610000, 2.640000, 2.640000, 2.740000, 2.740000, 2.740000, 2.760000, 2.760000, 2.810000, 5.060000, 5.010000, 5.210000, 5.660000, 5.910000, 8.060000, 8.960000, 6.140000, 6.040000, 6.110000, 6.910000, 6.910000, 6.720000, 3.710000, 1.490000, 1.490000, 1.490000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.270000, 1.220000, 1.190000, 1.190000, 1.170000, 1.170000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.090000, 1.120000, 1.170000, 1.170000 ], "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": [ 774, 750998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.611800, 29.756498, 0.476485 ], "estimate": [ -14.611800, 29.756498, 0.476485 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.670000, 0.640000, 0.670000, 0.670000, 0.640000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.840000, 5.810000, 7.810000, 7.910000, 5.460000, 3.760000, 3.360000, 3.310000, 3.260000, 3.310000, 3.310000, 3.310000, 3.260000, 3.260000, 3.210000, 3.160000, 3.110000, 3.110000, 3.110000, 3.010000, 2.960000, 2.860000, 2.810000, 2.660000, 2.710000, 2.810000, 5.060000, 5.260000, 5.510000, 5.660000, 5.910000, 6.210000, 6.510000, 6.710000, 7.060000, 2.910000, 2.810000, 2.860000, 2.810000, 2.860000, 2.810000, 2.910000, 2.760000, 2.610000, 2.660000, 2.610000, 2.660000, 2.610000, 2.610000, 2.510000, 2.410000, 2.510000, 2.460000, 2.390000, 2.360000, 2.410000, 2.460000, 2.460000, 2.510000, 2.660000, 2.510000, 2.510000, 2.760000, 2.760000, 2.810000, 2.710000, 2.710000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.610000, 2.610000, 2.660000, 2.660000, 2.660000, 2.610000, 2.560000, 2.510000, 2.590000, 2.590000, 2.590000, 2.660000, 2.660000, 2.660000, 2.710000, 4.910000, 4.960000, 5.660000, 5.590000, 7.610000, 8.910000, 6.060000, 5.990000, 6.010000, 6.070000, 6.810000, 6.590000, 6.490000, 3.660000, 3.560000, 3.610000, 1.440000, 1.440000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.190000, 1.240000, 1.190000, 1.220000, 1.190000, 1.190000, 1.220000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 775, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.542400, 29.792099, 0.471861 ], "estimate": [ -14.542400, 29.792099, 0.471861 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.670000, 0.670000, 0.640000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.760000, 7.460000, 7.560000, 7.660000, 7.810000, 5.610000, 5.360000, 3.410000, 3.310000, 3.260000, 3.210000, 3.260000, 3.260000, 3.210000, 3.160000, 3.210000, 3.160000, 3.110000, 3.060000, 3.060000, 3.010000, 2.960000, 2.960000, 2.810000, 2.760000, 2.610000, 2.660000, 2.910000, 5.060000, 5.260000, 5.460000, 5.660000, 5.910000, 6.160000, 6.460000, 6.710000, 7.060000, 2.810000, 2.810000, 2.860000, 2.760000, 2.760000, 2.760000, 2.860000, 2.710000, 2.560000, 2.610000, 2.560000, 2.610000, 2.610000, 2.560000, 2.460000, 2.460000, 2.360000, 2.410000, 2.390000, 2.360000, 2.360000, 2.360000, 2.360000, 2.460000, 2.460000, 2.560000, 2.460000, 2.710000, 2.760000, 2.760000, 2.710000, 2.710000, 2.610000, 2.510000, 2.510000, 2.560000, 2.510000, 2.560000, 2.560000, 2.560000, 2.610000, 2.660000, 2.660000, 2.610000, 2.510000, 2.540000, 2.540000, 2.590000, 2.640000, 2.610000, 2.610000, 2.660000, 2.760000, 4.910000, 5.110000, 5.540000, 5.960000, 8.910000, 6.310000, 6.040000, 5.970000, 6.040000, 6.810000, 6.610000, 6.610000, 3.810000, 3.560000, 3.510000, 3.560000, 1.560000, 1.390000, 1.390000, 1.390000, 1.390000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.220000, 1.140000, 1.220000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000 ], "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": [ 775, 220000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.503400, 29.812099, 0.474804 ], "estimate": [ -14.503400, 29.812099, 0.474804 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.670000, 0.590000, 0.620000, 0.640000, 0.620000, 0.640000, 0.670000, 0.620000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.640000, 0.690000, 0.740000, 0.740000, 0.690000, 4.410000, 7.110000, 7.210000, 7.310000, 7.360000, 7.460000, 5.810000, 7.660000, 7.760000, 5.360000, 3.510000, 3.260000, 3.210000, 3.160000, 3.160000, 3.160000, 3.160000, 3.110000, 3.160000, 3.110000, 3.060000, 3.010000, 2.960000, 3.010000, 2.910000, 2.910000, 2.810000, 2.660000, 2.610000, 2.560000, 2.660000, 4.860000, 5.010000, 5.210000, 5.410000, 5.660000, 5.860000, 6.110000, 6.460000, 2.760000, 2.810000, 2.660000, 2.710000, 2.660000, 2.710000, 2.660000, 2.660000, 2.810000, 2.660000, 2.510000, 2.410000, 2.510000, 2.560000, 2.510000, 2.460000, 2.460000, 2.460000, 2.260000, 2.310000, 2.260000, 2.310000, 2.310000, 2.360000, 2.310000, 2.360000, 2.310000, 2.410000, 2.560000, 2.610000, 2.660000, 2.760000, 2.710000, 2.660000, 2.560000, 2.460000, 2.410000, 2.410000, 2.460000, 2.460000, 2.510000, 2.510000, 2.510000, 2.510000, 2.560000, 2.610000, 2.510000, 2.410000, 2.440000, 2.490000, 2.490000, 2.540000, 2.510000, 2.560000, 2.610000, 2.660000, 4.860000, 5.560000, 5.460000, 7.560000, 9.110000, 5.990000, 5.890000, 5.960000, 6.040000, 6.760000, 6.520000, 6.440000, 3.760000, 3.610000, 3.460000, 3.460000, 3.510000, 3.510000, 1.390000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.290000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.190000, 1.190000, 1.220000, 1.170000, 1.190000, 1.220000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 775, 539998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.413400, 29.857901, 0.466607 ], "estimate": [ -14.413400, 29.857901, 0.466607 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.680000, 0.630000, 0.630000, 0.680000, 0.600000, 0.630000, 0.600000, 0.630000, 0.650000, 0.680000, 0.600000, 0.600000, 0.650000, 0.600000, 0.650000, 0.600000, 0.650000, 0.650000, 0.650000, 0.600000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.700000, 6.670000, 6.770000, 6.770000, 6.870000, 6.870000, 4.370000, 7.020000, 7.120000, 7.220000, 7.320000, 7.320000, 7.420000, 5.670000, 7.670000, 5.270000, 3.420000, 3.220000, 3.120000, 3.120000, 3.070000, 3.070000, 3.070000, 3.070000, 3.120000, 3.070000, 2.970000, 2.920000, 2.870000, 2.870000, 2.820000, 2.870000, 2.720000, 2.620000, 2.470000, 2.470000, 2.570000, 4.670000, 4.870000, 5.020000, 5.170000, 5.370000, 5.620000, 5.870000, 6.120000, 2.820000, 6.620000, 2.620000, 2.620000, 2.670000, 2.620000, 2.570000, 2.620000, 2.620000, 2.570000, 2.520000, 2.320000, 2.420000, 2.420000, 2.520000, 2.470000, 2.420000, 2.370000, 2.320000, 2.170000, 2.170000, 2.220000, 2.220000, 2.270000, 2.170000, 2.270000, 2.220000, 2.220000, 2.270000, 2.320000, 2.520000, 2.570000, 2.620000, 2.620000, 2.620000, 2.620000, 2.520000, 2.420000, 2.320000, 2.370000, 2.370000, 2.420000, 2.420000, 2.420000, 2.420000, 2.470000, 2.470000, 2.470000, 2.420000, 2.370000, 2.370000, 2.400000, 2.450000, 2.450000, 2.470000, 2.470000, 2.520000, 2.520000, 4.770000, 5.420000, 5.480000, 8.770000, 10.020000, 5.920000, 5.820000, 5.980000, 6.670000, 6.770000, 6.470000, 6.370000, 3.870000, 3.570000, 3.420000, 3.420000, 3.470000, 3.470000, 3.520000, 3.520000, 3.570000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.280000, 1.300000, 1.280000, 1.250000, 1.230000, 1.230000, 1.280000, 1.200000, 1.200000, 1.230000, 1.230000, 1.180000, 1.230000, 1.180000, 1.150000, 1.180000, 1.180000, 1.230000, 1.180000, 1.180000, 1.180000 ], "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": [ 775, 861998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.336500, 29.897100, 0.475644 ], "estimate": [ -14.336500, 29.897100, 0.475644 ], "true_pose": [ null, null, null ], "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": [ 0.650000, 0.600000, 0.630000, 0.630000, 0.650000, 0.630000, 0.600000, 0.630000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.650000, 0.600000, 0.600000, 0.600000, 0.600000, 0.650000, 0.650000, 0.600000, 0.650000, 0.670000, 6.820000, 6.320000, 6.220000, 6.170000, 5.470000, 5.420000, 6.620000, 6.670000, 6.720000, 6.770000, 6.870000, 4.370000, 6.970000, 7.020000, 7.120000, 7.220000, 7.220000, 7.320000, 5.570000, 7.520000, 5.270000, 3.270000, 3.120000, 3.070000, 3.020000, 3.020000, 3.020000, 2.970000, 2.970000, 3.020000, 2.970000, 2.920000, 2.820000, 2.820000, 2.820000, 2.770000, 2.770000, 2.720000, 2.570000, 2.420000, 2.370000, 2.420000, 2.920000, 4.670000, 4.820000, 4.970000, 5.120000, 5.320000, 5.520000, 5.770000, 6.020000, 6.270000, 2.520000, 2.520000, 2.520000, 2.470000, 2.470000, 2.520000, 2.470000, 2.570000, 2.420000, 2.320000, 2.220000, 2.320000, 2.270000, 2.370000, 2.320000, 2.270000, 2.270000, 2.220000, 2.020000, 2.170000, 2.120000, 2.070000, 2.120000, 2.120000, 2.120000, 2.070000, 2.170000, 2.170000, 2.220000, 2.220000, 2.470000, 2.470000, 2.520000, 2.470000, 2.570000, 2.520000, 2.370000, 2.320000, 2.270000, 2.270000, 2.320000, 2.270000, 2.320000, 2.270000, 2.320000, 2.370000, 2.370000, 2.420000, 2.420000, 2.370000, 2.270000, 2.300000, 2.300000, 2.350000, 2.350000, 2.420000, 2.420000, 2.470000, 2.470000, 5.320000, 5.430000, 8.670000, 10.020000, 5.820000, 5.720000, 5.930000, 6.620000, 6.720000, 6.400000, 6.270000, 9.120000, 3.620000, 3.470000, 3.420000, 3.420000, 3.470000, 3.470000, 3.520000, 3.520000, 3.620000, 3.620000, 4.020000, 1.300000, 1.300000, 1.280000, 1.300000, 1.250000, 1.300000, 1.280000, 1.250000, 1.250000, 1.280000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.180000, 1.230000, 1.180000, 1.180000 ], "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": [ 776, 179998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.250999, 29.940701, 0.467658 ], "estimate": [ -14.250999, 29.940701, 0.467658 ], "true_pose": [ null, null, null ], "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": [ 0.600000, 0.630000, 0.580000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.600000, 0.630000, 0.600000, 0.600000, 0.630000, 0.600000, 0.600000, 12.470000, 21.520000, 9.820000, 9.820000, 9.470000, 9.270000, 7.370000, 7.420000, 6.520000, 6.270000, 6.170000, 6.220000, 5.370000, 5.370000, 6.570000, 6.620000, 6.720000, 6.720000, 6.770000, 4.270000, 6.920000, 7.020000, 7.070000, 7.120000, 7.220000, 7.270000, 5.720000, 7.470000, 3.370000, 3.070000, 2.970000, 2.970000, 2.920000, 2.970000, 2.970000, 2.920000, 2.970000, 2.870000, 2.870000, 2.820000, 2.770000, 2.720000, 2.720000, 2.670000, 2.620000, 2.520000, 2.470000, 2.270000, 2.320000, 2.420000, 4.470000, 4.570000, 4.720000, 4.870000, 5.020000, 5.270000, 5.370000, 5.620000, 5.870000, 6.120000, 2.520000, 2.370000, 2.370000, 2.320000, 2.370000, 2.420000, 2.370000, 2.470000, 2.470000, 2.270000, 2.170000, 2.270000, 2.270000, 2.220000, 2.220000, 2.170000, 2.170000, 2.170000, 2.170000, 2.070000, 1.970000, 2.000000, 2.020000, 2.070000, 2.120000, 2.170000, 2.020000, 2.070000, 2.270000, 2.270000, 2.120000, 2.320000, 2.320000, 2.320000, 2.370000, 3.270000, 2.370000, 2.370000, 2.270000, 2.170000, 2.120000, 2.170000, 2.220000, 2.220000, 2.270000, 2.270000, 2.270000, 2.270000, 2.270000, 2.370000, 2.320000, 2.220000, 2.220000, 2.250000, 2.250000, 2.300000, 2.350000, 2.320000, 2.370000, 2.420000, 2.470000, 5.330000, 8.670000, 9.970000, 5.770000, 5.730000, 5.800000, 6.020000, 6.670000, 6.320000, 6.270000, 9.120000, 3.770000, 3.520000, 3.370000, 3.370000, 3.420000, 3.420000, 3.470000, 3.470000, 3.520000, 3.520000, 3.870000, 3.920000, 3.870000, 3.820000, 1.300000, 1.330000, 1.280000, 1.280000, 1.280000, 1.250000, 1.230000, 1.200000, 1.230000, 1.230000, 1.200000, 1.230000, 1.230000, 1.230000, 1.180000, 1.180000, 1.230000, 1.230000, 1.180000 ], "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": [ 776, 500000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.170799, 29.982500, 0.496032 ], "estimate": [ -14.170799, 29.982500, 0.496032 ], "true_pose": [ null, null, null ], "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": [ 0.600000, 0.630000, 0.600000, 0.630000, 0.580000, 0.600000, 0.600000, 0.620000, 28.520000, 23.770000, 21.070000, 17.020000, 13.720000, 12.470000, 50.000000, 10.020000, 9.770000, 9.870000, 9.220000, 7.370000, 7.370000, 6.470000, 6.270000, 6.120000, 6.170000, 5.320000, 5.420000, 6.520000, 6.570000, 6.670000, 6.720000, 6.720000, 4.270000, 6.870000, 6.970000, 6.970000, 7.070000, 7.120000, 7.220000, 5.720000, 7.420000, 3.120000, 2.970000, 2.920000, 2.920000, 2.870000, 2.920000, 2.870000, 2.820000, 2.870000, 2.820000, 2.770000, 2.720000, 2.720000, 2.670000, 2.620000, 2.620000, 2.570000, 2.420000, 2.320000, 2.220000, 2.270000, 2.420000, 4.370000, 4.520000, 4.620000, 4.720000, 4.920000, 5.120000, 5.320000, 5.470000, 5.770000, 2.470000, 2.470000, 2.320000, 2.270000, 2.270000, 2.320000, 2.320000, 2.320000, 2.320000, 2.370000, 2.320000, 2.120000, 2.120000, 2.170000, 2.170000, 2.170000, 2.120000, 2.120000, 2.170000, 2.070000, 1.970000, 1.920000, 1.920000, 1.920000, 1.970000, 2.020000, 2.070000, 2.120000, 1.970000, 2.020000, 2.220000, 2.220000, 2.270000, 2.220000, 2.220000, 2.320000, 2.470000, 2.420000, 2.370000, 2.320000, 2.220000, 2.120000, 2.070000, 2.120000, 2.120000, 2.170000, 2.170000, 2.220000, 2.220000, 2.220000, 2.270000, 2.270000, 2.270000, 2.220000, 2.170000, 2.120000, 2.250000, 2.200000, 2.250000, 2.300000, 2.270000, 2.320000, 2.370000, 2.550000, 8.620000, 9.970000, 5.770000, 5.680000, 5.720000, 5.870000, 6.670000, 6.270000, 6.200000, 9.020000, 8.920000, 3.620000, 3.420000, 3.320000, 3.370000, 3.420000, 3.370000, 3.420000, 3.470000, 3.470000, 3.570000, 3.970000, 3.920000, 3.820000, 3.720000, 3.720000, 1.270000, 1.280000, 1.280000, 1.230000, 1.230000, 1.280000, 1.280000, 1.200000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.180000, 1.230000, 1.230000, 1.230000, 1.180000 ], "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": [ 776, 780998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.110300, 30.016399, 0.535127 ], "estimate": [ -14.110300, 30.016399, 0.535127 ], "true_pose": [ null, null, null ], "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": [ 1.920000, 4.820000, 43.970000, 49.770000, 35.720000, 50.000000, 21.070000, 17.420000, 17.020000, 13.370000, 12.520000, 50.000000, 9.770000, 9.870000, 9.270000, 7.370000, 7.370000, 6.720000, 6.220000, 6.120000, 6.120000, 5.320000, 5.320000, 6.520000, 6.570000, 6.570000, 6.620000, 6.670000, 4.370000, 6.770000, 6.870000, 6.970000, 7.020000, 7.120000, 7.170000, 5.420000, 7.320000, 2.970000, 2.920000, 2.870000, 2.870000, 2.850000, 2.870000, 2.770000, 2.820000, 2.820000, 2.770000, 2.720000, 2.670000, 2.670000, 2.570000, 2.520000, 2.520000, 2.470000, 2.370000, 2.170000, 2.170000, 2.170000, 2.320000, 4.270000, 4.420000, 4.520000, 4.620000, 4.770000, 4.970000, 5.170000, 5.370000, 5.570000, 2.420000, 2.470000, 2.270000, 2.220000, 2.220000, 2.170000, 2.220000, 2.320000, 2.170000, 2.370000, 2.320000, 2.220000, 2.020000, 2.070000, 2.070000, 2.070000, 2.070000, 2.070000, 2.070000, 2.020000, 1.920000, 1.850000, 1.920000, 1.900000, 1.870000, 1.920000, 1.920000, 1.970000, 1.920000, 1.970000, 1.920000, 2.070000, 1.970000, 2.070000, 2.270000, 2.320000, 2.270000, 2.420000, 2.270000, 2.370000, 2.270000, 2.170000, 2.070000, 2.020000, 2.070000, 2.070000, 2.120000, 2.070000, 2.070000, 2.120000, 2.170000, 2.170000, 2.170000, 2.220000, 2.270000, 2.120000, 2.070000, 2.100000, 2.100000, 2.150000, 2.200000, 2.270000, 2.220000, 2.270000, 2.320000, 2.420000, 9.920000, 5.750000, 5.600000, 5.600000, 5.780000, 6.520000, 6.300000, 6.170000, 9.020000, 8.870000, 3.800000, 3.470000, 3.320000, 3.320000, 3.320000, 3.320000, 3.370000, 3.370000, 3.420000, 3.470000, 3.470000, 3.970000, 3.870000, 3.770000, 3.720000, 3.720000, 3.770000, 3.720000, 1.250000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.180000, 1.180000, 1.180000, 1.230000, 1.180000, 1.180000, 1.180000 ], "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": [ 777, 100000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -14.043900, 30.059099, 0.621091 ], "estimate": [ -14.043900, 30.059099, 0.621091 ], "true_pose": [ null, null, null ], "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": [ 21.060000, 17.060000, 13.410000, 12.460000, 50.000000, 9.760000, 9.810000, 9.260000, 7.310000, 7.310000, 6.460000, 6.210000, 6.110000, 6.160000, 5.260000, 5.360000, 6.510000, 6.510000, 6.560000, 6.610000, 4.360000, 6.760000, 6.710000, 6.860000, 6.860000, 6.960000, 7.010000, 7.060000, 5.760000, 3.010000, 2.910000, 2.810000, 2.810000, 2.790000, 2.840000, 2.710000, 2.760000, 2.760000, 2.660000, 2.660000, 2.610000, 2.560000, 2.510000, 2.460000, 2.460000, 2.410000, 2.260000, 2.110000, 2.060000, 2.110000, 2.260000, 4.110000, 4.210000, 4.360000, 4.410000, 4.510000, 4.660000, 4.810000, 5.010000, 5.210000, 2.360000, 2.360000, 2.260000, 2.160000, 2.110000, 2.110000, 2.010000, 2.160000, 2.110000, 2.260000, 2.110000, 1.960000, 2.010000, 1.860000, 2.010000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.960000, 1.860000, 1.760000, 1.710000, 1.790000, 1.740000, 1.760000, 1.810000, 1.860000, 1.910000, 1.810000, 1.760000, 1.860000, 1.960000, 2.010000, 2.060000, 2.060000, 2.060000, 2.110000, 2.260000, 2.210000, 2.160000, 2.160000, 2.110000, 2.010000, 1.910000, 1.960000, 1.960000, 1.960000, 2.010000, 2.010000, 2.010000, 2.010000, 2.060000, 2.060000, 2.060000, 2.110000, 2.110000, 2.060000, 1.960000, 1.990000, 2.040000, 2.040000, 2.090000, 2.140000, 2.110000, 2.160000, 2.210000, 2.310000, 5.660000, 5.670000, 5.490000, 5.640000, 6.460000, 6.160000, 6.210000, 6.140000, 8.810000, 8.710000, 3.610000, 3.410000, 3.260000, 3.210000, 3.260000, 3.310000, 3.260000, 3.310000, 3.360000, 3.410000, 3.460000, 3.910000, 3.810000, 3.710000, 3.660000, 3.610000, 3.760000, 3.710000, 3.810000, 3.960000, 4.110000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.140000, 1.170000, 1.140000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 777, 460000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.973001, 30.114901, 0.718826 ], "estimate": [ -13.973001, 30.114901, 0.718826 ], "true_pose": [ null, null, null ], "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, 9.760000, 9.860000, 9.260000, 7.260000, 7.360000, 6.210000, 6.160000, 6.010000, 5.260000, 5.310000, 6.460000, 6.510000, 6.510000, 6.610000, 4.110000, 6.710000, 6.760000, 6.810000, 6.860000, 6.910000, 6.960000, 7.060000, 5.310000, 2.860000, 2.810000, 2.760000, 2.710000, 2.740000, 2.760000, 2.710000, 2.660000, 2.710000, 2.660000, 2.560000, 2.560000, 2.460000, 2.410000, 2.410000, 2.410000, 2.310000, 2.260000, 2.060000, 2.110000, 2.110000, 2.210000, 4.010000, 4.160000, 4.260000, 4.360000, 4.410000, 4.560000, 4.660000, 4.860000, 2.360000, 2.260000, 2.260000, 2.210000, 2.110000, 2.160000, 2.060000, 2.060000, 2.060000, 2.060000, 2.110000, 2.010000, 2.010000, 1.960000, 2.010000, 1.860000, 2.010000, 1.960000, 1.860000, 1.860000, 1.910000, 1.910000, 1.910000, 1.810000, 1.640000, 1.710000, 1.710000, 1.700000, 1.710000, 1.760000, 1.760000, 1.860000, 1.710000, 1.710000, 1.760000, 1.960000, 2.010000, 1.960000, 2.010000, 2.060000, 2.110000, 2.160000, 2.110000, 2.160000, 2.110000, 2.010000, 2.010000, 1.910000, 1.860000, 1.910000, 1.910000, 1.960000, 1.960000, 1.960000, 2.010000, 2.010000, 1.960000, 2.060000, 2.060000, 2.060000, 2.060000, 1.960000, 1.960000, 1.940000, 1.990000, 1.990000, 2.040000, 2.090000, 2.060000, 2.110000, 2.110000, 2.210000, 5.620000, 5.440000, 5.510000, 5.590000, 6.410000, 6.110000, 6.060000, 8.760000, 8.660000, 8.560000, 3.510000, 3.360000, 3.210000, 3.160000, 3.160000, 3.260000, 3.210000, 3.260000, 3.310000, 3.360000, 3.410000, 3.860000, 3.710000, 3.660000, 3.610000, 3.560000, 3.660000, 3.660000, 3.760000, 3.860000, 3.960000, 7.110000, 7.110000, 1.190000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000 ], "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": [ 777, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.924600, 30.158100, 0.709788 ], "estimate": [ -13.924600, 30.158100, 0.709788 ], "true_pose": [ null, null, null ], "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": [ 12.460000, 50.000000, 9.710000, 9.760000, 9.260000, 7.260000, 7.310000, 6.260000, 6.160000, 6.060000, 5.260000, 5.260000, 6.460000, 6.460000, 6.560000, 6.560000, 4.110000, 6.660000, 6.760000, 6.760000, 6.810000, 6.860000, 6.910000, 7.010000, 7.010000, 2.860000, 2.810000, 2.760000, 2.710000, 2.710000, 2.760000, 2.710000, 2.710000, 2.710000, 2.660000, 2.510000, 2.510000, 2.460000, 2.460000, 2.410000, 2.360000, 2.210000, 2.160000, 1.960000, 2.060000, 2.060000, 2.160000, 3.910000, 4.060000, 4.160000, 4.260000, 4.360000, 4.410000, 4.610000, 4.710000, 2.310000, 2.260000, 2.260000, 2.160000, 2.060000, 2.160000, 1.960000, 2.010000, 2.010000, 2.010000, 2.010000, 2.060000, 2.010000, 1.860000, 1.910000, 1.810000, 1.910000, 2.010000, 1.960000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.760000, 1.610000, 1.660000, 1.660000, 1.650000, 1.660000, 1.660000, 1.710000, 1.760000, 1.710000, 1.660000, 1.660000, 1.860000, 1.910000, 1.910000, 2.010000, 2.010000, 2.060000, 2.110000, 2.060000, 2.060000, 2.160000, 2.060000, 1.960000, 1.910000, 1.840000, 1.860000, 1.810000, 1.860000, 1.860000, 1.860000, 1.910000, 1.960000, 1.960000, 1.910000, 1.960000, 1.960000, 2.010000, 1.960000, 1.910000, 1.910000, 1.940000, 1.940000, 1.940000, 1.990000, 2.040000, 2.010000, 2.060000, 2.110000, 2.210000, 5.570000, 5.440000, 5.540000, 6.360000, 6.060000, 6.160000, 6.060000, 8.660000, 8.610000, 4.040000, 3.460000, 3.260000, 3.160000, 3.110000, 3.160000, 3.160000, 3.160000, 3.260000, 3.260000, 3.360000, 3.360000, 3.810000, 3.710000, 3.660000, 3.510000, 3.510000, 3.710000, 3.660000, 3.760000, 3.910000, 4.210000, 7.060000, 7.060000, 7.060000, 7.010000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 777, 899998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.872900, 30.198200, 0.587041 ], "estimate": [ -13.872900, 30.198200, 0.587041 ], "true_pose": [ null, null, null ], "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": [ 6.310000, 9.110000, 21.060000, 44.010000, 49.760000, 36.810000, 50.000000, 21.110000, 17.010000, 13.460000, 12.410000, 50.000000, 9.710000, 9.860000, 9.210000, 7.260000, 7.310000, 6.110000, 6.010000, 5.260000, 5.210000, 5.260000, 6.410000, 6.460000, 6.460000, 4.110000, 6.610000, 6.610000, 6.660000, 6.760000, 6.810000, 6.810000, 6.910000, 6.960000, 2.810000, 2.710000, 2.660000, 2.660000, 2.660000, 2.660000, 2.610000, 2.710000, 2.560000, 2.560000, 2.510000, 2.410000, 2.360000, 2.360000, 2.360000, 2.310000, 2.160000, 2.110000, 1.910000, 2.010000, 2.010000, 2.160000, 3.810000, 3.860000, 4.010000, 4.110000, 4.210000, 4.310000, 4.460000, 4.510000, 4.660000, 2.210000, 2.160000, 2.160000, 1.960000, 2.010000, 2.060000, 1.960000, 1.910000, 1.960000, 1.910000, 2.110000, 1.910000, 1.860000, 1.810000, 1.910000, 1.810000, 1.710000, 1.910000, 1.860000, 1.660000, 1.710000, 1.760000, 1.760000, 1.710000, 1.710000, 1.510000, 1.560000, 1.560000, 1.570000, 1.570000, 1.560000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.760000, 1.810000, 1.860000, 1.860000, 1.910000, 1.960000, 1.960000, 2.010000, 2.010000, 2.010000, 2.060000, 2.010000, 1.910000, 1.860000, 1.760000, 1.760000, 1.710000, 1.760000, 1.760000, 1.760000, 1.810000, 1.810000, 1.860000, 1.860000, 1.910000, 1.910000, 1.860000, 1.960000, 1.910000, 1.860000, 1.810000, 1.890000, 1.890000, 1.940000, 1.940000, 1.990000, 1.960000, 2.010000, 2.060000, 2.110000, 5.310000, 5.540000, 6.360000, 6.160000, 6.090000, 5.960000, 8.660000, 8.510000, 8.410000, 4.060000, 3.410000, 3.210000, 3.160000, 3.160000, 3.160000, 3.160000, 3.160000, 3.310000, 3.310000, 3.310000, 3.360000, 3.760000, 3.710000, 3.610000, 3.610000, 3.610000, 3.710000, 3.660000, 3.810000, 3.860000, 7.110000, 7.060000, 7.010000, 7.010000, 7.010000, 7.010000, 6.960000, 1.460000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 778, 220000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.798400, 30.239500, 0.430455 ], "estimate": [ -13.798400, 30.239500, 0.430455 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.710000, 36.810000, 29.410000, 21.010000, 16.960000, 12.410000, 12.360000, 9.660000, 9.810000, 9.160000, 7.210000, 6.260000, 6.060000, 5.910000, 5.160000, 5.160000, 6.310000, 6.310000, 6.360000, 4.010000, 6.460000, 6.460000, 6.560000, 6.560000, 6.610000, 6.710000, 6.710000, 2.790000, 2.660000, 2.560000, 2.560000, 2.590000, 2.560000, 2.460000, 2.560000, 2.460000, 2.410000, 2.410000, 2.310000, 2.260000, 2.210000, 2.160000, 2.160000, 2.010000, 1.810000, 1.760000, 1.810000, 1.860000, 2.210000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 3.960000, 4.060000, 4.160000, 4.310000, 1.910000, 1.960000, 1.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.760000, 1.810000, 1.760000, 1.760000, 1.860000, 1.810000, 1.760000, 1.560000, 1.710000, 1.710000, 1.710000, 1.460000, 1.760000, 1.710000, 1.460000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.290000, 1.410000, 1.390000, 1.340000, 1.410000, 1.410000, 1.460000, 1.510000, 1.510000, 1.410000, 1.410000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.760000, 1.810000, 1.860000, 1.910000, 1.810000, 1.810000, 1.860000, 1.810000, 1.710000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.710000, 1.760000, 1.760000, 1.760000, 1.760000, 1.910000, 1.810000, 1.760000, 1.710000, 1.740000, 1.740000, 1.790000, 1.790000, 1.890000, 1.860000, 1.910000, 1.910000, 2.010000, 6.260000, 5.940000, 5.860000, 8.510000, 8.460000, 8.310000, 8.260000, 3.960000, 3.410000, 3.260000, 3.110000, 3.060000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.160000, 3.260000, 3.410000, 3.660000, 3.560000, 3.510000, 3.510000, 3.560000, 3.560000, 3.710000, 3.810000, 3.910000, 7.010000, 7.010000, 7.010000, 6.960000, 6.960000, 6.510000, 6.510000, 6.710000, 6.710000, 6.660000 ], "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": [ 778, 779998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.639300, 30.332701, 0.757710 ], "estimate": [ -13.639300, 30.332701, 0.757710 ], "true_pose": [ null, null, null ], "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": [ 6.060000, 5.910000, 5.110000, 5.210000, 6.310000, 6.360000, 6.410000, 3.960000, 6.460000, 6.510000, 6.610000, 6.610000, 6.610000, 6.710000, 2.710000, 2.610000, 2.560000, 2.510000, 2.560000, 2.560000, 2.460000, 2.510000, 2.460000, 2.410000, 2.310000, 2.210000, 2.210000, 2.210000, 2.160000, 2.110000, 1.960000, 1.760000, 1.760000, 1.790000, 1.860000, 3.410000, 3.510000, 3.560000, 3.610000, 3.710000, 3.810000, 3.860000, 3.960000, 4.060000, 4.160000, 2.010000, 1.910000, 1.910000, 1.760000, 1.710000, 1.810000, 1.710000, 1.710000, 1.760000, 1.760000, 1.660000, 1.810000, 1.610000, 1.710000, 1.610000, 1.510000, 1.610000, 1.610000, 1.710000, 1.510000, 1.510000, 1.560000, 1.510000, 1.460000, 1.510000, 1.510000, 1.510000, 1.460000, 1.410000, 1.260000, 1.360000, 1.340000, 1.320000, 1.290000, 1.360000, 1.360000, 1.410000, 1.460000, 1.360000, 1.360000, 1.360000, 1.510000, 1.510000, 1.610000, 1.660000, 1.510000, 1.610000, 1.560000, 1.710000, 1.760000, 2.760000, 1.860000, 1.660000, 1.760000, 1.760000, 1.660000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 1.760000, 1.760000, 1.710000, 1.660000, 1.610000, 1.660000, 1.640000, 1.690000, 1.690000, 1.740000, 1.840000, 1.810000, 1.860000, 1.860000, 1.960000, 5.860000, 5.810000, 8.510000, 8.360000, 8.260000, 8.160000, 3.940000, 3.960000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.160000, 3.160000, 3.260000, 3.660000, 3.610000, 3.510000, 3.460000, 3.460000, 3.560000, 3.560000, 3.660000, 3.810000, 7.010000, 6.960000, 6.960000, 6.960000, 6.910000, 6.860000, 6.510000, 6.760000, 6.910000, 6.660000, 6.910000, 3.610000, 2.510000, 1.910000, 1.510000, 1.260000, 1.160000, 1.170000, 1.170000, 1.190000, 1.170000, 1.170000 ], "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": [ 779, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.603399, 30.372801, 0.943932 ], "estimate": [ -13.603399, 30.372801, 0.943932 ], "true_pose": [ null, null, null ], "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": [ 6.610000, 6.610000, 6.660000, 2.690000, 2.590000, 2.510000, 2.510000, 2.560000, 2.460000, 2.510000, 2.460000, 2.410000, 2.360000, 2.310000, 2.210000, 2.210000, 2.160000, 2.160000, 1.960000, 1.710000, 1.760000, 1.760000, 1.860000, 2.160000, 3.410000, 3.460000, 3.560000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 2.010000, 1.860000, 1.860000, 1.760000, 1.760000, 1.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.810000, 1.810000, 1.710000, 1.660000, 1.660000, 1.660000, 1.460000, 1.660000, 1.660000, 1.660000, 1.660000, 1.410000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.310000, 1.360000, 1.360000, 1.210000, 1.210000, 1.360000, 1.310000, 1.290000, 1.250000, 1.240000, 1.310000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 1.810000, 2.710000, 1.760000, 1.660000, 1.760000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.710000, 1.610000, 1.560000, 1.560000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.810000, 1.860000, 5.810000, 5.810000, 5.810000, 8.360000, 8.260000, 8.160000, 8.060000, 3.840000, 3.310000, 3.210000, 3.110000, 3.010000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.410000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.410000, 6.460000, 6.810000, 6.710000, 6.610000, 5.360000, 3.510000, 2.660000, 2.110000, 1.760000, 1.510000, 1.260000, 1.160000, 1.140000, 1.170000, 1.140000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.190000, 1.270000, 1.170000, 1.240000, 1.190000 ], "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": [ 779, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.589300, 30.392700, 0.903157 ], "estimate": [ -13.589300, 30.392700, 0.903157 ], "true_pose": [ null, null, null ], "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": [ 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 6.610000, 6.660000, 2.690000, 2.610000, 2.560000, 2.510000, 2.510000, 2.510000, 2.410000, 2.510000, 2.410000, 2.310000, 2.310000, 2.260000, 2.210000, 2.110000, 2.160000, 1.960000, 1.760000, 1.660000, 1.760000, 1.810000, 1.910000, 3.360000, 3.410000, 3.510000, 3.510000, 3.610000, 3.710000, 3.760000, 3.860000, 3.960000, 1.960000, 1.910000, 1.860000, 1.810000, 1.660000, 1.810000, 1.760000, 1.660000, 1.660000, 1.760000, 1.660000, 1.660000, 1.710000, 1.660000, 1.710000, 1.560000, 1.510000, 1.610000, 1.560000, 1.710000, 1.760000, 1.460000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.510000, 1.410000, 1.410000, 1.260000, 1.210000, 1.310000, 1.310000, 1.290000, 1.240000, 1.220000, 1.240000, 1.310000, 1.310000, 1.360000, 1.260000, 1.310000, 1.360000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.660000, 1.560000, 1.710000, 1.760000, 1.710000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 1.660000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.640000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.860000, 5.760000, 8.360000, 8.360000, 8.160000, 8.110000, 3.840000, 3.910000, 3.260000, 3.110000, 3.060000, 2.960000, 2.910000, 2.910000, 3.060000, 3.060000, 3.060000, 3.160000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.510000, 3.510000, 3.560000, 3.710000, 3.760000, 6.960000, 6.910000, 6.910000, 6.910000, 6.860000, 6.510000, 6.660000, 6.860000, 6.660000, 6.860000, 4.660000, 3.260000, 2.560000, 2.110000, 1.710000, 1.510000, 1.360000, 1.210000, 1.090000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000 ], "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": [ 779, 500998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.587100, 30.395100, 0.775576 ], "estimate": [ -13.587100, 30.395100, 0.775576 ], "true_pose": [ null, null, null ], "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": [ 9.860000, 7.210000, 6.260000, 6.060000, 5.960000, 5.110000, 5.160000, 6.310000, 6.310000, 6.310000, 3.960000, 6.460000, 6.460000, 6.510000, 6.560000, 6.660000, 2.960000, 2.610000, 2.560000, 2.510000, 2.540000, 2.510000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.110000, 2.160000, 2.110000, 1.960000, 1.710000, 1.710000, 1.760000, 1.810000, 2.010000, 3.360000, 2.160000, 3.460000, 3.560000, 3.660000, 3.710000, 3.760000, 3.810000, 3.910000, 1.910000, 1.960000, 1.860000, 1.860000, 1.710000, 1.810000, 1.710000, 1.660000, 1.710000, 1.760000, 1.660000, 1.610000, 1.760000, 1.560000, 1.610000, 1.460000, 1.510000, 1.610000, 1.610000, 1.610000, 1.760000, 1.510000, 1.360000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.260000, 1.160000, 1.310000, 1.260000, 1.240000, 1.250000, 1.240000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.660000, 1.660000, 1.760000, 2.760000, 1.810000, 1.710000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.440000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.610000, 1.560000, 1.610000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.910000, 5.710000, 8.360000, 8.260000, 8.160000, 8.110000, 3.870000, 3.960000, 3.260000, 3.160000, 3.060000, 2.910000, 2.910000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.410000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.510000, 3.660000, 3.710000, 4.110000, 6.910000, 6.910000, 6.910000, 6.910000, 6.610000, 6.460000, 6.710000, 6.860000, 6.710000, 6.710000, 4.260000, 3.160000, 2.460000, 2.060000, 1.660000 ], "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": [ 779, 860000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.580000, 30.401201, 0.613945 ], "estimate": [ -13.580000, 30.401201, 0.613945 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 28.310000, 21.010000, 16.960000, 12.410000, 12.410000, 9.660000, 9.910000, 7.210000, 7.210000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.660000, 2.560000, 2.510000, 2.460000, 2.510000, 2.460000, 2.360000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.110000, 2.110000, 2.060000, 1.960000, 1.760000, 1.660000, 1.740000, 1.760000, 1.860000, 3.310000, 3.360000, 3.410000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 1.910000, 1.860000, 1.910000, 1.860000, 1.660000, 1.710000, 1.860000, 1.710000, 1.610000, 1.710000, 5.410000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.460000, 1.560000, 1.560000, 1.610000, 1.610000, 1.410000, 1.410000, 1.460000, 1.360000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.310000, 1.310000, 1.260000, 1.240000, 1.240000, 1.290000, 1.310000, 1.310000, 1.360000, 1.360000, 1.310000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.610000, 1.610000, 1.760000, 2.810000, 1.710000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.710000, 1.760000, 1.860000, 1.910000, 5.810000, 8.410000, 8.310000, 8.160000, 8.110000, 4.110000, 3.890000, 3.360000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.110000, 3.160000, 3.160000, 3.260000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000, 6.660000 ], "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": [ 780, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403898, 0.579895 ], "estimate": [ -13.575800, 30.403898, 0.579895 ], "true_pose": [ null, null, null ], "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": [ 44.060000, 49.760000, 36.810000, 23.810000, 17.260000, 13.610000, 12.410000, 9.660000, 9.660000, 9.260000, 7.210000, 6.060000, 6.060000, 5.110000, 5.110000, 5.210000, 6.310000, 6.310000, 3.960000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.710000, 2.560000, 2.560000, 2.510000, 2.460000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 1.760000, 1.710000, 1.710000, 1.710000, 1.810000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.610000, 3.710000, 3.810000, 3.860000, 1.960000, 1.960000, 1.760000, 1.860000, 1.710000, 1.710000, 1.760000, 1.610000, 1.610000, 1.710000, 1.710000, 1.710000, 1.610000, 1.660000, 1.560000, 1.560000, 1.510000, 1.510000, 1.610000, 1.510000, 1.610000, 1.610000, 1.410000, 1.510000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.260000, 1.160000, 1.260000, 1.290000, 1.220000, 1.190000, 1.240000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 2.760000, 2.710000, 1.860000, 1.560000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.510000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.710000, 1.610000, 1.610000, 1.560000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.710000, 1.810000, 1.860000, 1.860000, 5.760000, 8.410000, 8.360000, 8.210000, 8.060000, 6.460000, 3.870000, 3.360000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.160000, 3.160000, 3.160000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.710000, 3.860000, 6.910000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 780, 179998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.576200, 30.403702, 0.597340 ], "estimate": [ -13.576200, 30.403702, 0.597340 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 23.760000, 17.010000, 13.310000, 12.360000, 9.660000, 9.710000, 7.260000, 7.210000, 6.060000, 5.910000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.410000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 2.640000, 2.560000, 2.460000, 2.490000, 2.510000, 2.510000, 2.410000, 2.510000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 1.910000, 1.710000, 1.660000, 1.740000, 1.760000, 1.810000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.960000, 2.010000, 1.860000, 1.910000, 1.810000, 1.610000, 1.710000, 1.860000, 1.710000, 1.660000, 1.710000, 1.710000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.460000, 1.560000, 1.610000, 1.610000, 1.660000, 1.410000, 1.460000, 1.460000, 1.410000, 1.410000, 1.360000, 1.460000, 1.410000, 1.410000, 1.360000, 1.160000, 1.310000, 1.310000, 1.210000, 1.190000, 1.200000, 1.290000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 2.810000, 1.710000, 1.660000, 1.610000, 1.660000, 1.560000, 1.510000, 1.460000, 1.440000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.710000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.710000, 1.810000, 1.860000, 5.860000, 5.790000, 8.360000, 8.210000, 8.160000, 8.110000, 3.870000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.010000, 3.060000, 3.110000, 3.210000, 3.360000, 3.610000, 3.510000, 3.410000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 6.960000, 6.960000, 6.960000, 6.960000, 6.910000, 6.460000, 6.460000, 6.660000, 6.710000, 6.660000 ], "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": [ 780, 539998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.576200, 30.403702, 0.653459 ], "estimate": [ -13.576200, 30.403702, 0.653459 ], "true_pose": [ null, null, null ], "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": [ 14.460000, 12.410000, 9.710000, 9.660000, 9.260000, 7.210000, 6.160000, 6.010000, 5.160000, 5.110000, 5.210000, 6.260000, 6.310000, 3.960000, 6.410000, 6.460000, 6.510000, 6.460000, 6.560000, 6.610000, 2.710000, 2.610000, 2.560000, 2.510000, 2.510000, 2.510000, 2.460000, 2.460000, 2.460000, 2.410000, 2.260000, 2.210000, 2.210000, 2.110000, 2.110000, 2.060000, 1.760000, 1.710000, 1.710000, 1.710000, 1.860000, 3.310000, 3.310000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 2.010000, 1.910000, 1.860000, 1.810000, 1.710000, 1.760000, 1.810000, 1.710000, 1.660000, 1.710000, 1.660000, 1.660000, 1.710000, 1.710000, 1.560000, 1.610000, 1.460000, 1.560000, 1.610000, 1.660000, 1.660000, 1.560000, 1.410000, 1.460000, 1.410000, 1.360000, 1.410000, 1.410000, 1.460000, 1.360000, 1.360000, 1.190000, 1.210000, 1.310000, 1.290000, 1.250000, 1.190000, 1.290000, 1.310000, 1.310000, 1.360000, 1.360000, 1.210000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.510000, 1.610000, 1.610000, 1.660000, 1.760000, 2.760000, 1.810000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.510000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.760000, 8.410000, 8.260000, 8.210000, 8.110000, 6.460000, 3.870000, 3.310000, 3.210000, 3.060000, 3.010000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.910000, 6.660000, 6.910000, 4.860000, 3.060000 ], "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": [ 780, 779998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667752 ], "estimate": [ -13.575800, 30.403999, 0.667752 ], "true_pose": [ null, null, null ], "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": [ 13.400000, 12.350000, 9.650000, 9.700000, 7.250000, 7.250000, 6.000000, 5.950000, 5.050000, 5.100000, 6.250000, 6.300000, 6.300000, 3.950000, 6.400000, 6.450000, 6.500000, 6.550000, 6.600000, 6.600000, 2.680000, 2.600000, 2.450000, 2.480000, 2.500000, 2.550000, 2.400000, 2.450000, 2.400000, 2.350000, 2.300000, 2.250000, 2.150000, 2.100000, 2.100000, 1.950000, 1.750000, 1.700000, 1.730000, 1.750000, 1.850000, 3.300000, 3.350000, 3.450000, 3.500000, 3.550000, 3.700000, 3.750000, 3.800000, 3.900000, 1.950000, 1.900000, 1.900000, 1.800000, 1.700000, 1.750000, 1.850000, 1.650000, 1.650000, 1.650000, 1.800000, 1.550000, 1.650000, 1.650000, 1.550000, 1.650000, 1.450000, 1.600000, 1.600000, 1.600000, 1.650000, 1.450000, 1.350000, 1.450000, 1.350000, 1.400000, 1.400000, 1.400000, 1.400000, 1.350000, 1.400000, 1.150000, 1.250000, 1.300000, 1.250000, 1.190000, 1.190000, 1.230000, 1.250000, 1.300000, 1.350000, 1.350000, 1.250000, 1.300000, 1.450000, 1.450000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.650000, 1.650000, 1.850000, 2.750000, 1.700000, 1.700000, 1.700000, 1.650000, 1.550000, 1.500000, 1.450000, 1.480000, 1.400000, 1.400000, 1.450000, 1.450000, 1.500000, 1.550000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.600000, 1.650000, 1.700000, 1.650000, 1.600000, 1.550000, 1.600000, 1.580000, 1.630000, 1.630000, 1.680000, 1.730000, 1.750000, 1.800000, 1.850000, 1.950000, 5.750000, 8.400000, 8.250000, 8.150000, 8.100000, 3.950000, 3.900000, 3.300000, 3.200000, 3.100000, 2.950000, 2.950000, 2.950000, 3.000000, 3.050000, 3.050000, 3.100000, 3.150000, 3.200000, 3.600000, 3.500000, 3.450000, 3.400000, 3.450000, 3.550000, 3.600000, 3.700000, 3.800000, 6.950000, 6.950000, 6.900000, 6.900000, 6.900000, 6.450000, 6.550000, 6.900000, 6.600000, 6.850000, 4.550000, 2.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 781, 49998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667752 ], "estimate": [ -13.575800, 30.403999, 0.667752 ], "true_pose": [ null, null, null ], "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": [ 13.350000, 12.400000, 9.600000, 9.700000, 7.250000, 7.200000, 6.050000, 5.950000, 5.100000, 5.100000, 6.250000, 6.250000, 6.300000, 4.050000, 6.450000, 6.450000, 6.500000, 6.500000, 6.550000, 6.550000, 2.680000, 2.550000, 2.450000, 2.500000, 2.530000, 2.450000, 2.400000, 2.500000, 2.400000, 2.350000, 2.250000, 2.200000, 2.150000, 2.150000, 2.050000, 1.950000, 1.750000, 1.650000, 1.700000, 1.750000, 1.900000, 3.350000, 3.400000, 3.400000, 3.500000, 3.550000, 3.650000, 3.750000, 3.850000, 3.900000, 1.950000, 1.850000, 1.900000, 1.850000, 1.700000, 1.700000, 1.800000, 1.650000, 1.650000, 1.650000, 1.800000, 1.600000, 1.650000, 1.650000, 1.500000, 1.650000, 1.450000, 1.600000, 1.550000, 1.650000, 1.650000, 1.400000, 1.350000, 1.450000, 1.400000, 1.350000, 1.400000, 1.400000, 1.450000, 1.350000, 1.350000, 1.200000, 1.250000, 1.250000, 1.280000, 1.230000, 1.190000, 1.250000, 1.300000, 1.300000, 1.300000, 1.350000, 1.300000, 1.300000, 1.450000, 1.450000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.650000, 1.650000, 1.750000, 2.750000, 1.700000, 1.600000, 1.700000, 1.600000, 1.550000, 1.500000, 1.450000, 1.430000, 1.400000, 1.450000, 1.450000, 1.450000, 1.500000, 1.500000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.600000, 1.650000, 1.650000, 1.650000, 1.600000, 1.550000, 1.550000, 1.580000, 1.630000, 1.630000, 1.680000, 1.730000, 1.700000, 1.800000, 1.800000, 1.950000, 5.750000, 8.350000, 8.300000, 8.150000, 8.050000, 3.900000, 3.900000, 3.300000, 3.200000, 3.050000, 2.950000, 2.950000, 2.950000, 3.000000, 3.000000, 3.100000, 3.100000, 3.200000, 3.250000, 3.600000, 3.500000, 3.450000, 3.450000, 3.450000, 3.600000, 3.600000, 3.700000, 3.850000, 6.950000, 6.900000, 6.900000, 6.900000, 6.900000, 6.450000, 6.550000, 6.900000, 6.650000, 6.900000, 4.500000, 2.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 781, 210000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667752 ], "estimate": [ -13.575800, 30.403999, 0.667752 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.410000, 9.610000, 9.710000, 7.260000, 7.210000, 6.060000, 5.910000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 4.110000, 6.460000, 6.460000, 6.510000, 6.560000, 6.560000, 6.610000, 2.660000, 2.560000, 2.560000, 2.510000, 2.560000, 2.460000, 2.410000, 2.460000, 2.410000, 2.360000, 2.210000, 2.210000, 2.160000, 2.110000, 2.110000, 1.960000, 1.710000, 1.660000, 1.740000, 1.810000, 1.860000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.610000, 3.710000, 3.810000, 3.910000, 1.960000, 1.860000, 1.910000, 1.860000, 1.660000, 1.760000, 1.810000, 1.660000, 1.660000, 1.710000, 1.760000, 1.560000, 1.660000, 1.710000, 1.560000, 1.610000, 1.510000, 1.610000, 1.610000, 1.610000, 1.660000, 1.460000, 1.360000, 1.410000, 1.360000, 1.410000, 1.360000, 1.410000, 1.460000, 1.360000, 1.360000, 1.210000, 1.260000, 1.260000, 1.240000, 1.240000, 1.240000, 1.240000, 1.310000, 1.310000, 1.310000, 1.360000, 1.260000, 1.310000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.760000, 2.760000, 1.710000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.960000, 5.760000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.860000, 6.460000, 6.560000, 6.860000, 6.660000, 6.860000, 4.560000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 781, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667752 ], "estimate": [ -13.575800, 30.403999, 0.667752 ], "true_pose": [ null, null, null ], "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": [ 13.310000, 12.360000, 9.610000, 9.710000, 7.260000, 7.210000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 4.160000, 6.460000, 6.460000, 6.460000, 6.560000, 6.610000, 6.610000, 2.660000, 2.610000, 2.510000, 2.490000, 2.510000, 2.510000, 2.410000, 2.510000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.160000, 2.110000, 1.960000, 1.710000, 1.710000, 1.740000, 1.810000, 1.860000, 3.310000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.710000, 3.860000, 3.860000, 2.010000, 1.910000, 1.910000, 1.860000, 1.710000, 1.710000, 1.860000, 1.660000, 1.660000, 1.710000, 1.810000, 1.560000, 1.660000, 1.660000, 1.560000, 1.610000, 1.460000, 1.610000, 1.560000, 1.660000, 1.660000, 1.410000, 1.360000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.160000, 1.310000, 1.260000, 1.290000, 1.200000, 1.200000, 1.240000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.660000, 1.660000, 1.660000, 1.810000, 1.810000, 1.760000, 1.660000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.440000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.810000, 1.960000, 5.760000, 8.360000, 8.260000, 8.160000, 8.110000, 3.960000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.110000, 3.110000, 3.160000, 3.260000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.410000, 6.560000, 6.860000, 6.660000, 6.910000, 4.560000, 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": [ 781, 691000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667752 ], "estimate": [ -13.575800, 30.403999, 0.667752 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.410000, 9.660000, 9.710000, 7.210000, 7.210000, 6.060000, 5.960000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 4.160000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 6.660000, 2.690000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 1.960000, 1.760000, 1.710000, 1.710000, 1.760000, 1.860000, 3.260000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 2.010000, 1.910000, 1.910000, 1.810000, 1.660000, 1.710000, 1.860000, 1.660000, 1.710000, 1.710000, 1.810000, 1.610000, 1.660000, 1.660000, 1.560000, 1.610000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.410000, 1.360000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.360000, 1.210000, 1.310000, 1.310000, 1.260000, 1.240000, 1.200000, 1.260000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.810000, 2.760000, 1.760000, 1.660000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.440000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.710000, 1.560000, 1.560000, 1.610000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.960000, 5.810000, 8.410000, 8.310000, 8.160000, 8.060000, 3.910000, 3.960000, 3.260000, 3.210000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.110000, 3.110000, 3.160000, 3.260000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.610000, 6.860000, 6.660000, 6.910000, 4.510000, 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": [ 781, 850000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667752 ], "estimate": [ -13.575800, 30.403999, 0.667752 ], "true_pose": [ null, null, null ], "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": [ 13.310000, 12.360000, 9.660000, 9.710000, 7.210000, 7.210000, 6.060000, 5.960000, 5.110000, 5.160000, 6.310000, 6.310000, 6.310000, 4.110000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 6.610000, 2.660000, 2.560000, 2.510000, 2.510000, 2.540000, 2.510000, 2.410000, 2.460000, 2.360000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 1.960000, 1.710000, 1.660000, 1.740000, 1.760000, 1.860000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.910000, 1.910000, 1.810000, 1.660000, 1.760000, 1.860000, 1.660000, 1.610000, 1.660000, 1.760000, 1.610000, 1.660000, 1.660000, 1.560000, 1.610000, 1.460000, 1.560000, 1.560000, 1.610000, 1.660000, 1.410000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.360000, 1.210000, 1.310000, 1.310000, 1.290000, 1.240000, 1.240000, 1.260000, 1.260000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.610000, 1.660000, 1.760000, 2.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.960000, 5.760000, 8.410000, 8.310000, 8.210000, 8.110000, 3.910000, 3.860000, 3.260000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000, 6.910000, 6.660000, 6.860000, 4.560000, 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": [ 782, 90000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.667121 ], "estimate": [ -13.575800, 30.403999, 0.667121 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.610000, 9.710000, 7.310000, 7.210000, 6.060000, 5.910000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 3.960000, 6.410000, 6.510000, 6.510000, 6.510000, 6.560000, 6.660000, 2.690000, 2.610000, 2.510000, 2.460000, 2.510000, 2.510000, 2.410000, 2.510000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 1.960000, 1.760000, 1.710000, 1.710000, 1.810000, 1.810000, 3.310000, 3.360000, 3.410000, 3.510000, 3.610000, 3.660000, 3.710000, 3.860000, 3.910000, 2.010000, 1.860000, 1.910000, 1.810000, 1.660000, 1.810000, 4.710000, 1.710000, 1.660000, 1.660000, 5.360000, 1.610000, 1.660000, 1.660000, 1.560000, 1.610000, 1.510000, 1.610000, 1.560000, 1.560000, 1.710000, 1.460000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.210000, 1.260000, 1.310000, 1.240000, 1.200000, 1.240000, 1.260000, 1.260000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.610000, 1.660000, 1.810000, 2.810000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.510000, 1.460000, 1.440000, 1.460000, 1.410000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.960000, 5.760000, 8.360000, 8.310000, 8.210000, 8.110000, 3.960000, 3.860000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.910000, 6.660000, 6.860000, 4.560000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 782, 250000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.665229 ], "estimate": [ -13.575800, 30.403999, 0.665229 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.410000, 9.660000, 9.660000, 9.210000, 7.210000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 6.610000, 2.710000, 2.610000, 2.510000, 2.490000, 2.510000, 2.510000, 2.410000, 2.460000, 2.460000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 1.960000, 1.710000, 1.710000, 1.740000, 1.760000, 1.860000, 3.310000, 2.210000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.760000, 3.910000, 1.910000, 1.910000, 1.910000, 1.860000, 1.660000, 1.760000, 1.860000, 1.660000, 1.660000, 1.710000, 1.860000, 1.610000, 1.610000, 1.710000, 1.560000, 1.610000, 1.460000, 1.610000, 1.610000, 1.610000, 1.660000, 1.510000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.410000, 1.460000, 1.360000, 1.360000, 1.160000, 1.260000, 1.310000, 1.260000, 1.240000, 1.240000, 1.260000, 1.260000, 1.360000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.760000, 1.810000, 1.710000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.860000, 1.910000, 5.760000, 8.360000, 8.260000, 8.160000, 8.160000, 4.010000, 3.890000, 3.310000, 3.160000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.560000, 3.560000, 3.460000, 3.410000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 6.910000, 6.960000, 6.910000, 6.910000, 6.910000, 6.410000, 6.560000, 6.860000, 6.610000, 6.860000, 4.710000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 782, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.660000, 9.260000, 7.260000, 6.010000, 6.010000, 5.110000, 5.110000, 6.260000, 6.310000, 6.310000, 3.960000, 6.460000, 6.460000, 6.560000, 6.560000, 6.560000, 6.610000, 2.660000, 2.610000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.510000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 1.960000, 1.710000, 1.710000, 1.710000, 1.760000, 1.810000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 1.960000, 1.860000, 1.860000, 1.910000, 1.610000, 1.710000, 1.860000, 1.710000, 1.660000, 1.710000, 1.810000, 1.610000, 1.610000, 1.710000, 1.610000, 1.610000, 1.510000, 1.610000, 1.660000, 1.610000, 1.660000, 1.510000, 1.410000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.460000, 1.410000, 1.410000, 1.190000, 1.310000, 1.260000, 1.260000, 1.240000, 1.240000, 1.290000, 1.260000, 1.310000, 1.360000, 1.360000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.760000, 2.760000, 1.710000, 1.660000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.610000, 1.560000, 1.610000, 1.660000, 1.610000, 1.660000, 1.710000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.860000, 1.910000, 5.810000, 8.410000, 8.310000, 8.210000, 8.060000, 4.110000, 3.840000, 3.310000, 3.210000, 3.110000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.110000, 3.060000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.510000, 6.860000, 6.610000, 6.910000, 4.760000, 3.060000 ], "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": [ 782, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.310000, 6.360000, 3.960000, 6.410000, 6.460000, 6.460000, 6.560000, 6.660000, 6.610000, 2.660000, 2.610000, 2.460000, 2.490000, 2.510000, 2.560000, 2.410000, 2.460000, 2.410000, 2.310000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 2.010000, 1.760000, 1.710000, 1.740000, 1.760000, 1.810000, 3.260000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.860000, 3.860000, 1.960000, 1.910000, 1.910000, 1.860000, 1.710000, 1.760000, 1.860000, 1.710000, 1.610000, 1.760000, 1.810000, 1.610000, 1.660000, 1.710000, 1.560000, 1.610000, 1.460000, 1.560000, 1.610000, 1.610000, 1.660000, 1.510000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.460000, 1.360000, 1.360000, 1.190000, 1.260000, 1.310000, 1.260000, 1.200000, 1.240000, 1.260000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.760000, 2.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.610000, 1.610000, 1.610000, 1.660000, 1.610000, 1.710000, 1.660000, 1.560000, 1.610000, 1.560000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.710000, 1.810000, 1.810000, 1.910000, 5.810000, 8.410000, 8.260000, 8.210000, 8.110000, 4.160000, 3.890000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.860000, 6.610000, 6.910000, 4.760000, 3.060000 ], "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": [ 782, 809998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.360000, 9.660000, 9.660000, 9.160000, 7.210000, 6.060000, 6.010000, 5.160000, 5.110000, 6.260000, 6.260000, 6.360000, 3.960000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 6.610000, 2.660000, 2.560000, 2.510000, 2.510000, 2.510000, 2.560000, 2.410000, 2.510000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.160000, 2.110000, 2.010000, 1.760000, 1.710000, 1.710000, 1.760000, 1.760000, 3.310000, 2.160000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 1.960000, 1.910000, 1.910000, 1.860000, 1.660000, 1.710000, 1.860000, 1.710000, 1.660000, 1.710000, 5.410000, 1.560000, 1.660000, 1.710000, 1.560000, 1.610000, 1.510000, 1.610000, 1.610000, 1.560000, 1.660000, 1.510000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.260000, 1.260000, 1.260000, 1.250000, 1.200000, 1.290000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.760000, 2.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.810000, 8.410000, 8.310000, 8.210000, 8.110000, 4.160000, 3.840000, 3.310000, 3.210000, 3.110000, 2.960000, 2.910000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000, 6.860000, 6.610000, 6.910000, 4.760000, 3.060000 ], "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": [ 782, 929998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 6.610000, 2.710000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.760000, 1.710000, 1.760000, 1.710000, 1.860000, 3.310000, 2.160000, 3.410000, 3.460000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 1.960000, 1.860000, 1.860000, 1.860000, 1.660000, 1.710000, 1.860000, 1.710000, 1.660000, 1.710000, 1.810000, 1.560000, 1.660000, 1.710000, 1.560000, 1.610000, 1.510000, 1.610000, 1.610000, 1.610000, 1.660000, 1.510000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.210000, 1.310000, 1.310000, 1.260000, 1.200000, 1.190000, 1.290000, 1.310000, 1.310000, 1.360000, 1.360000, 1.210000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.610000, 1.660000, 1.710000, 2.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.510000, 1.510000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.760000, 8.360000, 8.310000, 8.260000, 8.110000, 4.110000, 3.890000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.910000, 6.660000, 6.860000, 4.760000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 783, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.410000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.160000, 6.260000, 6.260000, 6.310000, 4.010000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 6.610000, 2.660000, 2.610000, 2.460000, 2.460000, 2.510000, 2.560000, 2.410000, 2.510000, 2.410000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.760000, 1.710000, 1.760000, 1.760000, 1.860000, 3.310000, 2.160000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.860000, 3.910000, 1.960000, 1.910000, 1.910000, 1.860000, 1.660000, 1.760000, 1.810000, 1.660000, 1.610000, 1.760000, 1.860000, 1.560000, 1.610000, 1.710000, 1.560000, 1.660000, 1.510000, 1.610000, 1.660000, 1.610000, 1.660000, 1.510000, 1.360000, 1.460000, 1.410000, 1.460000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.260000, 1.310000, 1.260000, 1.240000, 1.240000, 1.240000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.660000, 1.660000, 1.710000, 2.810000, 1.760000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.510000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.910000, 5.760000, 8.410000, 8.310000, 8.160000, 8.110000, 4.210000, 3.890000, 3.260000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.060000, 3.010000, 3.060000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.860000, 6.460000, 6.510000, 6.860000, 6.660000, 6.860000, 4.810000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 783, 250000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.660000, 9.210000, 7.160000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.310000, 6.310000, 4.010000, 6.410000, 6.460000, 6.560000, 6.510000, 6.560000, 6.560000, 2.660000, 2.560000, 2.510000, 2.540000, 2.490000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.160000, 2.110000, 2.010000, 1.760000, 1.710000, 1.740000, 1.760000, 1.810000, 3.310000, 2.210000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.960000, 1.910000, 1.910000, 1.860000, 1.810000, 1.660000, 1.710000, 1.810000, 1.710000, 1.610000, 1.760000, 1.710000, 1.610000, 1.660000, 1.660000, 1.560000, 1.610000, 1.460000, 1.610000, 1.660000, 1.610000, 1.660000, 1.510000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.460000, 1.460000, 1.360000, 1.360000, 1.240000, 1.310000, 1.310000, 1.260000, 1.240000, 1.240000, 1.240000, 1.310000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.460000, 1.510000, 1.460000, 1.560000, 1.560000, 1.510000, 1.610000, 1.610000, 1.660000, 1.760000, 2.760000, 1.810000, 1.660000, 1.710000, 1.660000, 1.610000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.510000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.760000, 8.410000, 8.360000, 8.210000, 8.110000, 4.160000, 3.890000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.910000, 6.960000, 6.910000, 6.910000, 6.910000, 6.410000, 6.560000, 6.860000, 6.660000, 6.860000, 4.760000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 783, 490000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.410000, 9.610000, 9.660000, 9.160000, 7.210000, 6.060000, 6.010000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 6.610000, 2.710000, 2.610000, 2.510000, 2.490000, 2.510000, 2.560000, 2.460000, 2.460000, 2.460000, 2.310000, 2.260000, 2.210000, 2.160000, 2.160000, 2.110000, 2.010000, 1.760000, 1.710000, 1.760000, 1.760000, 1.860000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 1.960000, 1.860000, 1.910000, 1.910000, 1.660000, 1.710000, 1.860000, 1.710000, 1.610000, 1.760000, 1.810000, 1.560000, 1.610000, 1.710000, 1.560000, 1.610000, 1.460000, 1.560000, 1.660000, 1.660000, 1.660000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.360000, 1.190000, 1.310000, 1.310000, 1.240000, 1.240000, 1.250000, 1.240000, 1.310000, 1.360000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.410000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.710000, 1.710000, 2.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.860000, 5.810000, 8.360000, 8.260000, 8.210000, 8.110000, 4.160000, 3.890000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.560000, 3.760000, 3.810000, 6.910000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000, 6.910000, 6.660000, 6.860000, 4.760000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 783, 610000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 4.010000, 6.460000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 2.660000, 2.610000, 2.510000, 2.510000, 2.510000, 2.510000, 2.460000, 2.460000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.160000, 2.110000, 2.010000, 1.760000, 1.710000, 1.760000, 1.760000, 1.810000, 3.310000, 2.210000, 3.410000, 3.510000, 3.610000, 3.610000, 3.760000, 3.810000, 3.910000, 2.010000, 1.860000, 1.860000, 1.860000, 1.660000, 1.760000, 1.810000, 1.710000, 1.660000, 1.760000, 1.760000, 1.610000, 1.610000, 1.710000, 1.560000, 1.660000, 1.460000, 1.560000, 1.610000, 1.610000, 1.660000, 1.510000, 1.360000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.460000, 1.360000, 1.360000, 1.190000, 1.260000, 1.310000, 1.260000, 1.240000, 1.240000, 1.290000, 1.310000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.510000, 1.460000, 1.460000, 1.560000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 2.760000, 1.760000, 1.660000, 1.710000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.810000, 8.360000, 8.310000, 8.210000, 8.110000, 4.160000, 3.890000, 3.310000, 3.160000, 3.060000, 3.010000, 2.910000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.860000, 6.960000, 6.960000, 6.910000, 6.910000, 6.860000, 6.460000, 6.560000, 6.910000, 6.660000, 6.910000, 4.760000, 3.060000 ], "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": [ 783, 850000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.010000, 6.010000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.360000, 6.460000, 6.510000, 6.510000, 6.510000, 6.610000, 2.710000, 2.610000, 2.510000, 2.460000, 2.510000, 2.560000, 2.410000, 2.460000, 2.410000, 2.360000, 2.260000, 2.260000, 2.210000, 2.110000, 2.110000, 2.010000, 1.760000, 1.710000, 1.740000, 1.760000, 1.810000, 3.310000, 2.210000, 3.460000, 3.510000, 3.560000, 3.610000, 3.710000, 3.810000, 3.910000, 1.960000, 1.860000, 1.860000, 1.910000, 1.660000, 1.710000, 1.810000, 1.710000, 1.610000, 1.710000, 1.810000, 1.610000, 1.610000, 1.710000, 1.510000, 1.610000, 1.460000, 1.560000, 1.610000, 1.610000, 1.660000, 1.510000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.460000, 1.410000, 1.360000, 1.360000, 1.140000, 1.260000, 1.310000, 1.290000, 1.250000, 1.240000, 1.240000, 1.260000, 1.310000, 1.360000, 1.360000, 1.210000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.510000, 1.610000, 1.610000, 1.660000, 1.710000, 2.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.760000, 8.360000, 8.310000, 8.210000, 8.060000, 4.110000, 3.840000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.510000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.960000, 6.910000, 6.910000, 6.410000, 6.510000, 6.860000, 6.660000, 6.910000, 4.810000, 3.060000 ], "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": [ 784, 49998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.010000, 6.010000, 5.160000, 5.110000, 6.260000, 6.310000, 6.310000, 4.010000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 6.610000, 2.710000, 2.560000, 2.460000, 2.460000, 2.510000, 2.610000, 2.410000, 2.510000, 2.360000, 2.310000, 2.310000, 2.210000, 2.160000, 2.160000, 2.110000, 1.960000, 1.760000, 1.710000, 1.760000, 1.710000, 1.810000, 3.260000, 2.210000, 3.410000, 3.510000, 3.560000, 3.660000, 3.760000, 3.760000, 3.910000, 1.910000, 1.810000, 1.860000, 1.810000, 1.710000, 1.710000, 1.810000, 1.710000, 1.660000, 1.710000, 5.360000, 1.610000, 1.660000, 1.710000, 1.560000, 1.610000, 1.510000, 1.610000, 1.610000, 1.610000, 1.660000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.360000, 1.460000, 1.460000, 1.360000, 1.360000, 1.190000, 1.310000, 1.310000, 1.260000, 1.240000, 1.240000, 1.290000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.710000, 1.710000, 2.760000, 1.810000, 1.660000, 1.710000, 1.660000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.810000, 8.410000, 8.310000, 8.210000, 8.110000, 4.160000, 3.840000, 3.310000, 3.210000, 3.060000, 2.960000, 2.910000, 2.960000, 3.010000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.860000, 6.660000, 6.860000, 4.760000, 3.060000 ], "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": [ 784, 210000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.160000, 5.110000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 6.610000, 2.660000, 2.610000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.110000, 2.110000, 2.010000, 1.760000, 1.710000, 1.710000, 1.760000, 1.810000, 3.310000, 2.160000, 3.460000, 3.460000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 2.010000, 1.860000, 1.860000, 1.910000, 1.610000, 1.760000, 1.810000, 1.710000, 1.610000, 1.710000, 1.760000, 1.610000, 1.610000, 1.710000, 1.510000, 1.610000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.460000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.310000, 1.310000, 1.260000, 1.240000, 1.240000, 1.240000, 1.310000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.660000, 1.660000, 1.710000, 1.710000, 2.760000, 1.760000, 1.660000, 1.710000, 1.660000, 1.610000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.740000, 1.740000, 1.760000, 1.810000, 1.810000, 1.910000, 5.810000, 8.360000, 8.260000, 8.210000, 8.110000, 4.160000, 3.890000, 3.310000, 3.210000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.560000, 6.860000, 6.660000, 6.910000, 4.760000, 3.060000 ], "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": [ 784, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.410000, 9.660000, 9.710000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.310000, 6.310000, 3.960000, 6.460000, 6.460000, 6.510000, 6.510000, 6.610000, 6.610000, 2.710000, 2.610000, 2.510000, 2.490000, 2.510000, 2.560000, 2.410000, 2.510000, 2.410000, 2.310000, 2.310000, 2.210000, 2.210000, 2.110000, 2.110000, 1.960000, 1.710000, 1.660000, 1.740000, 1.760000, 1.810000, 3.310000, 2.210000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.710000, 1.810000, 1.660000, 1.660000, 1.710000, 1.810000, 1.610000, 1.610000, 1.710000, 1.560000, 1.660000, 1.460000, 1.610000, 1.610000, 1.610000, 1.660000, 1.460000, 1.410000, 1.460000, 1.410000, 1.460000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.190000, 1.310000, 1.310000, 1.260000, 1.250000, 1.240000, 1.240000, 1.260000, 1.360000, 1.310000, 1.360000, 1.210000, 1.310000, 1.460000, 1.410000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 2.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.560000, 1.510000, 1.560000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.910000, 5.760000, 8.410000, 8.310000, 8.260000, 8.110000, 4.210000, 3.840000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.560000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.910000, 6.610000, 6.910000, 4.760000, 3.060000 ], "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": [ 784, 610998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 4.010000, 6.410000, 6.460000, 6.560000, 6.560000, 6.560000, 6.560000, 2.660000, 2.560000, 2.510000, 2.510000, 2.510000, 2.560000, 2.410000, 2.460000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.160000, 1.960000, 1.710000, 1.710000, 1.710000, 1.760000, 1.810000, 3.310000, 2.210000, 3.410000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.860000, 2.010000, 1.810000, 1.860000, 1.860000, 1.660000, 1.710000, 1.860000, 1.710000, 1.610000, 1.710000, 1.810000, 1.560000, 1.660000, 1.660000, 1.560000, 1.610000, 1.510000, 1.560000, 1.610000, 1.660000, 1.660000, 1.510000, 1.360000, 1.460000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.360000, 1.410000, 1.190000, 1.310000, 1.310000, 1.260000, 1.200000, 1.240000, 1.290000, 1.310000, 1.360000, 1.360000, 1.360000, 1.210000, 1.260000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.710000, 2.710000, 1.710000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.910000, 5.810000, 8.410000, 8.360000, 8.210000, 8.110000, 4.160000, 3.890000, 3.310000, 3.160000, 3.110000, 3.010000, 2.910000, 2.960000, 3.060000, 3.060000, 3.110000, 3.060000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.510000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.410000, 6.510000, 6.910000, 6.660000, 6.860000, 4.810000, 3.060000 ], "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": [ 784, 769998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.410000, 9.660000, 9.660000, 9.210000, 7.210000, 6.010000, 6.010000, 5.160000, 5.110000, 6.310000, 6.310000, 6.310000, 4.010000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 6.610000, 2.710000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.410000, 2.360000, 2.260000, 2.260000, 2.210000, 2.110000, 2.110000, 1.960000, 1.710000, 1.710000, 1.740000, 1.760000, 1.810000, 3.310000, 3.410000, 3.410000, 3.460000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.760000, 4.710000, 1.710000, 1.660000, 1.710000, 1.760000, 1.560000, 1.660000, 1.660000, 1.560000, 1.610000, 1.460000, 1.560000, 1.660000, 1.610000, 1.660000, 1.510000, 1.410000, 1.460000, 1.360000, 1.460000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.310000, 1.310000, 1.240000, 1.240000, 1.240000, 1.290000, 1.260000, 1.360000, 1.360000, 1.310000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.560000, 1.710000, 1.710000, 2.760000, 1.810000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.910000, 5.760000, 8.410000, 8.310000, 8.160000, 8.110000, 4.160000, 3.890000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.510000, 3.460000, 3.460000, 3.610000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.860000, 6.660000, 6.860000, 4.810000, 3.060000 ], "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": [ 784, 929998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.360000, 12.360000, 9.660000, 9.710000, 9.210000, 7.210000, 6.060000, 6.010000, 5.160000, 5.110000, 6.260000, 6.260000, 6.310000, 3.960000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 6.560000, 2.660000, 2.610000, 2.510000, 2.540000, 2.560000, 2.560000, 2.410000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.760000, 1.710000, 1.710000, 1.710000, 1.810000, 3.310000, 2.210000, 3.410000, 3.510000, 3.610000, 3.660000, 3.710000, 3.810000, 3.910000, 1.960000, 1.910000, 1.860000, 1.810000, 1.660000, 1.760000, 1.860000, 1.660000, 1.660000, 1.710000, 5.360000, 1.560000, 1.660000, 1.660000, 1.560000, 1.610000, 1.460000, 1.560000, 1.660000, 1.660000, 1.660000, 1.510000, 1.360000, 1.410000, 1.410000, 1.460000, 1.360000, 1.460000, 1.460000, 1.360000, 1.360000, 1.190000, 1.310000, 1.260000, 1.260000, 1.240000, 1.190000, 1.240000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 2.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.810000, 8.410000, 8.310000, 8.210000, 8.110000, 4.110000, 3.890000, 3.360000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.110000, 3.210000, 3.610000, 3.510000, 3.510000, 3.510000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.960000, 6.960000, 6.910000, 6.460000, 6.560000, 6.910000, 6.610000, 6.910000, 4.760000, 3.060000 ], "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": [ 785, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.410000, 9.660000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.210000, 6.310000, 6.310000, 4.010000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 2.710000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.710000, 1.710000, 1.710000, 1.710000, 1.810000, 3.310000, 2.210000, 3.410000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 1.960000, 1.860000, 1.910000, 1.860000, 1.660000, 1.760000, 1.810000, 1.710000, 1.610000, 1.710000, 1.860000, 1.560000, 1.660000, 1.710000, 1.560000, 1.610000, 1.510000, 1.610000, 1.610000, 1.660000, 1.660000, 1.510000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.310000, 1.310000, 1.240000, 1.250000, 1.200000, 1.240000, 1.310000, 1.310000, 1.360000, 1.360000, 1.260000, 1.310000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.510000, 1.610000, 1.610000, 1.660000, 1.710000, 2.710000, 1.760000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.860000, 1.910000, 5.810000, 8.460000, 8.310000, 8.210000, 8.110000, 4.160000, 3.840000, 3.310000, 3.210000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.110000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.910000, 6.660000, 6.860000, 4.760000, 3.060000 ], "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": [ 785, 399998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575800, 30.403999, 0.664389 ], "estimate": [ -13.575800, 30.403999, 0.664389 ], "true_pose": [ null, null, null ], "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": [ 13.410000, 12.360000, 9.610000, 9.660000, 9.210000, 7.210000, 6.060000, 6.010000, 5.110000, 5.110000, 6.260000, 6.310000, 6.360000, 3.960000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 6.610000, 2.710000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 1.960000, 1.760000, 1.710000, 1.740000, 1.710000, 1.860000, 3.310000, 2.210000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.860000, 2.010000, 1.860000, 1.860000, 1.860000, 1.660000, 1.710000, 1.810000, 1.710000, 1.610000, 1.760000, 1.810000, 1.610000, 1.610000, 1.710000, 1.510000, 1.610000, 1.460000, 1.610000, 1.560000, 1.610000, 1.660000, 1.460000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.410000, 1.410000, 1.360000, 1.410000, 1.190000, 1.310000, 1.310000, 1.260000, 1.200000, 1.240000, 1.240000, 1.260000, 1.360000, 1.360000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.510000, 1.560000, 1.610000, 1.560000, 1.660000, 1.760000, 2.810000, 1.760000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.810000, 8.360000, 8.310000, 8.160000, 8.110000, 4.160000, 3.840000, 3.310000, 3.210000, 3.060000, 2.960000, 2.910000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000, 6.860000, 6.660000, 6.910000, 4.760000, 3.060000 ], "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": [ 785, 640998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575601, 30.404200, 0.622983 ], "estimate": [ -13.575601, 30.404200, 0.622983 ], "true_pose": [ null, null, null ], "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": [ 21.010000, 14.610000, 12.360000, 12.610000, 9.660000, 9.910000, 7.160000, 6.310000, 6.010000, 5.960000, 5.110000, 5.210000, 6.260000, 6.310000, 6.310000, 3.910000, 6.510000, 6.410000, 6.510000, 6.510000, 6.610000, 2.760000, 2.660000, 2.560000, 2.510000, 2.510000, 2.540000, 2.410000, 2.460000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 1.910000, 1.710000, 1.710000, 1.710000, 1.810000, 2.060000, 3.360000, 2.160000, 3.460000, 3.560000, 3.660000, 3.710000, 3.760000, 3.860000, 3.910000, 1.860000, 1.960000, 1.860000, 1.860000, 1.660000, 1.810000, 1.710000, 1.610000, 1.660000, 1.710000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.660000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.210000, 1.310000, 1.260000, 1.240000, 1.250000, 1.240000, 1.290000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.360000, 1.460000, 1.510000, 1.560000, 1.560000, 1.510000, 1.610000, 1.610000, 1.660000, 1.710000, 1.760000, 2.760000, 1.710000, 1.610000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.610000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.760000, 1.810000, 1.810000, 5.960000, 5.760000, 8.360000, 8.260000, 8.160000, 8.060000, 3.870000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.060000, 3.060000, 3.110000, 3.210000, 3.410000, 3.610000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.760000, 6.960000, 6.960000, 6.910000, 6.960000, 6.910000, 6.510000, 6.460000, 6.710000, 6.660000, 6.660000, 5.110000 ], "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": [ 785, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574699, 30.404699, 0.569386 ], "estimate": [ -13.574699, 30.404699, 0.569386 ], "true_pose": [ null, null, null ], "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, 21.070000, 16.970000, 13.320000, 12.420000, 9.670000, 9.870000, 7.220000, 7.220000, 6.020000, 5.920000, 5.120000, 5.170000, 6.320000, 6.270000, 6.320000, 6.370000, 6.370000, 6.420000, 6.470000, 6.520000, 6.570000, 6.620000, 2.720000, 2.570000, 2.520000, 2.500000, 2.520000, 2.470000, 2.420000, 2.470000, 2.370000, 2.370000, 2.270000, 2.220000, 2.170000, 2.120000, 2.120000, 1.920000, 1.770000, 1.670000, 1.700000, 1.770000, 1.820000, 3.320000, 3.420000, 3.470000, 3.520000, 3.620000, 3.670000, 3.770000, 3.870000, 3.920000, 1.970000, 1.970000, 1.920000, 1.920000, 1.720000, 1.770000, 1.820000, 1.670000, 1.670000, 1.670000, 5.420000, 1.620000, 1.670000, 1.620000, 1.520000, 1.620000, 1.470000, 1.620000, 1.620000, 1.620000, 1.720000, 1.370000, 1.420000, 1.420000, 1.420000, 1.470000, 1.420000, 1.420000, 1.470000, 1.370000, 1.420000, 1.200000, 1.270000, 1.320000, 1.270000, 1.250000, 1.210000, 1.270000, 1.270000, 1.320000, 1.370000, 1.370000, 1.220000, 1.270000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.670000, 1.720000, 1.670000, 1.720000, 2.770000, 2.770000, 1.620000, 1.720000, 1.670000, 1.570000, 1.520000, 1.520000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.520000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.670000, 1.620000, 1.570000, 1.570000, 1.600000, 1.650000, 1.700000, 1.700000, 1.750000, 1.720000, 1.820000, 1.820000, 1.920000, 5.820000, 8.420000, 8.320000, 8.220000, 8.070000, 4.020000, 3.900000, 3.320000, 3.220000, 3.070000, 2.970000, 2.970000, 3.020000, 3.020000, 3.020000, 3.070000, 3.120000, 3.220000, 3.220000, 3.620000, 3.570000, 3.470000, 3.470000, 3.470000, 3.520000, 3.620000, 3.770000, 3.820000, 6.970000, 6.920000, 6.920000, 6.920000, 6.920000, 6.470000, 6.520000, 6.870000, 6.670000 ], "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": [ 786, 0 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574599, 30.404800, 0.574431 ], "estimate": [ -13.574599, 30.404800, 0.574431 ], "true_pose": [ null, null, null ], "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": [ 49.820000, 49.770000, 27.320000, 21.020000, 14.520000, 12.370000, 50.000000, 9.620000, 9.920000, 7.220000, 6.270000, 6.070000, 5.920000, 5.070000, 5.170000, 6.270000, 6.370000, 6.370000, 6.370000, 6.370000, 6.470000, 6.470000, 6.520000, 6.570000, 2.770000, 2.620000, 2.570000, 2.470000, 2.470000, 2.520000, 2.420000, 2.470000, 2.470000, 2.370000, 2.320000, 2.270000, 2.220000, 2.170000, 2.120000, 2.070000, 1.920000, 1.670000, 1.720000, 1.700000, 1.820000, 2.320000, 3.320000, 3.420000, 3.470000, 3.520000, 3.620000, 3.720000, 3.820000, 3.870000, 3.970000, 1.920000, 1.970000, 1.920000, 1.920000, 1.670000, 1.820000, 1.720000, 1.670000, 1.670000, 1.720000, 1.670000, 1.720000, 1.670000, 1.570000, 1.570000, 1.520000, 1.570000, 1.670000, 1.620000, 1.670000, 1.570000, 1.520000, 1.370000, 1.420000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.220000, 1.270000, 1.320000, 1.250000, 1.210000, 1.200000, 1.270000, 1.320000, 1.320000, 1.370000, 1.270000, 1.270000, 1.370000, 1.470000, 1.470000, 1.520000, 1.620000, 1.620000, 1.620000, 1.620000, 1.670000, 1.720000, 2.770000, 2.770000, 1.820000, 1.670000, 1.670000, 1.620000, 1.570000, 1.520000, 1.470000, 1.420000, 1.420000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.770000, 1.620000, 1.620000, 1.570000, 1.570000, 1.650000, 1.650000, 1.650000, 1.750000, 1.800000, 1.770000, 1.820000, 1.870000, 6.020000, 5.820000, 8.370000, 8.220000, 8.120000, 8.120000, 3.850000, 3.970000, 3.270000, 3.120000, 3.020000, 2.970000, 2.970000, 3.020000, 3.020000, 3.070000, 3.120000, 3.120000, 3.220000, 3.670000, 3.570000, 3.520000, 3.470000, 3.420000, 3.570000, 3.620000, 3.720000, 3.770000, 6.970000, 6.970000, 6.920000, 6.920000, 6.920000, 6.470000, 6.520000, 6.770000 ], "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": [ 786, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574699, 30.404800, 0.583468 ], "estimate": [ -13.574699, 30.404800, 0.583468 ], "true_pose": [ null, null, null ], "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": [ 49.770000, 50.000000, 21.070000, 16.970000, 13.370000, 12.420000, 9.670000, 9.870000, 7.220000, 7.220000, 6.070000, 5.920000, 5.120000, 5.120000, 6.320000, 6.270000, 6.320000, 3.970000, 6.420000, 6.420000, 6.470000, 6.520000, 6.570000, 6.620000, 2.670000, 2.570000, 2.520000, 2.520000, 2.520000, 2.420000, 2.420000, 2.470000, 2.420000, 2.320000, 2.270000, 2.220000, 2.170000, 2.120000, 2.120000, 1.920000, 1.720000, 1.670000, 1.720000, 1.820000, 1.820000, 3.370000, 3.370000, 3.470000, 3.520000, 3.570000, 3.670000, 3.770000, 3.820000, 3.920000, 1.970000, 1.920000, 1.820000, 1.920000, 1.670000, 1.770000, 1.770000, 1.620000, 1.670000, 1.670000, 1.720000, 1.670000, 1.570000, 1.620000, 1.570000, 1.570000, 1.520000, 1.620000, 1.620000, 1.620000, 1.670000, 1.320000, 1.470000, 1.420000, 1.420000, 1.370000, 1.370000, 1.420000, 1.470000, 1.420000, 1.370000, 1.170000, 1.270000, 1.270000, 1.270000, 1.230000, 1.230000, 1.220000, 1.270000, 1.320000, 1.370000, 1.270000, 1.270000, 1.320000, 1.470000, 1.470000, 1.470000, 1.520000, 1.570000, 1.620000, 1.670000, 1.620000, 1.720000, 1.820000, 2.720000, 1.820000, 1.620000, 1.670000, 1.670000, 1.570000, 1.520000, 1.470000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.570000, 1.520000, 1.570000, 1.620000, 1.570000, 1.620000, 1.670000, 1.670000, 1.720000, 1.670000, 1.620000, 1.570000, 1.600000, 1.600000, 1.650000, 1.700000, 1.750000, 1.750000, 1.770000, 1.820000, 1.820000, 5.920000, 5.720000, 8.370000, 8.270000, 8.220000, 8.070000, 3.880000, 3.970000, 3.270000, 3.120000, 3.070000, 2.970000, 2.970000, 2.970000, 3.070000, 3.020000, 3.120000, 3.170000, 3.220000, 3.370000, 3.570000, 3.520000, 3.470000, 3.420000, 3.520000, 3.570000, 3.670000, 3.770000, 6.970000, 6.920000, 6.920000, 6.970000, 6.920000, 6.470000, 6.420000, 6.720000, 6.720000 ], "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": [ 786, 330000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575400, 30.404299, 0.660185 ], "estimate": [ -13.575400, 30.404299, 0.660185 ], "true_pose": [ null, null, null ], "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": [ 21.020000, 14.520000, 12.420000, 50.000000, 9.670000, 9.920000, 7.170000, 6.320000, 6.070000, 5.920000, 5.120000, 5.170000, 6.270000, 6.320000, 6.370000, 6.420000, 6.470000, 6.420000, 6.470000, 6.520000, 6.620000, 2.770000, 2.620000, 2.570000, 2.520000, 2.520000, 2.520000, 2.420000, 2.470000, 2.420000, 2.370000, 2.320000, 2.270000, 2.220000, 2.120000, 2.120000, 2.070000, 1.870000, 1.670000, 1.720000, 1.750000, 1.870000, 3.320000, 3.370000, 3.420000, 3.520000, 3.570000, 3.670000, 3.720000, 3.770000, 3.870000, 3.970000, 1.920000, 1.820000, 1.870000, 1.720000, 1.720000, 1.720000, 1.620000, 1.670000, 1.720000, 1.670000, 1.720000, 1.570000, 1.670000, 1.570000, 1.620000, 1.470000, 1.520000, 1.620000, 1.620000, 1.670000, 1.670000, 1.370000, 1.470000, 1.470000, 1.370000, 1.370000, 1.420000, 1.420000, 1.370000, 1.370000, 1.220000, 1.270000, 1.320000, 1.270000, 1.200000, 1.230000, 1.250000, 1.270000, 1.320000, 1.370000, 1.320000, 1.270000, 1.270000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.520000, 1.620000, 1.620000, 1.670000, 1.770000, 2.720000, 2.770000, 1.620000, 1.720000, 1.670000, 1.620000, 1.570000, 1.470000, 1.420000, 1.450000, 1.470000, 1.420000, 1.470000, 1.520000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.620000, 1.620000, 1.570000, 1.600000, 1.650000, 1.650000, 1.700000, 1.750000, 1.750000, 1.770000, 1.870000, 1.870000, 5.750000, 5.920000, 8.370000, 8.220000, 8.120000, 6.520000, 3.900000, 3.320000, 3.220000, 3.120000, 2.970000, 3.020000, 2.970000, 3.020000, 3.020000, 3.120000, 3.120000, 3.170000, 3.220000, 3.620000, 3.570000, 3.470000, 3.470000, 3.470000, 3.570000, 3.570000, 3.720000, 3.820000, 6.970000, 6.970000, 6.920000, 6.920000, 6.920000, 6.470000, 6.570000, 6.920000, 6.720000, 6.920000, 4.170000 ], "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": [ 786, 570000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575400, 30.404299, 0.669013 ], "estimate": [ -13.575400, 30.404299, 0.669013 ], "true_pose": [ null, null, null ], "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": [ 13.320000, 12.370000, 9.670000, 9.870000, 7.220000, 7.220000, 6.070000, 5.920000, 5.120000, 5.170000, 6.270000, 6.320000, 6.320000, 4.170000, 6.420000, 6.520000, 6.520000, 6.520000, 6.570000, 6.620000, 2.670000, 2.570000, 2.570000, 2.520000, 2.520000, 2.470000, 2.420000, 2.420000, 2.420000, 2.370000, 2.270000, 2.220000, 2.170000, 2.120000, 2.120000, 1.920000, 1.720000, 1.720000, 1.770000, 1.820000, 1.920000, 3.320000, 2.170000, 3.470000, 3.520000, 3.620000, 3.720000, 3.770000, 3.870000, 3.920000, 1.920000, 2.020000, 1.820000, 1.820000, 1.720000, 1.820000, 1.670000, 1.620000, 1.670000, 1.720000, 1.670000, 1.670000, 1.720000, 1.620000, 1.570000, 1.470000, 1.520000, 1.620000, 1.620000, 1.670000, 1.670000, 1.520000, 1.420000, 1.420000, 1.370000, 1.370000, 1.420000, 1.420000, 1.420000, 1.370000, 1.320000, 1.250000, 1.270000, 1.320000, 1.300000, 1.260000, 1.200000, 1.270000, 1.320000, 1.370000, 1.320000, 1.220000, 1.270000, 1.420000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.670000, 1.720000, 1.820000, 1.770000, 2.770000, 1.670000, 1.720000, 1.670000, 1.570000, 1.570000, 1.520000, 1.470000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.620000, 1.620000, 1.720000, 1.720000, 1.620000, 1.620000, 1.570000, 1.600000, 1.650000, 1.700000, 1.650000, 1.750000, 1.770000, 1.770000, 1.770000, 1.870000, 6.020000, 5.820000, 8.370000, 8.270000, 8.170000, 8.070000, 3.850000, 4.020000, 3.220000, 3.120000, 3.020000, 2.970000, 2.970000, 2.970000, 3.020000, 3.070000, 3.120000, 3.170000, 3.170000, 3.620000, 3.620000, 3.470000, 3.470000, 3.470000, 3.520000, 3.570000, 3.720000, 3.770000, 6.970000, 6.970000, 6.920000, 6.920000, 6.920000, 6.470000, 6.470000, 6.770000, 6.720000, 6.670000, 5.820000, 3.970000, 2.670000 ], "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": [ 786, 690000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.575300, 30.404400, 0.650516 ], "estimate": [ -13.575300, 30.404400, 0.650516 ], "true_pose": [ null, null, null ], "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": [ 17.020000, 12.520000, 12.370000, 9.670000, 9.870000, 7.220000, 7.220000, 6.020000, 5.970000, 5.120000, 5.170000, 6.270000, 6.270000, 6.370000, 3.970000, 6.470000, 6.470000, 6.520000, 6.570000, 6.570000, 6.620000, 2.620000, 2.570000, 2.520000, 2.520000, 2.520000, 2.470000, 2.470000, 2.420000, 2.370000, 2.370000, 2.270000, 2.220000, 2.170000, 2.070000, 2.120000, 1.970000, 1.770000, 1.720000, 1.720000, 1.820000, 1.820000, 3.370000, 3.420000, 3.470000, 3.570000, 3.620000, 3.670000, 3.720000, 3.820000, 3.920000, 1.970000, 2.020000, 1.820000, 1.870000, 1.670000, 1.820000, 1.720000, 1.670000, 1.670000, 1.770000, 1.620000, 1.720000, 1.620000, 1.620000, 1.620000, 1.620000, 1.520000, 1.670000, 1.620000, 1.670000, 1.670000, 1.370000, 1.470000, 1.470000, 1.370000, 1.370000, 1.370000, 1.470000, 1.420000, 1.370000, 1.370000, 1.220000, 1.270000, 1.320000, 1.270000, 1.200000, 1.210000, 1.270000, 1.320000, 1.320000, 1.370000, 1.270000, 1.270000, 1.270000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.670000, 1.720000, 1.820000, 2.770000, 1.770000, 1.670000, 1.720000, 1.670000, 1.570000, 1.520000, 1.470000, 1.450000, 1.470000, 1.420000, 1.470000, 1.520000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.670000, 1.670000, 1.770000, 1.670000, 1.620000, 1.570000, 1.570000, 1.600000, 1.650000, 1.700000, 1.700000, 1.750000, 1.770000, 1.770000, 1.870000, 2.120000, 5.770000, 8.370000, 8.270000, 8.220000, 8.120000, 3.870000, 3.920000, 3.270000, 3.170000, 3.070000, 2.970000, 2.920000, 2.970000, 3.070000, 3.070000, 3.120000, 3.120000, 3.220000, 3.220000, 3.620000, 3.570000, 3.420000, 3.420000, 3.470000, 3.570000, 3.570000, 3.770000, 3.870000, 6.970000, 6.970000, 6.920000, 6.920000, 6.920000, 6.470000, 6.620000, 6.920000, 6.720000, 6.920000, 3.820000 ], "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": [ 787, 39998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574699, 30.404800, 0.609742 ], "estimate": [ -13.574699, 30.404800, 0.609742 ], "true_pose": [ null, null, null ], "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": [ 23.770000, 16.970000, 13.370000, 12.370000, 9.670000, 9.670000, 9.220000, 7.220000, 6.070000, 6.020000, 5.070000, 5.120000, 6.270000, 6.320000, 6.320000, 3.970000, 6.420000, 6.420000, 6.420000, 6.570000, 6.570000, 6.620000, 2.670000, 2.620000, 2.520000, 2.520000, 2.520000, 2.570000, 2.420000, 2.470000, 2.420000, 2.370000, 2.320000, 2.220000, 2.170000, 2.120000, 2.120000, 2.020000, 1.770000, 1.720000, 1.750000, 1.770000, 1.820000, 3.320000, 2.220000, 3.470000, 3.520000, 3.570000, 3.620000, 3.770000, 3.870000, 3.870000, 1.920000, 1.870000, 1.920000, 1.920000, 1.670000, 1.770000, 1.820000, 1.670000, 1.570000, 1.720000, 5.420000, 1.620000, 1.620000, 1.720000, 1.570000, 1.620000, 1.420000, 1.620000, 1.620000, 1.670000, 1.670000, 1.470000, 1.420000, 1.470000, 1.420000, 1.420000, 1.370000, 1.420000, 1.470000, 1.370000, 1.370000, 1.200000, 1.270000, 1.320000, 1.270000, 1.250000, 1.210000, 1.300000, 1.270000, 1.370000, 1.370000, 1.320000, 1.220000, 1.270000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.620000, 1.670000, 1.770000, 2.720000, 1.820000, 1.670000, 1.670000, 1.670000, 1.620000, 1.520000, 1.470000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.570000, 1.520000, 1.570000, 1.620000, 1.570000, 1.620000, 1.620000, 1.670000, 1.720000, 1.670000, 1.620000, 1.570000, 1.570000, 1.650000, 1.650000, 1.700000, 1.700000, 1.750000, 1.770000, 1.820000, 1.820000, 1.920000, 5.770000, 8.420000, 8.270000, 8.170000, 8.120000, 3.870000, 3.870000, 3.320000, 3.170000, 3.070000, 2.970000, 2.920000, 2.970000, 3.020000, 3.070000, 3.070000, 3.120000, 3.170000, 3.270000, 3.620000, 3.520000, 3.470000, 3.420000, 3.470000, 3.570000, 3.570000, 3.770000, 3.820000, 6.970000, 6.920000, 6.970000, 6.920000, 6.920000, 6.420000, 6.570000, 6.920000, 6.670000, 5.670000 ], "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": [ 787, 279998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574699, 30.404800, 0.627187 ], "estimate": [ -13.574699, 30.404800, 0.627187 ], "true_pose": [ null, null, null ], "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": [ 21.010000, 14.510000, 12.410000, 50.000000, 9.660000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.360000, 4.060000, 6.360000, 6.410000, 6.510000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.510000, 2.540000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.860000, 1.710000, 1.710000, 1.710000, 1.810000, 3.260000, 3.360000, 3.410000, 3.460000, 3.560000, 3.660000, 3.710000, 3.760000, 3.860000, 3.960000, 1.910000, 1.960000, 1.910000, 1.760000, 1.660000, 1.760000, 1.710000, 1.660000, 1.760000, 1.660000, 1.710000, 1.610000, 1.660000, 1.610000, 1.560000, 1.460000, 1.510000, 1.560000, 1.610000, 1.610000, 1.710000, 1.460000, 1.410000, 1.410000, 1.460000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.260000, 1.190000, 1.310000, 1.310000, 1.240000, 1.200000, 1.240000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.760000, 2.760000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 6.010000, 5.810000, 8.360000, 8.210000, 8.160000, 8.060000, 3.840000, 3.960000, 3.260000, 3.110000, 3.010000, 2.960000, 2.910000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.660000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.760000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.710000, 6.660000, 6.710000, 4.810000 ], "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": [ 787, 519998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574499, 30.404900, 0.606799 ], "estimate": [ -13.574499, 30.404900, 0.606799 ], "true_pose": [ null, null, null ], "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": [ 29.460000, 21.010000, 16.960000, 12.410000, 12.360000, 9.710000, 9.910000, 7.210000, 7.210000, 6.060000, 5.910000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 4.010000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 6.610000, 2.660000, 2.560000, 2.510000, 2.510000, 2.460000, 2.410000, 2.360000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.060000, 2.110000, 1.910000, 1.710000, 1.660000, 1.710000, 1.810000, 1.810000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.610000, 3.710000, 3.860000, 3.960000, 1.910000, 1.960000, 1.860000, 1.860000, 1.710000, 1.810000, 1.760000, 1.660000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.610000, 1.560000, 1.610000, 1.460000, 1.610000, 1.560000, 1.610000, 1.610000, 1.360000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.160000, 1.260000, 1.260000, 1.240000, 1.190000, 1.220000, 1.310000, 1.310000, 1.310000, 1.360000, 1.210000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.610000, 1.660000, 1.710000, 2.760000, 1.760000, 1.610000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.440000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.760000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.960000, 5.760000, 8.360000, 8.310000, 8.160000, 8.110000, 3.960000, 3.960000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.260000, 3.560000, 3.560000, 3.460000, 3.460000, 3.410000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.410000, 6.560000, 6.860000, 6.660000 ], "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": [ 787, 759998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.574000, 30.405300, 0.549208 ], "estimate": [ -13.574000, 30.405300, 0.549208 ], "true_pose": [ null, null, null ], "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, 21.010000, 41.910000, 49.760000, 49.760000, 50.000000, 21.010000, 14.510000, 12.410000, 9.910000, 9.660000, 9.410000, 7.210000, 6.260000, 6.060000, 5.910000, 5.110000, 5.210000, 6.310000, 6.310000, 4.210000, 6.360000, 6.410000, 6.410000, 6.510000, 6.560000, 6.610000, 2.710000, 2.610000, 2.560000, 2.460000, 2.490000, 2.510000, 2.360000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.910000, 1.710000, 1.710000, 1.740000, 1.810000, 2.060000, 3.310000, 2.160000, 3.460000, 3.560000, 3.560000, 3.710000, 3.760000, 3.860000, 3.960000, 1.910000, 1.860000, 1.860000, 1.860000, 1.710000, 1.760000, 1.760000, 1.660000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.610000, 1.560000, 1.610000, 1.510000, 1.610000, 1.560000, 1.610000, 1.610000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.360000, 1.190000, 1.260000, 1.260000, 1.290000, 1.200000, 1.190000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.210000, 1.310000, 1.460000, 1.510000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.710000, 2.760000, 1.710000, 1.760000, 1.610000, 1.610000, 1.560000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.760000, 1.810000, 1.810000, 1.960000, 5.710000, 8.360000, 8.260000, 8.210000, 8.110000, 3.960000, 3.960000, 3.310000, 3.160000, 3.110000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.160000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.410000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000 ], "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": [ 788, 0 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.571600, 30.406500, 0.362566 ], "estimate": [ -13.571600, 30.406500, 0.362566 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.060000, 3.310000, 3.560000, 3.910000, 4.360000, 4.860000, 5.460000, 6.310000, 7.410000, 9.160000, 12.110000, 17.710000, 27.360000, 44.110000, 49.760000, 29.460000, 21.010000, 16.960000, 12.410000, 12.360000, 9.660000, 9.960000, 7.210000, 7.210000, 6.010000, 5.910000, 5.060000, 5.110000, 6.260000, 6.360000, 6.360000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.690000, 2.560000, 2.460000, 2.490000, 2.510000, 2.460000, 2.360000, 2.460000, 2.360000, 2.360000, 2.260000, 2.210000, 2.110000, 2.160000, 2.060000, 2.060000, 1.860000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.560000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 1.860000, 4.160000, 1.860000, 1.860000, 1.660000, 1.760000, 1.760000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.710000, 1.560000, 1.610000, 1.560000, 1.410000, 1.560000, 1.560000, 1.610000, 1.660000, 1.510000, 1.360000, 1.460000, 1.410000, 1.360000, 1.360000, 1.460000, 1.410000, 1.360000, 1.310000, 1.210000, 1.210000, 1.260000, 1.190000, 1.200000, 1.240000, 1.260000, 1.310000, 1.360000, 1.410000, 1.260000, 1.260000, 1.310000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 2.810000, 2.810000, 1.760000, 1.710000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.440000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.610000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.860000, 1.910000, 5.760000, 8.360000, 8.260000, 8.210000, 8.110000, 3.910000, 3.960000, 3.310000, 3.160000, 3.110000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.260000, 3.560000, 3.510000 ], "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": [ 788, 240000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.569400, 30.407000, 0.056329 ], "estimate": [ -13.569400, 30.407000, 0.056329 ], "true_pose": [ null, null, null ], "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": [ 2.270000, 2.320000, 2.520000, 2.620000, 2.870000, 3.070000, 3.320000, 3.620000, 3.970000, 4.420000, 4.970000, 5.570000, 6.820000, 7.670000, 9.570000, 12.470000, 20.970000, 33.520000, 49.720000, 49.770000, 27.670000, 20.970000, 16.970000, 12.370000, 12.420000, 9.620000, 10.020000, 7.220000, 6.320000, 6.020000, 5.970000, 5.120000, 5.120000, 6.270000, 6.320000, 6.370000, 3.920000, 6.370000, 6.470000, 6.470000, 6.520000, 6.570000, 6.620000, 2.700000, 2.570000, 2.420000, 2.450000, 2.470000, 2.520000, 2.420000, 2.470000, 2.420000, 2.320000, 2.320000, 2.220000, 2.170000, 2.120000, 2.070000, 2.070000, 1.920000, 1.720000, 1.720000, 1.750000, 1.770000, 3.320000, 3.370000, 3.420000, 3.470000, 3.570000, 3.620000, 3.670000, 3.770000, 3.870000, 3.920000, 1.920000, 1.870000, 1.870000, 1.770000, 1.620000, 1.720000, 1.820000, 1.670000, 1.620000, 1.620000, 1.670000, 1.520000, 1.670000, 1.670000, 1.570000, 1.620000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.470000, 1.370000, 1.470000, 1.420000, 1.370000, 1.470000, 1.420000, 1.470000, 1.420000, 1.320000, 1.270000, 1.200000, 1.270000, 1.250000, 1.150000, 1.220000, 1.270000, 1.320000, 1.370000, 1.370000, 1.270000, 1.320000, 1.270000, 1.470000, 1.520000, 1.520000, 1.570000, 1.620000, 1.620000, 1.720000, 1.720000, 1.620000, 1.820000, 1.770000, 1.820000, 1.720000, 1.720000, 1.720000, 1.620000, 1.570000, 1.520000, 1.470000, 1.450000, 1.470000, 1.520000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.670000, 1.670000, 1.720000, 1.720000, 1.620000, 1.620000, 1.570000, 1.650000, 1.650000, 1.700000, 1.700000, 1.750000, 1.800000, 1.770000, 1.820000, 1.920000, 5.800000, 8.370000, 8.270000, 8.170000, 8.120000, 3.970000, 3.970000, 3.320000, 3.170000, 3.070000, 2.970000, 2.970000, 2.970000, 3.070000, 3.020000, 3.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 788, 323998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.569201, 30.407000, 0.000210 ], "estimate": [ -13.569201, 30.407000, 0.000210 ], "true_pose": [ null, null, null ], "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": [ 1.040000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.460000, 2.610000, 2.810000, 3.010000, 3.260000, 3.510000, 3.910000, 4.310000, 4.760000, 5.460000, 6.260000, 7.260000, 9.210000, 12.160000, 20.960000, 28.660000, 49.710000, 49.710000, 29.410000, 21.010000, 16.910000, 12.510000, 12.360000, 9.610000, 9.760000, 7.160000, 7.160000, 6.010000, 5.910000, 5.060000, 5.060000, 6.210000, 6.260000, 6.310000, 3.910000, 6.360000, 6.360000, 6.410000, 6.460000, 6.560000, 6.610000, 2.710000, 2.610000, 2.510000, 2.460000, 2.490000, 2.460000, 2.360000, 2.360000, 2.460000, 2.310000, 2.310000, 2.260000, 2.160000, 2.110000, 2.060000, 2.060000, 1.910000, 1.760000, 1.660000, 1.760000, 1.710000, 1.810000, 3.260000, 3.360000, 3.410000, 3.460000, 3.560000, 3.610000, 3.710000, 3.810000, 3.910000, 3.960000, 1.910000, 1.860000, 1.910000, 1.810000, 1.660000, 1.710000, 1.760000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.610000, 6.360000, 1.610000, 1.510000, 1.410000, 1.560000, 1.560000, 1.560000, 1.410000, 1.460000, 1.610000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.410000, 1.360000, 1.360000, 1.260000, 1.190000, 1.240000, 1.240000, 1.240000, 1.310000, 1.360000, 1.360000, 1.410000, 1.360000, 1.260000, 1.210000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.760000, 1.710000, 1.760000, 2.810000, 1.760000, 1.710000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.760000, 1.610000, 1.610000, 1.610000, 1.610000, 1.690000, 1.690000, 1.690000, 1.740000 ], "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": [ 788, 639998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568101, 30.406898, -0.226788 ], "estimate": [ -13.568101, 30.406898, -0.226788 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.890000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.560000, 2.760000, 2.960000, 3.210000, 3.460000, 3.810000, 4.260000, 4.760000, 5.360000, 6.260000, 7.210000, 9.160000, 12.010000, 20.960000, 27.510000, 44.110000, 49.760000, 29.460000, 21.010000, 16.960000, 12.510000, 12.310000, 9.610000, 9.810000, 7.160000, 7.110000, 6.010000, 5.860000, 5.060000, 5.060000, 6.210000, 6.260000, 6.260000, 3.910000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.810000, 2.610000, 2.510000, 2.460000, 2.460000, 2.460000, 2.410000, 2.360000, 2.410000, 2.360000, 2.260000, 2.260000, 2.210000, 2.160000, 2.060000, 2.060000, 2.060000, 1.860000, 1.660000, 1.660000, 1.740000, 1.760000, 3.260000, 3.360000, 3.410000, 3.460000, 3.560000, 3.610000, 3.710000, 3.810000, 3.910000, 4.010000, 4.110000, 1.860000, 1.860000, 4.460000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.510000, 1.660000, 1.610000, 1.610000, 1.460000, 1.510000, 1.560000, 1.610000, 1.410000, 1.460000, 1.560000, 1.510000, 1.360000, 1.360000, 1.410000, 1.460000, 1.410000, 1.360000, 1.310000, 1.310000, 1.210000, 1.240000, 1.220000, 1.260000, 1.310000, 1.310000, 1.360000, 1.410000, 1.410000, 1.310000, 1.260000, 1.510000, 1.560000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.610000, 1.710000, 1.760000, 2.710000, 2.760000, 2.010000, 1.760000, 1.710000, 1.660000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000 ], "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": [ 788, 879998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.564899, 30.405901, -0.366559 ], "estimate": [ -13.564899, 30.405901, -0.366559 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.190000, 1.190000, 1.290000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.590000, 1.690000, 1.740000, 1.890000, 1.910000, 2.010000, 2.110000, 2.210000, 2.410000, 2.560000, 2.710000, 2.960000, 3.160000, 3.460000, 3.810000, 4.210000, 4.660000, 5.310000, 6.210000, 7.160000, 8.960000, 11.610000, 20.910000, 27.360000, 44.010000, 49.710000, 29.560000, 21.010000, 16.910000, 13.260000, 12.360000, 9.560000, 9.610000, 7.160000, 7.160000, 6.010000, 5.910000, 5.110000, 5.060000, 5.310000, 6.260000, 6.260000, 4.160000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 2.610000, 2.510000, 2.410000, 2.460000, 2.460000, 2.510000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.860000, 1.710000, 1.660000, 1.710000, 1.810000, 1.760000, 3.360000, 3.410000, 3.460000, 3.510000, 3.660000, 3.710000, 3.760000, 3.860000, 3.960000, 4.060000, 1.910000, 1.910000, 1.860000, 1.760000, 1.660000, 1.810000, 1.760000, 1.710000, 1.610000, 1.710000, 1.710000, 1.510000, 1.710000, 1.610000, 1.610000, 1.610000, 1.460000, 1.560000, 1.560000, 1.560000, 1.410000, 1.610000, 1.560000, 1.410000, 1.360000, 1.310000, 1.410000, 1.410000, 1.360000, 1.310000, 1.310000, 1.190000, 1.210000, 1.190000, 1.240000, 1.360000, 1.360000, 1.360000, 1.410000, 1.410000, 1.310000, 1.310000, 1.510000, 1.560000, 1.560000, 1.510000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 1.760000, 2.660000, 2.710000, 2.160000, 1.710000, 1.760000, 1.660000, 1.610000, 1.560000, 1.560000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000 ], "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": [ 789, 80000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.563800, 30.405401, -0.493930 ], "estimate": [ -13.563800, 30.405401, -0.493930 ], "true_pose": [ null, null, null ], "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": [ 1.110000, 1.290000, 1.190000, 1.190000, 1.090000, 1.140000, 1.090000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.710000, 1.810000, 1.910000, 2.010000, 2.110000, 2.260000, 2.360000, 2.560000, 2.760000, 2.960000, 3.210000, 3.510000, 3.860000, 4.260000, 4.810000, 5.460000, 6.260000, 7.560000, 9.510000, 12.410000, 20.910000, 33.610000, 49.710000, 49.810000, 27.560000, 20.960000, 16.910000, 12.310000, 12.360000, 9.610000, 9.810000, 7.160000, 7.160000, 5.960000, 5.910000, 5.010000, 5.060000, 6.210000, 6.210000, 6.260000, 3.910000, 6.360000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 6.660000, 2.610000, 2.560000, 2.460000, 2.490000, 2.460000, 2.460000, 2.360000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.910000, 1.660000, 1.660000, 1.660000, 1.760000, 1.810000, 3.310000, 3.410000, 3.460000, 3.560000, 3.610000, 3.710000, 3.810000, 3.860000, 4.010000, 4.110000, 1.960000, 4.310000, 4.410000, 1.810000, 1.660000, 1.710000, 5.060000, 1.660000, 1.660000, 1.710000, 1.710000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.560000, 1.510000, 1.560000, 1.410000, 1.410000, 1.610000, 1.610000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.210000, 1.190000, 1.240000, 1.240000, 1.260000, 1.360000, 1.360000, 1.410000, 1.460000, 1.460000, 1.260000, 1.310000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.760000, 1.710000, 1.760000, 1.860000, 2.710000, 1.810000, 1.810000, 1.710000 ], "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": [ 789, 399998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.564100, 30.405701, -0.743838 ], "estimate": [ -13.564100, 30.405701, -0.743838 ], "true_pose": [ null, null, null ], "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": [ 3.810000, 2.910000, 2.710000, 2.560000, 2.360000, 2.210000, 2.060000, 1.260000, 1.240000, 1.190000, 1.110000, 1.060000, 1.090000, 1.040000, 1.090000, 1.060000, 1.110000, 1.240000, 1.190000, 1.190000, 1.140000, 1.090000, 1.040000, 1.090000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.040000, 1.140000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.290000, 1.340000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.710000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.360000, 2.560000, 2.710000, 2.910000, 3.210000, 3.460000, 3.810000, 4.260000, 4.810000, 5.460000, 6.260000, 7.610000, 9.560000, 12.460000, 20.910000, 39.060000, 49.760000, 50.000000, 27.560000, 21.010000, 14.460000, 12.310000, 12.360000, 9.610000, 9.810000, 7.160000, 7.110000, 5.960000, 5.860000, 5.060000, 5.060000, 6.210000, 6.260000, 6.310000, 6.310000, 6.360000, 6.360000, 6.460000, 6.510000, 6.560000, 6.560000, 6.610000, 2.660000, 2.560000, 2.460000, 2.460000, 2.460000, 2.510000, 2.360000, 2.460000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.160000, 2.060000, 2.110000, 1.910000, 1.860000, 1.660000, 1.710000, 1.710000, 1.760000, 3.310000, 3.460000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 3.960000, 4.060000, 4.160000, 1.810000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.710000, 1.660000, 1.660000, 1.560000, 1.460000, 1.710000, 1.560000, 1.610000, 1.510000, 1.510000, 1.660000, 1.460000, 1.460000, 1.610000, 1.560000, 1.460000, 1.360000, 1.310000, 1.410000, 1.460000, 1.410000, 1.310000, 1.310000, 1.240000, 1.220000, 1.240000, 1.260000, 1.310000, 1.410000, 1.410000, 1.460000, 1.460000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 789, 759998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.563800, 30.405300, -0.983657 ], "estimate": [ -13.563800, 30.405300, -0.983657 ], "true_pose": [ null, null, null ], "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": [ 39.510000, 39.320000, 15.760000, 11.660000, 9.060000, 6.960000, 5.860000, 5.240000, 4.310000, 3.890000, 3.890000, 3.660000, 2.810000, 2.610000, 2.460000, 2.310000, 2.110000, 1.960000, 1.210000, 1.190000, 1.160000, 1.060000, 1.060000, 1.040000, 1.040000, 1.060000, 1.110000, 1.240000, 1.190000, 1.190000, 1.140000, 1.090000, 1.090000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.490000, 1.540000, 1.640000, 1.640000, 1.760000, 1.810000, 1.910000, 2.010000, 2.110000, 2.260000, 2.460000, 2.560000, 2.710000, 3.010000, 3.260000, 3.560000, 3.960000, 4.460000, 5.010000, 5.810000, 7.190000, 8.310000, 10.860000, 14.710000, 25.460000, 44.010000, 50.000000, 50.000000, 23.710000, 16.910000, 13.310000, 12.360000, 9.610000, 9.610000, 9.210000, 7.110000, 6.210000, 5.960000, 5.910000, 5.060000, 5.110000, 6.210000, 6.260000, 6.260000, 3.910000, 6.360000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 6.660000, 2.610000, 2.510000, 2.460000, 2.460000, 2.460000, 2.510000, 2.410000, 2.510000, 2.410000, 2.360000, 2.260000, 2.210000, 2.210000, 2.160000, 2.060000, 2.110000, 1.910000, 1.710000, 1.710000, 1.660000, 1.760000, 1.810000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.960000, 4.010000, 4.160000, 1.810000, 1.860000, 1.860000, 1.810000, 1.660000, 1.710000, 5.160000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.660000, 1.660000, 1.610000, 1.610000, 1.510000, 1.560000, 1.610000, 1.410000, 1.410000, 1.560000, 1.510000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 790, 0 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.563900, 30.405401, -1.207500 ], "estimate": [ -13.563900, 30.405401, -1.207500 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.460000, 5.910000, 6.360000, 7.060000, 7.710000, 8.710000, 9.860000, 11.310000, 15.610000, 15.690000, 21.310000, 50.000000, 22.510000, 39.350000, 22.210000, 14.910000, 10.360000, 7.910000, 6.410000, 5.260000, 5.240000, 4.060000, 3.840000, 3.760000, 2.910000, 2.760000, 2.560000, 2.360000, 2.210000, 2.060000, 1.460000, 1.210000, 1.190000, 1.110000, 1.060000, 1.060000, 1.040000, 1.090000, 1.040000, 1.060000, 1.290000, 1.190000, 1.190000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.890000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.090000, 1.140000, 1.240000, 1.240000, 1.240000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.710000, 1.810000, 1.910000, 2.010000, 2.160000, 2.260000, 2.410000, 2.560000, 2.810000, 3.060000, 3.310000, 3.660000, 4.060000, 4.560000, 5.210000, 6.060000, 7.160000, 9.110000, 12.310000, 20.910000, 33.510000, 49.660000, 49.860000, 27.610000, 20.960000, 16.910000, 12.410000, 12.360000, 9.560000, 9.610000, 7.460000, 7.160000, 6.010000, 6.010000, 5.860000, 5.060000, 5.160000, 6.260000, 6.260000, 6.310000, 3.960000, 6.360000, 6.410000, 6.410000, 6.510000, 6.560000, 6.610000, 2.760000, 2.560000, 2.510000, 2.510000, 2.460000, 2.490000, 2.460000, 2.360000, 2.460000, 2.410000, 2.310000, 2.260000, 2.210000, 2.210000, 2.160000, 2.110000, 2.010000, 1.860000, 1.710000, 1.710000, 1.740000, 1.810000, 1.860000, 3.410000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 3.910000, 4.010000, 4.060000, 4.210000, 1.910000, 1.860000, 1.810000, 1.760000, 1.710000, 1.810000, 1.760000, 1.660000, 1.710000, 1.760000, 1.560000, 1.610000, 1.660000, 1.610000, 1.610000, 1.610000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 790, 279998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.563900, 30.405602, -1.392460 ], "estimate": [ -13.563900, 30.405602, -1.392460 ], "true_pose": [ null, null, null ], "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": [ 3.460000, 3.610000, 3.760000, 3.910000, 3.910000, 4.110000, 4.710000, 4.960000, 5.010000, 5.260000, 5.710000, 6.210000, 6.810000, 7.460000, 8.710000, 9.410000, 10.760000, 15.710000, 15.610000, 21.310000, 50.000000, 15.660000, 39.360000, 39.310000, 15.660000, 11.660000, 8.510000, 6.760000, 5.660000, 5.190000, 4.260000, 3.890000, 3.840000, 3.560000, 2.810000, 2.660000, 2.410000, 2.260000, 2.110000, 2.010000, 1.210000, 1.190000, 1.140000, 1.060000, 1.060000, 1.040000, 1.040000, 1.040000, 1.060000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.540000, 1.610000, 1.660000, 1.760000, 1.860000, 1.960000, 2.060000, 2.160000, 2.360000, 2.510000, 2.710000, 2.910000, 3.160000, 3.510000, 3.910000, 4.360000, 4.910000, 5.710000, 7.190000, 8.310000, 11.010000, 20.960000, 27.260000, 49.760000, 49.760000, 29.460000, 21.010000, 16.910000, 13.260000, 12.310000, 9.610000, 9.660000, 9.260000, 7.160000, 6.260000, 6.010000, 5.910000, 5.060000, 5.160000, 6.260000, 6.310000, 6.310000, 3.910000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.610000, 6.660000, 2.660000, 2.560000, 2.510000, 2.510000, 2.490000, 2.510000, 2.410000, 2.460000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 1.960000, 1.810000, 1.660000, 1.710000, 1.760000, 1.810000, 3.410000, 3.510000, 3.510000, 3.610000, 3.710000, 3.810000, 3.910000, 3.960000, 4.060000, 4.210000, 1.910000, 1.910000, 1.860000, 1.810000, 1.660000, 1.760000, 1.760000, 1.610000 ], "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": [ 790, 522000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.563900, 30.405001, -1.549679 ], "estimate": [ -13.563900, 30.405001, -1.549679 ], "true_pose": [ null, null, null ], "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": [ 1.590000, 1.640000, 1.640000, 2.390000, 2.440000, 1.560000, 1.540000, 1.540000, 1.540000, 1.560000, 2.910000, 3.260000, 3.460000, 3.560000, 3.760000, 3.910000, 3.910000, 4.110000, 4.660000, 4.960000, 5.060000, 5.260000, 5.660000, 6.160000, 6.760000, 7.510000, 8.710000, 9.410000, 10.810000, 15.660000, 15.610000, 21.310000, 50.000000, 15.660000, 39.510000, 39.360000, 15.660000, 11.710000, 8.710000, 6.860000, 5.760000, 5.190000, 4.290000, 3.840000, 3.840000, 3.610000, 2.860000, 2.660000, 2.410000, 2.260000, 2.160000, 2.010000, 1.510000, 1.190000, 1.190000, 1.110000, 1.060000, 1.010000, 1.040000, 1.040000, 1.040000, 1.060000, 1.160000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.440000, 1.490000, 1.490000, 1.510000, 1.610000, 1.760000, 1.810000, 1.910000, 2.010000, 2.110000, 2.260000, 2.410000, 2.610000, 2.860000, 3.060000, 3.410000, 3.710000, 4.210000, 4.760000, 5.510000, 6.560000, 8.010000, 10.410000, 14.710000, 25.460000, 44.010000, 49.910000, 50.000000, 23.660000, 16.860000, 13.410000, 12.360000, 9.760000, 9.610000, 10.060000, 7.160000, 7.210000, 5.960000, 5.860000, 5.060000, 5.060000, 6.260000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 6.660000, 2.660000, 2.560000, 2.510000, 2.460000, 2.540000, 2.460000, 2.410000, 2.460000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.160000, 2.060000, 1.910000, 1.710000, 1.710000, 1.740000, 1.810000, 3.360000, 3.460000, 3.510000, 3.660000, 3.760000, 3.810000 ], "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": [ 790, 830000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.563900, 30.403898, -1.757554 ], "estimate": [ -13.563900, 30.403898, -1.757554 ], "true_pose": [ null, null, null ], "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": [ 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.840000, 1.890000, 1.990000, 2.040000, 1.610000, 1.640000, 1.590000, 1.590000, 1.610000, 2.390000, 2.410000, 1.560000, 1.490000, 1.540000, 1.540000, 1.610000, 2.960000, 3.310000, 3.460000, 3.660000, 3.810000, 3.860000, 3.910000, 4.110000, 4.710000, 4.960000, 5.010000, 5.410000, 5.810000, 6.310000, 6.960000, 7.710000, 8.710000, 9.760000, 11.310000, 15.610000, 15.710000, 21.310000, 50.000000, 50.000000, 39.410000, 22.210000, 14.960000, 10.460000, 8.110000, 6.560000, 5.560000, 5.190000, 4.210000, 3.790000, 3.790000, 3.510000, 2.760000, 2.610000, 2.460000, 2.260000, 2.110000, 1.960000, 1.910000, 1.160000, 1.190000, 1.140000, 1.010000, 1.010000, 1.040000, 1.040000, 1.010000, 1.040000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.540000, 1.560000, 1.660000, 1.660000, 1.810000, 1.860000, 2.010000, 2.160000, 2.310000, 2.460000, 2.660000, 2.860000, 3.110000, 3.460000, 3.860000, 4.260000, 4.860000, 5.710000, 7.190000, 8.360000, 11.260000, 21.010000, 33.510000, 49.710000, 49.910000, 28.310000, 21.010000, 16.910000, 13.310000, 12.310000, 9.560000, 9.610000, 9.310000, 7.210000, 6.260000, 6.010000, 5.910000, 5.090000, 5.160000, 6.310000, 6.260000, 6.310000, 3.960000, 6.360000, 6.410000, 6.510000, 6.510000, 6.560000, 6.660000, 6.710000, 2.690000, 2.610000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.510000, 2.410000, 2.360000, 2.360000, 2.260000, 2.260000, 2.210000, 2.160000, 2.110000, 1.910000 ], "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": [ 791, 71000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.564200, 30.403000, -1.950075 ], "estimate": [ -13.564200, 30.403000, -1.950075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.420000, 1.470000, 1.470000, 1.520000, 1.520000, 1.490000, 1.570000, 1.570000, 1.540000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.890000, 1.940000, 1.940000, 1.990000, 1.560000, 1.590000, 1.590000, 1.590000, 1.760000, 2.390000, 1.660000, 1.510000, 1.490000, 1.490000, 1.510000, 1.660000, 2.960000, 3.360000, 3.510000, 3.660000, 3.860000, 3.860000, 3.960000, 4.510000, 4.810000, 5.010000, 5.010000, 5.460000, 5.910000, 6.460000, 7.110000, 7.760000, 8.760000, 10.160000, 50.000000, 15.610000, 21.310000, 24.160000, 15.660000, 22.310000, 39.360000, 15.910000, 13.760000, 9.410000, 7.560000, 6.110000, 5.160000, 5.140000, 4.110000, 3.790000, 3.810000, 3.510000, 2.810000, 2.610000, 2.410000, 2.260000, 2.110000, 2.010000, 1.860000, 1.160000, 1.140000, 1.140000, 1.060000, 1.010000, 1.040000, 0.990000, 0.990000, 1.040000, 1.060000, 1.190000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.940000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.460000, 1.560000, 1.610000, 1.710000, 1.760000, 1.860000, 2.060000, 2.110000, 2.260000, 2.460000, 2.610000, 2.910000, 3.160000, 3.560000, 3.860000, 4.310000, 5.060000, 5.960000, 7.160000, 9.060000, 12.410000, 20.960000, 44.010000, 49.710000, 49.760000, 50.000000, 20.960000, 14.560000, 12.360000, 12.410000, 9.660000, 9.910000, 7.310000, 7.160000, 6.110000, 6.010000, 5.910000, 5.060000, 5.210000, 6.310000, 6.310000, 6.310000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 6.610000, 6.710000, 6.710000, 2.660000, 2.590000, 2.510000 ], "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": [ 791, 390998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565500, 30.400702, -2.203560 ], "estimate": [ -13.565500, 30.400702, -2.203560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.320000, 1.270000, 1.320000, 1.320000, 1.320000, 1.370000, 1.370000, 1.370000, 1.370000, 1.420000, 1.390000, 1.390000, 1.470000, 1.440000, 1.440000, 1.440000, 1.540000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 1.940000, 2.040000, 1.610000, 1.540000, 1.540000, 1.640000, 1.660000, 2.390000, 2.410000, 1.510000, 1.510000, 1.540000, 1.510000, 1.560000, 2.990000, 3.310000, 3.460000, 3.660000, 3.810000, 3.860000, 3.910000, 4.410000, 4.760000, 4.960000, 5.010000, 5.410000, 5.860000, 6.360000, 7.010000, 7.760000, 8.660000, 10.010000, 11.360000, 15.560000, 21.260000, 22.410000, 15.610000, 22.310000, 39.460000, 21.410000, 13.810000, 10.260000, 7.810000, 6.360000, 5.360000, 5.190000, 4.210000, 3.790000, 3.790000, 3.560000, 2.860000, 2.660000, 2.460000, 2.260000, 2.160000, 2.060000, 1.910000, 1.560000, 1.140000, 1.140000, 1.140000, 1.060000, 1.010000, 1.040000, 0.990000, 1.040000, 1.040000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.290000, 1.290000, 1.340000, 1.440000, 1.460000, 1.590000, 1.560000, 1.710000, 1.810000, 1.910000, 1.960000, 2.160000, 2.260000, 2.410000, 2.610000, 2.860000, 3.160000, 3.460000, 3.910000, 4.360000, 5.010000, 5.910000, 7.190000, 9.110000, 12.460000, 20.960000, 43.960000, 49.710000, 36.860000, 29.660000, 21.010000, 14.510000, 12.360000, 12.410000, 9.610000, 9.860000, 9.160000, 7.210000, 6.110000, 6.010000, 5.910000, 5.110000, 5.210000, 6.260000, 6.310000, 6.410000, 6.360000 ], "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": [ 791, 629998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.348793 ], "estimate": [ -13.565800, 30.400400, -2.348793 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.220000, 1.270000, 1.220000, 1.220000, 1.270000, 1.220000, 1.270000, 1.270000, 1.320000, 1.270000, 1.320000, 1.320000, 1.290000, 1.290000, 1.370000, 1.340000, 1.340000, 1.340000, 1.420000, 1.440000, 1.390000, 1.420000, 1.440000, 1.490000, 1.490000, 1.490000, 1.490000, 1.590000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.790000, 1.840000, 1.890000, 1.890000, 1.940000, 1.990000, 1.560000, 1.540000, 1.540000, 1.590000, 1.610000, 2.340000, 2.440000, 1.560000, 1.510000, 1.490000, 1.510000, 1.560000, 2.940000, 3.310000, 3.510000, 3.610000, 3.810000, 3.860000, 3.960000, 4.510000, 4.760000, 4.960000, 5.060000, 5.460000, 5.960000, 6.460000, 7.110000, 7.860000, 8.910000, 10.210000, 50.000000, 15.610000, 21.260000, 50.000000, 15.660000, 50.000000, 39.610000, 15.760000, 13.660000, 9.360000, 7.510000, 6.110000, 5.210000, 5.140000, 4.160000, 3.790000, 3.760000, 3.510000, 2.810000, 2.610000, 2.460000, 2.310000, 2.160000, 2.010000, 1.910000, 1.810000, 1.190000, 1.140000, 1.140000, 1.060000, 1.010000, 1.040000, 0.990000, 1.040000, 1.010000, 1.060000, 1.190000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.510000, 1.510000, 1.660000, 1.710000, 1.810000, 1.910000, 2.010000, 2.160000, 2.310000, 2.460000, 2.660000, 2.960000, 3.210000, 3.560000, 3.960000, 4.510000, 5.260000, 6.260000, 7.710000, 9.960000, 13.910000, 25.510000, 44.010000, 49.710000, 49.760000, 23.710000, 16.960000, 13.860000, 12.410000, 9.860000, 9.660000, 9.960000, 7.210000, 7.210000, 6.060000 ], "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": [ 791, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565600, 30.400600, -2.448215 ], "estimate": [ -13.565600, 30.400600, -2.448215 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.220000, 1.220000, 1.270000, 1.240000, 1.270000, 1.270000, 1.270000, 1.320000, 1.290000, 1.290000, 1.370000, 1.290000, 1.370000, 1.340000, 1.340000, 1.390000, 1.340000, 1.420000, 1.390000, 1.440000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.790000, 1.840000, 1.890000, 1.890000, 1.990000, 1.760000, 1.540000, 1.540000, 1.590000, 1.560000, 2.290000, 2.390000, 1.560000, 1.510000, 1.440000, 1.490000, 1.460000, 1.860000, 3.210000, 3.410000, 3.560000, 3.760000, 3.860000, 3.860000, 4.060000, 4.660000, 4.960000, 5.010000, 5.260000, 5.660000, 6.210000, 6.810000, 7.560000, 8.660000, 9.560000, 11.160000, 15.560000, 15.660000, 21.310000, 50.000000, 15.660000, 50.000000, 21.660000, 15.560000, 10.610000, 8.310000, 6.860000, 5.810000, 5.160000, 4.310000, 3.810000, 3.790000, 3.660000, 3.110000, 2.760000, 2.510000, 2.410000, 2.210000, 2.060000, 1.960000, 1.860000, 1.260000, 1.160000, 1.190000, 1.140000, 1.010000, 1.010000, 1.040000, 1.040000, 1.040000, 1.010000, 1.110000, 1.140000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.490000, 1.510000, 1.610000, 1.660000, 1.760000, 1.910000, 1.960000, 2.110000, 2.260000, 2.460000, 2.610000, 2.860000, 3.110000, 3.460000, 3.860000, 4.360000, 4.960000, 5.860000, 7.240000, 9.010000, 12.410000, 20.960000, 43.960000, 49.710000, 49.760000, 50.000000, 21.010000, 16.960000, 12.410000, 12.410000, 9.710000, 9.360000 ], "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": [ 792, 29998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565500, 30.400600, -2.510008 ], "estimate": [ -13.565500, 30.400600, -2.510008 ], "true_pose": [ null, null, null ], "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": [ 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.220000, 1.220000, 1.270000, 1.270000, 1.270000, 1.320000, 1.290000, 1.320000, 1.320000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.420000, 1.440000, 1.440000, 1.440000, 1.540000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 1.660000, 1.540000, 1.540000, 1.540000, 1.590000, 2.290000, 2.360000, 1.560000, 1.510000, 1.490000, 1.490000, 1.510000, 2.910000, 3.310000, 3.410000, 3.560000, 3.710000, 3.810000, 3.860000, 4.060000, 4.710000, 5.010000, 5.010000, 5.360000, 5.760000, 6.310000, 6.910000, 7.710000, 8.660000, 9.860000, 11.360000, 15.560000, 16.760000, 22.310000, 15.560000, 22.260000, 39.610000, 21.410000, 13.960000, 10.360000, 8.060000, 6.610000, 5.610000, 5.190000, 4.160000, 3.790000, 3.790000, 3.660000, 2.860000, 2.760000, 2.510000, 2.360000, 2.210000, 2.060000, 1.960000, 1.860000, 1.210000, 1.160000, 1.140000, 1.160000, 1.010000, 1.010000, 1.040000, 1.040000, 1.040000, 1.060000, 1.110000, 1.190000, 1.140000, 1.090000, 1.040000, 1.090000, 1.040000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.390000, 1.440000, 1.460000, 1.560000, 1.610000, 1.710000, 1.810000, 1.860000, 1.960000, 2.110000, 2.260000, 2.460000, 2.660000, 2.910000, 3.160000, 3.510000, 3.960000, 4.460000, 5.210000, 6.210000, 7.260000, 9.710000, 13.360000, 33.510000, 44.010000, 49.760000, 35.660000, 23.710000, 21.010000, 14.460000, 12.360000, 9.610000 ], "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": [ 792, 149998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565500, 30.400600, -2.528508 ], "estimate": [ -13.565500, 30.400600, -2.528508 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.220000, 1.220000, 1.270000, 1.270000, 1.240000, 1.270000, 1.290000, 1.320000, 1.320000, 1.290000, 1.290000, 1.370000, 1.370000, 1.370000, 1.390000, 1.370000, 1.440000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.690000, 1.740000, 1.790000, 1.840000, 1.840000, 1.940000, 1.940000, 1.990000, 1.560000, 1.590000, 1.590000, 1.560000, 1.610000, 2.360000, 2.410000, 1.510000, 1.510000, 1.490000, 1.460000, 1.560000, 3.010000, 3.310000, 3.510000, 3.660000, 3.860000, 3.810000, 4.010000, 4.610000, 4.860000, 4.960000, 5.210000, 5.560000, 6.060000, 6.660000, 7.360000, 8.660000, 9.310000, 10.760000, 15.610000, 15.610000, 21.260000, 50.000000, 15.610000, 39.510000, 33.410000, 15.560000, 12.110000, 8.810000, 7.060000, 6.010000, 5.140000, 5.140000, 4.060000, 3.790000, 3.810000, 3.460000, 2.760000, 2.560000, 2.410000, 2.260000, 2.110000, 2.010000, 1.910000, 1.810000, 1.190000, 1.140000, 1.190000, 1.090000, 1.060000, 1.040000, 0.990000, 1.040000, 1.010000, 1.060000, 1.190000, 1.140000, 1.090000, 1.140000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.340000, 1.340000, 1.440000, 1.440000, 1.510000, 1.610000, 1.660000, 1.710000, 1.860000, 1.910000, 2.060000, 2.260000, 2.410000, 2.560000, 2.810000, 3.060000, 3.410000, 3.760000, 4.310000, 4.910000, 5.710000, 7.190000, 8.660000, 11.910000, 21.010000, 39.010000, 49.710000, 49.760000, 27.560000, 21.010000, 16.960000, 12.360000 ], "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": [ 792, 269998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565600, 30.400501, -2.541533 ], "estimate": [ -13.565600, 30.400501, -2.541533 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.220000, 1.220000, 1.240000, 1.270000, 1.240000, 1.270000, 1.320000, 1.290000, 1.290000, 1.290000, 1.320000, 1.320000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.890000, 1.940000, 1.990000, 1.560000, 1.540000, 1.590000, 1.560000, 1.760000, 2.390000, 1.710000, 1.510000, 1.490000, 1.490000, 1.460000, 1.610000, 3.160000, 3.410000, 3.560000, 3.710000, 3.860000, 3.810000, 4.060000, 4.660000, 4.910000, 5.010000, 5.260000, 5.660000, 6.210000, 6.810000, 7.560000, 8.660000, 9.610000, 11.160000, 15.610000, 15.710000, 21.310000, 50.000000, 15.660000, 39.610000, 21.610000, 15.060000, 10.710000, 8.310000, 6.810000, 5.760000, 5.140000, 4.310000, 3.860000, 3.790000, 3.710000, 3.210000, 2.710000, 2.560000, 2.360000, 2.210000, 2.110000, 2.010000, 1.860000, 1.560000, 1.160000, 1.140000, 1.140000, 1.060000, 1.060000, 1.040000, 1.040000, 1.040000, 1.010000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.340000, 1.340000, 1.440000, 1.490000, 1.510000, 1.610000, 1.710000, 1.760000, 1.860000, 1.960000, 2.160000, 2.260000, 2.460000, 2.610000, 2.910000, 3.160000, 3.510000, 3.960000, 4.460000, 5.060000, 6.060000, 7.260000, 9.510000, 13.310000, 20.960000, 43.960000, 49.760000, 34.860000, 23.710000, 16.960000 ], "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": [ 792, 470000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.555618 ], "estimate": [ -13.565800, 30.400400, -2.555618 ], "true_pose": [ null, null, null ], "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": [ 1.210000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.240000, 1.270000, 1.320000, 1.270000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.370000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.690000, 1.740000, 1.790000, 1.790000, 1.890000, 1.890000, 1.940000, 1.940000, 1.590000, 1.540000, 1.590000, 1.560000, 2.040000, 2.390000, 1.560000, 1.460000, 1.490000, 1.440000, 1.510000, 1.710000, 3.210000, 3.360000, 3.510000, 3.710000, 3.810000, 3.860000, 4.060000, 4.660000, 4.960000, 4.960000, 5.260000, 5.710000, 6.210000, 6.860000, 7.610000, 8.660000, 9.660000, 11.310000, 15.610000, 15.860000, 21.510000, 15.560000, 22.310000, 39.560000, 21.410000, 14.660000, 10.410000, 8.210000, 6.710000, 5.710000, 5.140000, 4.260000, 3.810000, 3.790000, 3.660000, 3.010000, 2.710000, 2.510000, 2.360000, 2.210000, 2.110000, 1.960000, 1.860000, 1.510000, 1.160000, 1.140000, 1.140000, 1.090000, 1.010000, 1.040000, 0.990000, 1.040000, 1.060000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.390000, 1.390000, 1.460000, 1.560000, 1.560000, 1.660000, 1.760000, 1.910000, 2.010000, 2.110000, 2.310000, 2.460000, 2.660000, 2.910000, 3.160000, 3.510000, 3.960000, 4.560000, 5.160000, 6.260000, 7.460000, 9.760000, 13.360000, 25.510000, 44.010000, 49.760000, 34.910000, 21.010000 ], "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": [ 792, 720000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559614 ], "estimate": [ -13.565800, 30.400400, -2.559614 ], "true_pose": [ null, null, null ], "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": [ 1.210000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.140000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.240000, 1.270000, 1.290000, 1.320000, 1.240000, 1.290000, 1.320000, 1.320000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.590000, 1.540000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.740000, 1.840000, 1.840000, 1.940000, 1.940000, 1.990000, 1.560000, 1.590000, 1.540000, 1.590000, 1.710000, 2.390000, 1.810000, 1.510000, 1.490000, 1.440000, 1.460000, 1.610000, 3.160000, 3.310000, 3.510000, 3.710000, 3.860000, 3.810000, 4.060000, 4.610000, 4.910000, 4.960000, 5.210000, 5.710000, 6.110000, 6.760000, 7.460000, 8.660000, 9.560000, 11.060000, 15.660000, 15.610000, 21.310000, 50.000000, 15.610000, 39.460000, 22.160000, 15.560000, 10.760000, 8.410000, 6.810000, 5.810000, 5.190000, 4.710000, 3.960000, 3.790000, 3.710000, 3.360000, 2.760000, 2.560000, 2.360000, 2.260000, 2.160000, 2.010000, 1.910000, 1.760000, 1.160000, 1.140000, 1.190000, 1.090000, 1.010000, 1.040000, 1.040000, 1.040000, 1.010000, 1.060000, 1.190000, 1.140000, 1.140000, 1.140000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.340000, 1.390000, 1.440000, 1.440000, 1.510000, 1.610000, 1.660000, 1.760000, 1.860000, 1.960000, 2.160000, 2.260000, 2.410000, 2.660000, 2.860000, 3.160000, 3.460000, 3.960000, 4.460000, 5.110000, 6.060000, 7.210000, 9.510000, 13.360000, 21.110000, 44.010000, 49.760000, 35.010000, 21.010000 ], "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": [ 792, 840000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.190000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.170000, 1.220000, 1.170000, 1.220000, 1.220000, 1.270000, 1.220000, 1.220000, 1.220000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.690000, 1.740000, 1.790000, 1.790000, 1.890000, 1.940000, 1.990000, 1.990000, 1.590000, 1.590000, 1.540000, 1.560000, 1.710000, 2.340000, 1.860000, 1.510000, 1.460000, 1.490000, 1.460000, 1.610000, 3.110000, 3.360000, 3.560000, 3.710000, 3.810000, 3.860000, 4.060000, 4.610000, 4.910000, 4.960000, 5.260000, 5.660000, 6.110000, 6.760000, 7.460000, 8.660000, 9.510000, 11.010000, 15.610000, 15.660000, 21.310000, 50.000000, 15.660000, 39.360000, 22.110000, 15.560000, 13.660000, 8.460000, 6.810000, 5.810000, 5.190000, 5.060000, 3.960000, 3.790000, 3.760000, 3.410000, 2.760000, 2.560000, 2.410000, 2.260000, 2.110000, 2.010000, 1.910000, 1.810000, 1.190000, 1.140000, 1.140000, 1.060000, 1.060000, 1.040000, 0.990000, 1.040000, 1.010000, 1.110000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.940000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 1.040000, 1.040000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.510000, 1.560000, 1.710000, 1.810000, 1.860000, 1.960000, 2.110000, 2.260000, 2.460000, 2.610000, 2.860000, 3.160000, 3.460000, 3.860000, 4.460000, 5.110000, 6.010000, 7.210000, 9.460000, 13.310000, 21.010000, 43.960000, 49.710000, 34.910000, 21.010000 ], "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": [ 793, 70000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.140000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.270000, 1.270000, 1.270000, 1.240000, 1.270000, 1.270000, 1.270000, 1.240000, 1.290000, 1.340000, 1.320000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.440000, 1.440000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.840000, 1.890000, 1.990000, 1.990000, 1.590000, 1.540000, 1.540000, 1.540000, 1.660000, 2.390000, 1.910000, 1.510000, 1.540000, 1.490000, 1.460000, 1.610000, 3.110000, 3.360000, 3.560000, 3.710000, 3.860000, 3.860000, 4.010000, 4.610000, 4.910000, 4.960000, 5.260000, 5.660000, 6.110000, 6.760000, 7.460000, 8.660000, 9.510000, 11.010000, 15.560000, 15.610000, 21.310000, 50.000000, 15.610000, 39.410000, 22.110000, 15.510000, 13.610000, 8.510000, 6.860000, 5.810000, 5.140000, 5.110000, 3.960000, 3.790000, 3.760000, 3.410000, 2.760000, 2.560000, 2.360000, 2.260000, 2.110000, 2.010000, 1.860000, 1.760000, 1.190000, 1.140000, 1.140000, 1.090000, 1.010000, 1.040000, 1.040000, 0.990000, 1.010000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 0.940000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.390000, 1.440000, 1.490000, 1.540000, 1.560000, 1.710000, 1.760000, 1.860000, 2.010000, 2.110000, 2.260000, 2.460000, 2.660000, 2.860000, 3.160000, 3.510000, 3.910000, 4.460000, 5.060000, 6.010000, 7.160000, 9.460000, 13.260000, 21.010000, 44.010000, 49.760000, 34.910000, 21.060000 ], "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": [ 793, 191000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.190000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.190000, 1.190000, 1.220000, 1.220000, 1.190000, 1.240000, 1.220000, 1.220000, 1.270000, 1.240000, 1.270000, 1.270000, 1.290000, 1.320000, 1.340000, 1.290000, 1.290000, 1.290000, 1.340000, 1.370000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.640000, 1.740000, 1.790000, 1.790000, 1.840000, 1.840000, 1.890000, 1.940000, 1.990000, 1.560000, 1.540000, 1.540000, 1.560000, 1.710000, 2.340000, 1.960000, 1.510000, 1.490000, 1.490000, 1.510000, 1.560000, 3.110000, 3.360000, 3.560000, 3.710000, 3.810000, 3.860000, 4.060000, 4.560000, 4.910000, 5.010000, 5.210000, 5.660000, 6.110000, 6.710000, 7.460000, 8.610000, 9.510000, 10.960000, 15.560000, 15.660000, 21.310000, 50.000000, 15.610000, 39.360000, 22.160000, 15.610000, 13.660000, 8.510000, 6.910000, 5.810000, 5.140000, 5.110000, 3.960000, 3.740000, 3.760000, 3.410000, 2.760000, 2.560000, 2.360000, 2.260000, 2.160000, 2.010000, 1.910000, 1.760000, 1.160000, 1.140000, 1.140000, 1.090000, 1.010000, 1.040000, 0.990000, 1.040000, 1.060000, 1.060000, 1.240000, 1.190000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 1.040000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.340000, 1.390000, 1.390000, 1.490000, 1.460000, 1.610000, 1.660000, 1.760000, 1.860000, 1.960000, 2.110000, 2.260000, 2.410000, 2.610000, 2.860000, 3.160000, 3.460000, 3.860000, 4.410000, 5.110000, 6.010000, 7.160000, 9.410000, 13.360000, 20.960000, 44.010000, 49.760000, 35.710000, 21.010000 ], "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": [ 793, 429998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.190000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.140000, 1.190000, 1.220000, 1.220000, 1.190000, 1.240000, 1.220000, 1.190000, 1.270000, 1.270000, 1.270000, 1.270000, 1.240000, 1.290000, 1.320000, 1.320000, 1.340000, 1.340000, 1.340000, 1.370000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.690000, 1.690000, 1.790000, 1.790000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 1.560000, 1.540000, 1.540000, 1.590000, 1.710000, 2.340000, 1.910000, 1.460000, 1.460000, 1.490000, 1.460000, 1.560000, 3.110000, 3.410000, 3.560000, 3.660000, 3.860000, 3.860000, 4.060000, 4.610000, 4.910000, 4.960000, 5.210000, 5.660000, 6.110000, 6.760000, 7.460000, 8.610000, 9.460000, 10.960000, 15.610000, 15.610000, 21.260000, 50.000000, 15.610000, 39.460000, 22.160000, 15.610000, 13.660000, 8.510000, 6.910000, 5.810000, 5.190000, 5.060000, 4.010000, 3.790000, 3.710000, 3.410000, 2.760000, 2.560000, 2.410000, 2.260000, 2.160000, 1.960000, 1.910000, 1.760000, 1.160000, 1.140000, 1.140000, 1.060000, 1.060000, 1.040000, 1.040000, 1.040000, 1.060000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.290000, 1.290000, 1.390000, 1.440000, 1.440000, 1.540000, 1.610000, 1.710000, 1.760000, 1.860000, 2.010000, 2.110000, 2.260000, 2.410000, 2.660000, 2.860000, 3.160000, 3.510000, 3.910000, 4.460000, 5.060000, 6.010000, 7.210000, 9.360000, 13.310000, 20.960000, 44.010000, 49.710000, 35.710000, 21.060000 ], "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": [ 793, 509998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.140000, 1.170000, 1.220000, 1.220000, 1.170000, 1.170000, 1.170000, 1.220000, 1.190000, 1.220000, 1.220000, 1.220000, 1.190000, 1.190000, 1.240000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.320000, 1.320000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.540000, 1.540000, 1.590000, 1.640000, 1.640000, 1.640000, 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.890000, 1.990000, 1.990000, 1.560000, 1.540000, 1.590000, 1.590000, 1.710000, 2.390000, 1.910000, 1.460000, 1.460000, 1.490000, 1.490000, 1.510000, 3.110000, 3.410000, 3.460000, 3.660000, 3.860000, 3.860000, 4.010000, 4.610000, 4.910000, 4.960000, 5.260000, 5.660000, 6.110000, 6.710000, 7.460000, 8.660000, 9.510000, 10.960000, 15.610000, 15.610000, 21.310000, 50.000000, 15.560000, 39.360000, 22.160000, 15.610000, 13.710000, 8.560000, 6.910000, 5.860000, 5.190000, 5.060000, 3.960000, 3.790000, 3.710000, 3.410000, 2.710000, 2.610000, 2.360000, 2.310000, 2.160000, 2.010000, 1.860000, 1.760000, 1.160000, 1.190000, 1.140000, 1.060000, 1.060000, 1.040000, 1.040000, 0.990000, 1.060000, 1.060000, 1.190000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.290000, 1.290000, 1.390000, 1.440000, 1.410000, 1.540000, 1.610000, 1.710000, 1.710000, 1.860000, 2.010000, 2.110000, 2.310000, 2.410000, 2.610000, 2.860000, 3.160000, 3.460000, 3.860000, 4.410000, 5.060000, 6.060000, 7.210000, 9.310000, 13.360000, 20.960000, 44.010000, 49.760000, 35.660000, 21.060000 ], "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": [ 793, 750000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.190000, 1.170000, 1.220000, 1.220000, 1.190000, 1.190000, 1.220000, 1.240000, 1.270000, 1.240000, 1.320000, 1.290000, 1.290000, 1.320000, 1.320000, 1.320000, 1.340000, 1.320000, 1.370000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.540000, 1.590000, 1.590000, 1.690000, 1.690000, 1.690000, 1.740000, 1.740000, 1.840000, 1.890000, 1.940000, 1.990000, 1.990000, 1.560000, 1.590000, 1.540000, 1.540000, 1.660000, 2.360000, 1.910000, 1.510000, 1.510000, 1.490000, 1.460000, 1.560000, 3.110000, 3.360000, 3.510000, 3.710000, 3.860000, 3.860000, 3.960000, 4.610000, 4.910000, 4.960000, 5.210000, 5.660000, 6.160000, 6.710000, 7.410000, 8.660000, 9.460000, 10.960000, 15.610000, 15.560000, 21.310000, 50.000000, 15.610000, 39.360000, 22.160000, 15.610000, 13.660000, 8.510000, 6.860000, 5.860000, 5.140000, 5.110000, 3.960000, 3.790000, 3.710000, 3.410000, 2.760000, 2.560000, 2.410000, 2.260000, 2.160000, 2.010000, 1.910000, 1.760000, 1.140000, 1.140000, 1.140000, 1.060000, 1.010000, 1.040000, 1.040000, 1.040000, 1.060000, 1.060000, 1.190000, 1.190000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.460000, 1.610000, 1.660000, 1.810000, 1.860000, 1.960000, 2.110000, 2.260000, 2.460000, 2.560000, 2.910000, 3.160000, 3.460000, 3.860000, 4.410000, 5.060000, 6.010000, 7.210000, 9.360000, 13.310000, 20.960000, 43.960000, 49.710000, 35.660000, 21.010000 ], "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": [ 793, 909998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.220000, 1.220000, 1.190000, 1.220000, 1.220000, 1.220000, 1.220000, 1.190000, 1.270000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.320000, 1.320000, 1.290000, 1.340000, 1.340000, 1.290000, 1.390000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.690000, 1.790000, 1.840000, 1.840000, 1.940000, 1.940000, 1.990000, 1.560000, 1.590000, 1.540000, 1.560000, 1.660000, 2.340000, 1.860000, 1.510000, 1.490000, 1.490000, 1.510000, 1.560000, 3.060000, 3.360000, 3.510000, 3.710000, 3.860000, 3.860000, 4.060000, 4.660000, 4.910000, 4.960000, 5.210000, 5.610000, 6.110000, 6.660000, 7.460000, 8.610000, 9.460000, 10.960000, 15.610000, 15.610000, 21.310000, 50.000000, 15.610000, 39.360000, 22.210000, 15.610000, 13.660000, 8.560000, 6.910000, 5.860000, 5.190000, 5.110000, 3.960000, 3.790000, 3.710000, 3.410000, 2.760000, 2.560000, 2.410000, 2.260000, 2.110000, 2.010000, 1.910000, 1.760000, 1.160000, 1.140000, 1.140000, 1.060000, 1.060000, 1.040000, 1.040000, 1.040000, 1.010000, 1.110000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.940000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.340000, 1.390000, 1.390000, 1.460000, 1.510000, 1.610000, 1.660000, 1.760000, 1.910000, 2.010000, 2.110000, 2.260000, 2.460000, 2.660000, 2.860000, 3.160000, 3.510000, 3.860000, 4.410000, 5.010000, 6.010000, 7.160000, 9.310000, 13.310000, 21.010000, 43.960000, 49.760000, 35.710000, 21.010000 ], "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": [ 794, 70000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.170000, 1.220000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.190000, 1.220000, 1.220000, 1.190000, 1.190000, 1.240000, 1.240000, 1.240000, 1.270000, 1.320000, 1.290000, 1.240000, 1.320000, 1.290000, 1.290000, 1.340000, 1.340000, 1.370000, 1.370000, 1.340000, 1.390000, 1.390000, 1.420000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.740000, 1.790000, 1.790000, 1.840000, 1.940000, 1.940000, 1.990000, 1.560000, 1.540000, 1.590000, 1.590000, 1.660000, 2.340000, 1.860000, 1.510000, 1.490000, 1.440000, 1.510000, 1.560000, 3.060000, 3.360000, 3.510000, 3.660000, 3.860000, 3.860000, 4.060000, 4.610000, 4.910000, 4.960000, 5.160000, 5.610000, 6.110000, 6.760000, 7.460000, 8.660000, 9.510000, 10.960000, 15.610000, 15.610000, 21.310000, 50.000000, 15.560000, 39.360000, 22.210000, 15.610000, 13.710000, 8.560000, 6.910000, 5.860000, 5.190000, 5.110000, 4.010000, 3.840000, 3.710000, 3.410000, 2.760000, 2.560000, 2.410000, 2.260000, 2.110000, 1.960000, 1.910000, 1.810000, 1.160000, 1.140000, 1.140000, 1.060000, 1.060000, 1.040000, 1.040000, 0.990000, 1.010000, 1.060000, 1.190000, 1.140000, 1.090000, 1.090000, 1.090000, 1.040000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.490000, 1.540000, 1.560000, 1.660000, 1.810000, 1.810000, 1.960000, 2.110000, 2.260000, 2.410000, 2.610000, 2.860000, 3.160000, 3.460000, 3.910000, 4.460000, 5.060000, 6.010000, 7.210000, 9.310000, 13.310000, 20.960000, 44.010000, 49.760000, 35.710000, 21.110000 ], "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": [ 794, 230000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.140000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.220000, 1.190000, 1.170000, 1.220000, 1.220000, 1.240000, 1.220000, 1.190000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.270000, 1.320000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.540000, 1.590000, 1.590000, 1.690000, 1.690000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.940000, 1.940000, 1.990000, 1.540000, 1.540000, 1.540000, 1.560000, 1.660000, 2.340000, 1.910000, 1.510000, 1.490000, 1.490000, 1.460000, 1.560000, 3.060000, 3.360000, 3.560000, 3.660000, 3.860000, 3.860000, 4.010000, 4.610000, 4.910000, 4.960000, 5.210000, 5.610000, 6.110000, 6.710000, 7.460000, 8.610000, 9.460000, 10.960000, 15.610000, 15.610000, 21.360000, 50.000000, 15.660000, 39.360000, 22.160000, 15.610000, 13.660000, 8.560000, 6.910000, 5.860000, 5.190000, 5.110000, 3.960000, 3.790000, 3.710000, 3.410000, 2.760000, 2.560000, 2.410000, 2.260000, 2.110000, 2.010000, 1.910000, 1.810000, 1.160000, 1.140000, 1.140000, 1.010000, 1.010000, 1.040000, 0.990000, 1.040000, 1.010000, 1.060000, 1.190000, 1.140000, 1.090000, 1.140000, 1.090000, 1.040000, 0.990000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.490000, 1.540000, 1.560000, 1.660000, 1.760000, 1.860000, 1.960000, 2.110000, 2.310000, 2.410000, 2.610000, 2.860000, 3.160000, 3.460000, 3.910000, 4.410000, 5.060000, 5.960000, 7.210000, 9.360000, 13.310000, 21.010000, 43.960000, 49.660000, 35.710000, 21.060000 ], "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": [ 794, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559824 ], "estimate": [ -13.565800, 30.400400, -2.559824 ], "true_pose": [ null, null, null ], "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": [ 1.310000, 1.140000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000, 1.220000, 1.220000, 1.270000, 1.190000, 1.190000, 1.220000, 1.220000, 1.270000, 1.240000, 1.270000, 1.270000, 1.240000, 1.320000, 1.270000, 1.290000, 1.290000, 1.340000, 1.370000, 1.340000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.590000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.790000, 1.790000, 1.840000, 1.840000, 1.890000, 1.940000, 2.040000, 1.590000, 1.540000, 1.590000, 1.540000, 1.660000, 2.360000, 1.810000, 1.510000, 1.460000, 1.490000, 1.510000, 1.560000, 3.110000, 3.360000, 3.460000, 3.710000, 3.860000, 3.860000, 4.010000, 4.560000, 4.910000, 4.960000, 5.210000, 5.660000, 6.110000, 6.710000, 7.410000, 8.610000, 9.460000, 10.960000, 15.610000, 15.560000, 21.310000, 50.000000, 15.560000, 39.310000, 22.210000, 15.610000, 13.710000, 8.560000, 6.910000, 5.810000, 5.190000, 5.110000, 3.960000, 3.840000, 3.760000, 3.410000, 2.760000, 2.560000, 2.360000, 2.260000, 2.110000, 2.010000, 1.860000, 1.810000, 1.190000, 1.140000, 1.140000, 1.060000, 1.010000, 1.040000, 1.040000, 0.990000, 1.010000, 1.060000, 1.190000, 1.190000, 1.090000, 1.090000, 1.090000, 1.090000, 0.990000, 0.990000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.340000, 1.390000, 1.440000, 1.440000, 1.560000, 1.610000, 1.660000, 1.760000, 1.860000, 1.960000, 2.110000, 2.260000, 2.460000, 2.610000, 2.860000, 3.110000, 3.510000, 3.860000, 4.410000, 5.060000, 5.960000, 7.210000, 9.310000, 12.810000, 20.960000, 44.010000, 49.710000, 35.710000, 21.060000 ], "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": [ 794, 549998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559614 ], "estimate": [ -13.565800, 30.400400, -2.559614 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.190000, 1.220000, 1.220000, 1.240000, 1.190000, 1.240000, 1.240000, 1.190000, 1.270000, 1.240000, 1.240000, 1.240000, 1.320000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.370000, 1.390000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.790000, 1.840000, 1.840000, 1.890000, 1.940000, 1.990000, 1.510000, 1.540000, 1.590000, 1.560000, 1.710000, 2.340000, 1.810000, 1.510000, 1.460000, 1.490000, 1.460000, 1.610000, 3.110000, 3.360000, 3.510000, 3.710000, 3.860000, 3.860000, 4.010000, 4.610000, 4.910000, 5.010000, 5.210000, 5.660000, 6.110000, 6.710000, 7.460000, 8.660000, 9.460000, 10.960000, 15.660000, 15.610000, 21.310000, 50.000000, 15.560000, 39.410000, 22.160000, 15.610000, 13.660000, 8.560000, 6.910000, 5.860000, 5.190000, 5.110000, 3.960000, 3.790000, 3.710000, 3.410000, 2.810000, 2.560000, 2.410000, 2.260000, 2.160000, 2.010000, 1.910000, 1.760000, 1.190000, 1.190000, 1.140000, 1.060000, 1.010000, 1.040000, 1.040000, 1.040000, 1.010000, 1.060000, 1.190000, 1.190000, 1.140000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.440000, 1.490000, 1.510000, 1.610000, 1.660000, 1.760000, 1.860000, 2.010000, 2.110000, 2.260000, 2.410000, 2.660000, 2.860000, 3.160000, 3.460000, 3.860000, 4.410000, 5.110000, 6.010000, 7.160000, 9.360000, 12.760000, 20.960000, 44.010000, 49.710000, 35.710000, 21.060000 ], "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": [ 794, 710000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400400, -2.559404 ], "estimate": [ -13.565800, 30.400400, -2.559404 ], "true_pose": [ null, null, null ], "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": [ 1.260000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.190000, 1.220000, 1.170000, 1.220000, 1.190000, 1.190000, 1.220000, 1.270000, 1.270000, 1.240000, 1.240000, 1.240000, 1.290000, 1.320000, 1.290000, 1.320000, 1.290000, 1.340000, 1.340000, 1.370000, 1.340000, 1.390000, 1.440000, 1.440000, 1.440000, 1.440000, 1.490000, 1.490000, 1.490000, 1.540000, 1.590000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.840000, 1.840000, 1.940000, 1.940000, 2.040000, 1.590000, 1.540000, 1.540000, 1.560000, 1.710000, 2.340000, 1.760000, 1.510000, 1.440000, 1.440000, 1.460000, 1.560000, 3.060000, 3.410000, 3.510000, 3.710000, 3.810000, 3.860000, 4.010000, 4.610000, 4.910000, 4.910000, 5.260000, 5.660000, 6.110000, 6.710000, 7.410000, 8.660000, 9.460000, 10.910000, 15.660000, 15.660000, 21.360000, 50.000000, 15.560000, 39.360000, 22.210000, 15.610000, 13.660000, 8.560000, 6.910000, 5.810000, 5.140000, 5.110000, 3.960000, 3.790000, 3.760000, 3.410000, 2.760000, 2.560000, 2.360000, 2.260000, 2.110000, 2.010000, 1.860000, 1.810000, 1.140000, 1.140000, 1.140000, 1.060000, 1.010000, 1.040000, 0.990000, 1.040000, 1.060000, 1.060000, 1.190000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 0.990000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.340000, 1.490000, 1.460000, 1.540000, 1.610000, 1.660000, 1.760000, 1.860000, 1.960000, 2.110000, 2.260000, 2.410000, 2.610000, 2.860000, 3.160000, 3.460000, 3.910000, 4.410000, 5.060000, 5.960000, 7.260000, 9.310000, 13.310000, 20.960000, 44.010000, 49.710000, 35.660000, 21.060000 ], "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": [ 794, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565700, 30.400501, -2.558555 ], "estimate": [ -13.565700, 30.400501, -2.558555 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.220000, 1.200000, 1.180000, 1.180000, 1.230000, 1.180000, 1.180000, 1.230000, 1.200000, 1.180000, 1.230000, 1.230000, 1.230000, 1.200000, 1.200000, 1.250000, 1.200000, 1.280000, 1.280000, 1.300000, 1.300000, 1.330000, 1.300000, 1.300000, 1.300000, 1.350000, 1.380000, 1.400000, 1.350000, 1.400000, 1.400000, 1.430000, 1.450000, 1.450000, 1.450000, 1.550000, 1.550000, 1.550000, 1.550000, 1.650000, 1.650000, 1.700000, 1.700000, 1.700000, 1.750000, 1.850000, 1.850000, 1.850000, 1.900000, 1.950000, 2.050000, 1.570000, 1.600000, 1.550000, 1.570000, 1.720000, 2.320000, 1.720000, 1.470000, 1.500000, 1.450000, 1.520000, 1.620000, 3.120000, 3.370000, 3.520000, 3.720000, 3.870000, 3.870000, 4.020000, 4.620000, 4.920000, 4.970000, 5.220000, 5.670000, 6.120000, 6.770000, 7.470000, 8.620000, 9.520000, 11.020000, 15.670000, 15.620000, 21.320000, 50.000000, 15.620000, 39.370000, 22.120000, 15.620000, 13.670000, 8.470000, 6.870000, 5.820000, 5.150000, 5.070000, 4.020000, 3.800000, 3.720000, 3.370000, 2.770000, 2.570000, 2.370000, 2.270000, 2.120000, 2.020000, 1.920000, 1.770000, 1.170000, 1.200000, 1.150000, 1.070000, 1.070000, 1.050000, 1.050000, 1.050000, 1.070000, 1.070000, 1.200000, 1.150000, 1.150000, 1.150000, 1.100000, 1.050000, 1.000000, 1.050000, 0.950000, 1.000000, 0.900000, 0.900000, 0.950000, 0.900000, 0.850000, 0.850000, 0.800000, 0.800000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.150000, 1.200000, 1.200000, 1.250000, 1.300000, 1.400000, 1.400000, 1.500000, 1.550000, 1.620000, 1.720000, 1.820000, 1.870000, 2.020000, 2.170000, 2.270000, 2.420000, 2.620000, 2.920000, 3.170000, 3.520000, 3.970000, 4.470000, 5.120000, 6.070000, 7.220000, 9.420000, 13.370000, 20.970000, 44.020000, 49.770000, 34.870000, 21.020000 ], "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": [ 795, 110000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565700, 30.400501, -2.557716 ], "estimate": [ -13.565700, 30.400501, -2.557716 ], "true_pose": [ null, null, null ], "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, 1.150000, 1.180000, 1.180000, 1.180000, 1.180000, 1.230000, 1.180000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.280000, 1.230000, 1.250000, 1.250000, 1.280000, 1.280000, 1.250000, 1.300000, 1.300000, 1.330000, 1.330000, 1.350000, 1.300000, 1.350000, 1.350000, 1.400000, 1.400000, 1.450000, 1.450000, 1.450000, 1.450000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.650000, 1.650000, 1.700000, 1.750000, 1.750000, 1.800000, 1.850000, 1.850000, 1.900000, 1.950000, 2.000000, 1.550000, 1.550000, 1.550000, 1.570000, 1.670000, 2.370000, 1.770000, 1.520000, 1.500000, 1.500000, 1.520000, 1.570000, 3.070000, 3.370000, 3.520000, 3.720000, 3.820000, 3.920000, 4.020000, 4.570000, 4.920000, 4.920000, 5.220000, 5.620000, 6.120000, 6.720000, 7.420000, 8.670000, 9.420000, 10.870000, 15.620000, 15.620000, 21.320000, 50.000000, 15.520000, 39.370000, 22.520000, 15.620000, 12.070000, 8.720000, 7.020000, 5.920000, 5.200000, 5.170000, 4.020000, 3.800000, 3.720000, 3.470000, 2.770000, 2.620000, 2.420000, 2.270000, 2.120000, 2.020000, 1.970000, 1.820000, 1.170000, 1.150000, 1.150000, 1.070000, 1.020000, 1.050000, 1.050000, 1.050000, 1.020000, 1.070000, 1.250000, 1.150000, 1.150000, 1.100000, 1.050000, 1.050000, 1.050000, 1.000000, 1.000000, 0.950000, 0.950000, 0.950000, 0.900000, 0.850000, 0.900000, 0.900000, 0.850000, 0.800000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.150000, 1.200000, 1.250000, 1.300000, 1.350000, 1.350000, 1.400000, 1.420000, 1.520000, 1.620000, 1.670000, 1.770000, 1.820000, 1.970000, 2.120000, 2.220000, 2.420000, 2.570000, 2.870000, 3.170000, 3.470000, 3.870000, 4.370000, 5.020000, 5.920000, 7.200000, 9.120000, 12.470000, 20.970000, 44.020000, 49.770000, 36.770000, 21.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 795, 350000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.400501, -2.586724 ], "estimate": [ -13.565800, 30.400501, -2.586724 ], "true_pose": [ null, null, null ], "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": [ 2.270000, 1.570000, 1.270000, 1.180000, 1.180000, 1.180000, 1.230000, 1.230000, 1.180000, 1.180000, 1.230000, 1.230000, 1.180000, 1.230000, 1.230000, 1.230000, 1.230000, 1.250000, 1.280000, 1.230000, 1.250000, 1.300000, 1.250000, 1.280000, 1.330000, 1.300000, 1.300000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.400000, 1.450000, 1.450000, 1.450000, 1.450000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.600000, 1.650000, 1.700000, 1.700000, 1.750000, 1.800000, 1.850000, 1.900000, 1.900000, 1.950000, 2.000000, 1.570000, 1.550000, 1.600000, 1.550000, 1.670000, 2.400000, 2.420000, 1.520000, 1.450000, 1.450000, 1.550000, 1.570000, 3.020000, 3.370000, 3.520000, 3.720000, 3.870000, 3.920000, 4.020000, 4.620000, 4.870000, 4.970000, 5.170000, 5.570000, 6.070000, 6.620000, 7.370000, 8.620000, 9.320000, 10.770000, 15.650000, 15.620000, 21.320000, 50.000000, 15.570000, 39.320000, 33.420000, 15.620000, 11.620000, 8.920000, 7.120000, 6.020000, 5.150000, 5.150000, 4.070000, 3.800000, 3.770000, 3.470000, 2.820000, 2.620000, 2.470000, 2.270000, 2.120000, 2.070000, 1.920000, 1.870000, 1.170000, 1.150000, 1.150000, 1.120000, 1.020000, 1.070000, 1.050000, 1.050000, 1.020000, 1.070000, 1.250000, 1.200000, 1.150000, 1.100000, 1.100000, 1.050000, 1.050000, 1.000000, 1.000000, 1.000000, 0.950000, 0.900000, 0.900000, 0.900000, 0.900000, 0.850000, 0.800000, 0.850000, 0.800000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.150000, 1.200000, 1.200000, 1.300000, 1.300000, 1.350000, 1.400000, 1.500000, 1.550000, 1.570000, 1.620000, 1.770000, 1.870000, 1.970000, 2.120000, 2.220000, 2.370000, 2.570000, 2.770000, 3.070000, 3.420000, 3.770000, 4.220000, 4.870000, 5.720000, 7.250000, 8.520000, 11.620000, 21.020000, 39.070000, 49.720000 ], "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": [ 795, 551000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.566100, 30.400301, -2.708423 ], "estimate": [ -13.566100, 30.400301, -2.708423 ], "true_pose": [ null, null, null ], "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": [ 6.960000, 6.560000, 6.610000, 6.610000, 6.660000, 6.660000, 5.260000, 2.660000, 1.810000, 1.360000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.270000, 1.190000, 1.190000, 1.270000, 1.240000, 1.270000, 1.220000, 1.270000, 1.270000, 1.270000, 1.270000, 1.290000, 1.290000, 1.340000, 1.340000, 1.370000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.490000, 1.440000, 1.440000, 1.540000, 1.540000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.840000, 1.890000, 1.990000, 1.890000, 1.560000, 1.540000, 1.540000, 1.540000, 1.910000, 2.390000, 1.710000, 1.460000, 1.490000, 1.490000, 1.460000, 1.560000, 3.160000, 3.360000, 3.560000, 3.710000, 3.810000, 3.810000, 4.060000, 4.660000, 4.960000, 4.960000, 5.310000, 5.660000, 6.210000, 6.860000, 7.610000, 8.610000, 9.660000, 11.310000, 15.560000, 15.710000, 21.610000, 15.610000, 22.360000, 39.360000, 21.410000, 14.710000, 10.610000, 8.310000, 6.810000, 5.810000, 5.140000, 5.110000, 4.010000, 3.790000, 3.710000, 3.460000, 2.810000, 2.610000, 2.460000, 2.260000, 2.160000, 2.010000, 1.910000, 1.810000, 1.210000, 1.190000, 1.140000, 1.110000, 1.060000, 1.040000, 0.990000, 1.040000, 1.010000, 1.060000, 1.240000, 1.190000, 1.140000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.890000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.540000, 1.590000, 1.660000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.410000, 2.560000, 2.810000, 3.060000, 3.410000, 3.760000, 4.260000 ], "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": [ 795, 791000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.566501, 30.400101, -2.857860 ], "estimate": [ -13.566501, 30.400101, -2.857860 ], "true_pose": [ null, null, null ], "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": [ 3.610000, 3.510000, 3.510000, 3.610000, 3.610000, 3.710000, 3.810000, 3.860000, 6.960000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.510000, 6.560000, 6.760000, 6.660000, 6.860000, 3.460000, 2.160000, 1.560000, 1.260000, 1.120000, 1.170000, 1.120000, 1.090000, 1.140000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.170000, 1.220000, 1.190000, 1.220000, 1.270000, 1.220000, 1.270000, 1.270000, 1.270000, 1.270000, 1.290000, 1.270000, 1.290000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.490000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.740000, 1.790000, 1.840000, 1.840000, 1.890000, 1.940000, 1.990000, 1.560000, 1.540000, 1.540000, 1.560000, 1.710000, 2.340000, 1.860000, 1.510000, 1.460000, 1.440000, 1.460000, 1.560000, 3.260000, 3.410000, 3.610000, 3.710000, 3.810000, 3.860000, 4.060000, 4.710000, 5.010000, 4.960000, 5.360000, 5.810000, 6.360000, 7.010000, 7.760000, 8.660000, 10.060000, 50.000000, 15.560000, 21.310000, 50.000000, 15.560000, 22.410000, 50.000000, 15.760000, 13.760000, 10.260000, 7.960000, 6.560000, 5.660000, 5.190000, 4.210000, 3.860000, 3.790000, 3.710000, 3.410000, 2.760000, 2.560000, 2.460000, 2.260000, 2.160000, 2.010000, 1.960000, 1.860000, 1.260000, 1.190000, 1.190000, 1.110000, 1.060000, 1.040000, 1.040000, 1.040000, 1.040000, 1.060000, 1.110000, 1.190000, 1.190000, 1.140000, 1.090000, 1.040000, 1.040000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 796, 29998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.566601, 30.400101, 3.122364 ], "estimate": [ -13.566601, 30.400101, 3.122364 ], "true_pose": [ null, null, null ], "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, 8.260000, 8.160000, 3.970000, 4.010000, 3.260000, 3.110000, 3.060000, 2.960000, 3.060000, 3.060000, 3.110000, 3.160000, 3.110000, 3.210000, 3.210000, 3.660000, 3.610000, 3.560000, 3.510000, 3.460000, 3.610000, 3.560000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000, 6.860000, 6.810000, 6.710000, 4.210000, 2.560000, 1.860000, 1.360000, 1.160000, 1.120000, 1.120000, 1.120000, 1.140000, 1.170000, 1.170000, 1.170000, 1.220000, 1.140000, 1.140000, 1.170000, 1.140000, 1.170000, 1.190000, 1.220000, 1.270000, 1.220000, 1.220000, 1.190000, 1.240000, 1.240000, 1.270000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.790000, 1.890000, 1.940000, 1.940000, 1.710000, 1.510000, 1.540000, 1.540000, 1.560000, 2.010000, 2.360000, 1.610000, 1.460000, 1.490000, 1.440000, 1.460000, 1.560000, 3.310000, 3.460000, 3.660000, 3.860000, 3.810000, 4.010000, 4.610000, 4.860000, 4.960000, 5.210000, 5.610000, 6.160000, 6.810000, 7.560000, 8.610000, 9.660000, 11.310000, 15.660000, 16.760000, 22.360000, 15.610000, 22.360000, 50.000000, 21.360000, 14.060000, 10.460000, 8.310000, 6.860000, 5.860000, 5.190000, 5.110000, 4.060000, 3.790000, 3.760000, 3.510000, 2.860000, 2.660000, 2.460000, 2.360000, 2.210000, 2.110000, 2.010000, 1.910000, 1.810000, 1.210000, 1.190000, 1.190000, 1.110000, 1.060000, 1.010000, 1.040000, 1.040000, 1.010000, 1.110000, 1.190000, 1.190000, 1.140000, 1.090000, 1.140000, 1.040000, 1.040000, 0.990000, 1.040000, 0.990000, 0.940000, 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 796, 340000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.566100, 30.400000, 2.912182 ], "estimate": [ -13.566100, 30.400000, 2.912182 ], "true_pose": [ null, null, null ], "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": [ 1.810000, 1.890000, 2.010000, 6.360000, 5.890000, 5.860000, 8.460000, 8.310000, 8.260000, 8.160000, 3.910000, 3.460000, 3.210000, 3.110000, 3.010000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.110000, 3.160000, 3.210000, 3.660000, 3.610000, 3.510000, 3.460000, 3.460000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 7.010000, 6.960000, 6.910000, 6.910000, 6.860000, 6.410000, 6.510000, 6.860000, 6.610000, 6.860000, 4.010000, 2.560000, 1.860000, 1.460000, 1.160000, 1.090000, 1.170000, 1.140000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.270000, 1.320000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.440000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.790000, 1.840000, 1.890000, 1.940000, 1.860000, 1.540000, 1.540000, 1.540000, 1.510000, 1.860000, 2.360000, 1.660000, 1.460000, 1.460000, 1.490000, 1.460000, 1.560000, 3.360000, 3.510000, 3.660000, 3.860000, 3.810000, 3.960000, 4.660000, 4.960000, 4.960000, 5.260000, 5.710000, 6.310000, 6.960000, 7.710000, 8.660000, 9.960000, 50.000000, 15.660000, 21.310000, 50.000000, 15.610000, 50.000000, 50.000000, 15.710000, 13.660000, 10.260000, 7.860000, 6.660000, 5.660000, 5.190000, 4.360000, 4.010000, 3.790000, 3.760000, 3.460000, 2.810000, 2.660000, 2.460000, 2.310000, 2.210000, 2.060000, 2.010000, 1.910000, 1.760000, 1.160000, 1.190000, 1.190000, 1.060000, 1.060000, 1.090000, 1.090000, 1.040000, 1.060000, 1.110000, 1.240000, 1.190000, 1.190000, 1.190000, 1.090000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.990000, 0.940000, 0.890000, 0.940000, 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": [ 796, 500000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.567400, 30.400400, 2.766739 ], "estimate": [ -13.567400, 30.400400, 2.766739 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.710000, 1.760000, 1.610000, 1.610000, 1.610000, 1.670000, 1.690000, 1.690000, 1.740000, 1.790000, 1.790000, 1.790000, 1.810000, 1.860000, 6.160000, 5.860000, 5.910000, 5.810000, 8.410000, 8.310000, 8.210000, 4.010000, 3.910000, 3.310000, 3.110000, 3.010000, 3.010000, 3.010000, 3.060000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.360000, 3.560000, 3.460000, 3.460000, 3.410000, 3.460000, 3.560000, 3.560000, 3.710000, 3.810000, 6.910000, 6.910000, 6.860000, 6.860000, 6.860000, 6.460000, 6.410000, 6.610000, 6.660000, 6.760000, 6.260000, 3.260000, 2.260000, 1.710000, 1.360000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.170000, 1.140000, 1.170000, 1.140000, 1.170000, 1.220000, 1.170000, 1.220000, 1.190000, 1.220000, 1.220000, 1.270000, 1.190000, 1.270000, 1.270000, 1.240000, 1.290000, 1.290000, 1.370000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.840000, 1.840000, 1.940000, 1.990000, 1.810000, 1.540000, 1.540000, 1.590000, 1.540000, 1.860000, 2.410000, 1.710000, 1.460000, 1.460000, 1.490000, 1.510000, 1.560000, 3.410000, 3.560000, 3.710000, 3.860000, 3.810000, 4.060000, 4.760000, 4.960000, 5.010000, 5.410000, 5.960000, 6.560000, 7.310000, 8.660000, 9.260000, 10.760000, 15.610000, 15.710000, 21.260000, 50.000000, 15.610000, 39.310000, 22.210000, 15.610000, 11.610000, 8.910000, 7.310000, 6.060000, 5.210000, 5.240000, 4.260000, 3.840000, 3.840000, 3.660000, 2.960000, 2.760000, 2.610000, 2.410000, 2.260000, 2.110000, 2.060000, 1.960000, 1.890000, 1.640000, 1.210000, 1.240000, 1.190000, 1.110000, 1.060000, 1.040000, 1.090000, 1.090000, 1.060000, 1.110000, 1.240000, 1.190000, 1.140000 ], "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": [ 796, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.570700, 30.402000, 2.587034 ], "estimate": [ -13.570700, 30.402000, 2.587034 ], "true_pose": [ null, null, null ], "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": [ 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 1.710000, 1.660000, 1.610000, 1.610000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.790000, 1.760000, 1.810000, 1.860000, 6.110000, 5.860000, 5.710000, 5.860000, 8.410000, 8.260000, 8.160000, 3.960000, 3.960000, 3.260000, 3.110000, 3.010000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.160000, 3.410000, 3.560000, 3.510000, 3.410000, 3.410000, 3.410000, 3.560000, 3.610000, 3.660000, 3.810000, 6.910000, 6.910000, 6.860000, 6.860000, 6.860000, 6.610000, 6.460000, 6.760000, 6.660000, 6.710000, 6.160000, 3.310000, 2.310000, 1.810000, 1.410000, 1.210000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.270000, 1.240000, 1.320000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.440000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.790000, 1.840000, 1.890000, 1.940000, 1.940000, 2.040000, 1.560000, 1.590000, 1.540000, 1.560000, 1.610000, 2.360000, 2.510000, 1.510000, 1.440000, 1.490000, 1.490000, 1.560000, 3.410000, 3.560000, 3.760000, 3.860000, 3.860000, 4.060000, 4.760000, 5.010000, 5.010000, 5.460000, 5.960000, 6.560000, 7.260000, 8.660000, 9.310000, 10.860000, 15.660000, 15.660000, 21.360000, 50.000000, 15.660000, 39.260000, 21.510000, 15.610000, 11.660000, 8.810000, 7.210000, 6.060000, 5.210000, 5.190000, 4.260000, 3.840000, 3.840000, 3.660000, 3.010000, 2.810000, 2.610000, 2.410000, 2.310000, 2.160000, 2.110000, 1.960000, 1.890000, 1.790000, 1.190000, 1.190000, 1.190000, 1.110000 ], "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": [ 797, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.571500, 30.402500, 2.430444 ], "estimate": [ -13.571500, 30.402500, 2.430444 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 1.760000, 1.660000, 1.610000, 1.610000, 1.640000, 1.640000, 1.690000, 1.640000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 1.910000, 5.810000, 5.860000, 5.740000, 8.360000, 8.260000, 8.210000, 8.110000, 3.890000, 3.360000, 3.160000, 3.060000, 2.910000, 2.910000, 2.910000, 3.010000, 3.010000, 3.010000, 3.060000, 3.110000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.410000, 3.510000, 3.610000, 3.710000, 6.910000, 6.910000, 6.910000, 6.860000, 6.910000, 6.860000, 6.810000, 6.810000, 6.810000, 6.610000, 6.810000, 4.160000, 2.760000, 2.110000, 1.660000, 1.360000, 1.160000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.170000, 1.120000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.170000, 1.170000, 1.220000, 1.170000, 1.220000, 1.220000, 1.220000, 1.240000, 1.240000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.340000, 1.340000, 1.390000, 1.390000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.540000, 1.590000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.890000, 1.990000, 1.660000, 1.560000, 1.540000, 1.590000, 1.560000, 2.310000, 2.410000, 1.610000, 1.510000, 1.490000, 1.490000, 1.510000, 1.660000, 3.460000, 3.660000, 3.910000, 3.860000, 4.010000, 4.710000, 5.010000, 5.010000, 5.310000, 5.760000, 6.360000, 7.010000, 7.760000, 8.710000, 10.310000, 15.760000, 15.610000, 21.310000, 50.000000, 15.660000, 39.460000, 33.360000, 15.660000, 12.560000, 9.410000, 7.710000, 6.510000, 5.560000, 5.240000, 4.260000, 4.010000, 3.840000, 3.760000, 3.460000, 2.860000, 2.610000, 2.510000, 2.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 797, 299998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.571200, 30.402300, 2.266082 ], "estimate": [ -13.571200, 30.402300, 2.266082 ], "true_pose": [ null, null, null ], "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": [ 1.570000, 1.620000, 1.670000, 1.670000, 1.720000, 1.720000, 1.670000, 1.770000, 1.670000, 1.620000, 1.570000, 1.470000, 1.470000, 1.520000, 1.520000, 1.470000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.670000, 1.620000, 1.620000, 1.670000, 1.720000, 1.720000, 1.650000, 1.570000, 1.570000, 1.600000, 1.650000, 1.700000, 1.700000, 1.750000, 1.750000, 1.770000, 1.820000, 1.870000, 6.120000, 5.870000, 5.750000, 5.870000, 8.320000, 8.270000, 8.170000, 3.920000, 3.920000, 3.220000, 3.120000, 3.020000, 2.920000, 2.920000, 2.970000, 3.020000, 3.020000, 3.070000, 3.120000, 3.170000, 3.270000, 3.570000, 3.520000, 3.470000, 3.420000, 3.420000, 3.470000, 3.520000, 3.570000, 3.770000, 6.970000, 6.870000, 6.920000, 6.870000, 6.870000, 6.820000, 6.870000, 6.870000, 6.670000, 6.570000, 6.270000, 3.520000, 2.520000, 1.970000, 1.570000, 1.370000, 1.170000, 1.100000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.180000, 1.180000, 1.150000, 1.130000, 1.200000, 1.150000, 1.230000, 1.230000, 1.230000, 1.200000, 1.230000, 1.200000, 1.250000, 1.280000, 1.250000, 1.300000, 1.250000, 1.300000, 1.300000, 1.350000, 1.350000, 1.350000, 1.400000, 1.400000, 1.400000, 1.450000, 1.500000, 1.500000, 1.500000, 1.500000, 1.550000, 1.600000, 1.650000, 1.650000, 1.650000, 1.700000, 1.750000, 1.750000, 1.800000, 1.900000, 1.900000, 1.950000, 2.000000, 1.620000, 1.520000, 1.600000, 1.600000, 1.620000, 2.420000, 2.470000, 1.520000, 1.470000, 1.500000, 1.470000, 1.520000, 3.420000, 3.570000, 3.770000, 3.920000, 3.870000, 4.120000, 4.820000, 5.020000, 5.020000, 5.470000, 6.020000, 6.620000, 7.420000, 8.670000, 9.520000, 11.120000, 15.670000, 15.820000, 22.420000, 15.670000, 22.370000, 39.370000, 21.420000, 14.820000, 11.870000, 8.670000, 7.120000, 6.070000, 5.250000, 5.220000, 4.220000, 3.850000 ], "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": [ 797, 460000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.571600, 30.402800, 2.112229 ], "estimate": [ -13.571600, 30.402800, 2.112229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.370000, 1.370000, 1.320000, 1.270000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.670000, 1.720000, 1.770000, 1.820000, 1.720000, 1.670000, 1.770000, 1.670000, 1.620000, 1.520000, 1.520000, 1.470000, 1.520000, 1.520000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.620000, 1.670000, 1.670000, 1.720000, 1.670000, 1.570000, 1.570000, 1.570000, 1.600000, 1.650000, 1.700000, 1.700000, 1.800000, 1.720000, 1.820000, 1.820000, 1.870000, 5.820000, 5.920000, 5.720000, 8.370000, 8.320000, 8.220000, 8.120000, 3.850000, 3.320000, 3.170000, 3.070000, 2.970000, 2.920000, 2.920000, 2.970000, 3.020000, 3.020000, 3.070000, 3.070000, 3.220000, 3.570000, 3.570000, 3.470000, 3.420000, 3.420000, 3.420000, 3.520000, 3.570000, 3.670000, 6.920000, 6.920000, 6.920000, 6.920000, 6.920000, 6.870000, 6.820000, 6.870000, 6.870000, 6.620000, 6.670000, 4.420000, 3.020000, 2.270000, 1.870000, 1.520000, 1.270000, 1.120000, 1.100000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.100000, 1.180000, 1.150000, 1.150000, 1.150000, 1.180000, 1.180000, 1.180000, 1.200000, 1.250000, 1.200000, 1.250000, 1.200000, 1.250000, 1.250000, 1.250000, 1.250000, 1.300000, 1.300000, 1.350000, 1.300000, 1.350000, 1.350000, 1.350000, 1.400000, 1.400000, 1.450000, 1.500000, 1.500000, 1.550000, 1.600000, 1.550000, 1.600000, 1.600000, 1.700000, 1.700000, 1.750000, 1.800000, 1.800000, 1.900000, 1.900000, 1.900000, 2.000000, 2.050000, 1.620000, 1.550000, 1.600000, 1.600000, 1.670000, 2.420000, 2.520000, 1.570000, 1.520000, 1.500000, 1.520000, 1.620000, 3.520000, 3.720000, 3.920000, 3.870000, 4.020000, 4.720000, 5.020000, 5.020000, 5.420000, 5.820000, 6.420000, 7.120000, 7.870000, 9.070000, 10.520000, 15.700000, 15.670000, 21.370000, 50.000000, 15.670000, 39.370000 ], "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": [ 797, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.572500, 30.404800, 1.927270 ], "estimate": [ -13.572500, 30.404800, 1.927270 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.420000, 1.520000, 1.420000, 1.420000, 1.420000, 1.220000, 1.420000, 1.420000, 1.370000, 1.370000, 1.320000, 1.250000, 1.280000, 1.300000, 1.270000, 1.370000, 1.370000, 1.320000, 1.320000, 1.420000, 1.520000, 1.520000, 1.570000, 1.620000, 1.620000, 1.620000, 1.720000, 1.770000, 1.670000, 1.670000, 1.620000, 1.770000, 1.620000, 1.570000, 1.520000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.720000, 1.670000, 1.620000, 1.570000, 1.570000, 1.650000, 1.650000, 1.700000, 1.700000, 1.700000, 1.750000, 1.770000, 1.820000, 1.870000, 5.800000, 5.970000, 5.770000, 8.320000, 8.270000, 8.170000, 8.070000, 3.820000, 3.220000, 3.170000, 3.070000, 2.970000, 2.870000, 2.920000, 2.970000, 3.020000, 3.020000, 3.070000, 3.070000, 3.170000, 3.570000, 3.470000, 3.470000, 3.370000, 3.420000, 3.470000, 3.520000, 3.570000, 3.670000, 3.970000, 6.920000, 6.920000, 6.870000, 6.870000, 6.870000, 6.770000, 6.820000, 6.820000, 6.620000, 6.770000, 4.720000, 3.220000, 2.470000, 1.970000, 1.670000, 1.420000, 1.270000, 1.070000, 1.130000, 1.100000, 1.130000, 1.130000, 1.180000, 1.100000, 1.150000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.300000, 1.300000, 1.300000, 1.300000, 1.350000, 1.350000, 1.400000, 1.400000, 1.450000, 1.450000, 1.450000, 1.500000, 1.500000, 1.550000, 1.600000, 1.600000, 1.650000, 1.650000, 1.650000, 1.750000, 1.750000, 1.850000, 1.850000, 1.900000, 1.950000, 2.000000, 2.050000, 1.620000, 1.600000, 1.600000, 1.600000, 1.670000, 2.470000, 2.520000, 1.570000, 1.550000, 1.550000, 1.500000, 1.570000, 3.570000, 3.670000, 3.920000, 3.870000, 4.070000, 4.720000 ], "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": [ 798, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.572901, 30.406300, 1.669369 ], "estimate": [ -13.572901, 30.406300, 1.669369 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.670000, 1.670000, 1.670000, 1.470000, 1.520000, 1.770000, 1.720000, 1.720000, 1.720000, 1.620000, 1.370000, 1.320000, 1.420000, 1.520000, 1.520000, 1.370000, 1.420000, 1.370000, 1.220000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.260000, 1.250000, 1.270000, 1.370000, 1.370000, 1.370000, 1.320000, 1.270000, 1.470000, 1.520000, 1.520000, 1.520000, 1.620000, 1.620000, 1.620000, 1.670000, 1.720000, 1.670000, 1.620000, 1.670000, 1.720000, 1.620000, 1.570000, 1.520000, 1.520000, 1.450000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.620000, 1.670000, 1.620000, 1.720000, 1.670000, 1.620000, 1.570000, 1.520000, 1.600000, 1.600000, 1.650000, 1.700000, 1.750000, 1.700000, 1.770000, 1.820000, 1.870000, 5.850000, 5.920000, 5.770000, 8.320000, 8.220000, 8.170000, 8.070000, 3.870000, 3.370000, 3.170000, 3.020000, 2.970000, 2.920000, 2.870000, 2.920000, 2.920000, 3.020000, 3.020000, 3.070000, 3.170000, 3.620000, 3.520000, 3.470000, 3.420000, 3.370000, 3.420000, 3.470000, 3.570000, 3.670000, 3.870000, 6.920000, 6.920000, 6.870000, 6.870000, 6.820000, 6.870000, 6.870000, 6.870000, 6.620000, 6.670000, 4.720000, 3.270000, 2.520000, 2.070000, 1.720000, 1.520000, 1.320000, 1.220000, 1.130000, 1.180000, 1.130000, 1.180000, 1.130000, 1.100000, 1.100000, 1.180000, 1.180000, 1.150000, 1.180000, 1.230000, 1.180000, 1.200000, 1.200000, 1.200000, 1.250000, 1.200000, 1.250000, 1.250000, 1.250000, 1.250000, 1.300000, 1.300000, 1.350000, 1.300000, 1.350000, 1.350000, 1.400000, 1.450000, 1.450000, 1.450000, 1.500000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.650000, 1.700000, 1.700000, 1.750000, 1.800000, 1.850000, 1.850000, 1.950000, 2.000000, 2.000000, 2.100000, 1.600000, 1.600000, 1.600000, 1.600000, 1.720000, 2.470000 ], "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": [ 798, 301000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.572901, 30.404900, 1.481893 ], "estimate": [ -13.572901, 30.404900, 1.481893 ], "true_pose": [ null, null, null ], "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, 1.870000, 1.870000, 1.870000, 1.820000, 1.770000, 1.820000, 1.720000, 1.620000, 1.670000, 1.720000, 1.870000, 1.670000, 1.720000, 1.670000, 1.670000, 1.470000, 1.770000, 1.720000, 1.770000, 1.670000, 1.670000, 1.420000, 1.270000, 1.470000, 1.420000, 1.520000, 1.470000, 1.420000, 1.370000, 1.270000, 1.250000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.260000, 1.200000, 1.320000, 1.270000, 1.370000, 1.270000, 1.270000, 1.320000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.620000, 1.670000, 1.720000, 1.770000, 1.720000, 1.670000, 1.720000, 1.720000, 1.620000, 1.570000, 1.520000, 1.470000, 1.450000, 1.420000, 1.470000, 1.520000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.670000, 1.670000, 1.670000, 1.620000, 1.570000, 1.570000, 1.600000, 1.650000, 1.650000, 1.650000, 1.750000, 1.750000, 1.720000, 1.770000, 1.870000, 5.820000, 5.750000, 5.820000, 8.320000, 8.220000, 8.120000, 8.070000, 3.830000, 3.270000, 3.170000, 3.070000, 2.920000, 2.870000, 2.920000, 2.970000, 2.970000, 3.070000, 3.070000, 3.070000, 3.220000, 3.570000, 3.520000, 3.420000, 3.420000, 3.420000, 3.420000, 3.520000, 3.620000, 3.670000, 6.920000, 6.920000, 6.920000, 6.920000, 6.920000, 6.720000, 6.820000, 6.820000, 6.670000, 6.670000, 6.470000, 4.120000, 3.020000, 2.420000, 2.020000, 1.720000, 1.470000, 1.320000, 1.170000, 1.150000, 1.130000, 1.130000, 1.130000, 1.180000, 1.180000, 1.150000, 1.180000, 1.150000, 1.180000, 1.230000, 1.230000, 1.200000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.250000, 1.300000, 1.300000, 1.300000, 1.300000, 1.350000, 1.350000, 1.350000, 1.450000, 1.450000, 1.400000, 1.450000, 1.500000, 1.500000, 1.500000, 1.550000, 1.600000, 1.600000, 1.650000, 1.650000, 1.700000, 1.750000, 1.800000 ], "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": [ 798, 620000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.572400, 30.406898, 1.263719 ], "estimate": [ -13.572400, 30.406898, 1.263719 ], "true_pose": [ null, null, null ], "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, 2.270000, 2.220000, 3.470000, 3.570000, 3.620000, 3.670000, 3.770000, 3.870000, 2.020000, 1.870000, 1.870000, 1.870000, 1.770000, 1.820000, 1.820000, 1.670000, 1.670000, 1.670000, 1.720000, 1.720000, 1.720000, 1.720000, 1.620000, 1.670000, 1.470000, 1.670000, 1.670000, 1.620000, 1.670000, 1.570000, 1.420000, 1.370000, 1.420000, 1.420000, 1.470000, 1.470000, 1.470000, 1.420000, 1.320000, 1.250000, 1.420000, 1.320000, 1.320000, 1.320000, 1.200000, 1.210000, 1.250000, 1.270000, 1.320000, 1.370000, 1.320000, 1.270000, 1.320000, 1.470000, 1.470000, 1.570000, 1.520000, 1.620000, 1.570000, 1.570000, 1.670000, 1.670000, 1.770000, 1.670000, 1.670000, 1.620000, 1.620000, 1.570000, 1.520000, 1.520000, 1.450000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.570000, 1.620000, 1.520000, 1.570000, 1.600000, 1.650000, 1.700000, 1.700000, 1.700000, 1.720000, 1.770000, 1.870000, 5.820000, 5.750000, 5.870000, 8.320000, 8.220000, 8.120000, 8.020000, 3.880000, 3.320000, 3.170000, 3.070000, 2.970000, 2.920000, 2.920000, 2.970000, 2.970000, 3.020000, 3.020000, 3.070000, 3.220000, 3.570000, 3.520000, 3.520000, 3.420000, 3.420000, 3.420000, 3.520000, 3.620000, 3.670000, 6.920000, 6.920000, 6.870000, 6.870000, 6.870000, 6.770000, 6.770000, 6.870000, 6.620000, 6.720000, 6.470000, 4.120000, 3.120000, 2.520000, 2.070000, 1.770000, 1.520000, 1.370000, 1.220000, 1.100000, 1.130000, 1.130000, 1.130000, 1.180000, 1.180000, 1.130000, 1.150000, 1.150000, 1.150000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.300000, 1.300000, 1.350000, 1.300000, 1.350000, 1.400000, 1.400000, 1.400000, 1.450000, 1.450000, 1.450000, 1.450000, 1.500000 ], "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": [ 798, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.572100, 30.407700, 1.101875 ], "estimate": [ -13.572100, 30.407700, 1.101875 ], "true_pose": [ null, null, null ], "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, 2.260000, 2.210000, 2.110000, 2.110000, 1.960000, 1.760000, 1.760000, 1.790000, 1.810000, 3.310000, 2.160000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 2.010000, 1.860000, 1.860000, 1.910000, 1.710000, 1.760000, 1.760000, 1.660000, 1.660000, 1.710000, 1.810000, 1.660000, 1.610000, 1.710000, 1.610000, 1.610000, 1.460000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.410000, 1.310000, 1.360000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.210000, 1.260000, 1.360000, 1.310000, 1.310000, 1.220000, 1.250000, 1.240000, 1.260000, 1.310000, 1.360000, 1.210000, 1.310000, 1.310000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.710000, 1.710000, 1.660000, 1.710000, 1.660000, 1.610000, 1.510000, 1.460000, 1.460000, 1.440000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.560000, 1.610000, 1.660000, 1.710000, 1.610000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.760000, 5.760000, 8.310000, 8.260000, 8.160000, 8.060000, 3.910000, 3.360000, 3.210000, 3.060000, 2.960000, 2.910000, 2.910000, 2.960000, 3.010000, 3.060000, 3.060000, 3.060000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.410000, 3.410000, 3.560000, 3.610000, 3.660000, 4.060000, 6.910000, 6.910000, 6.910000, 6.860000, 6.710000, 6.510000, 6.760000, 6.710000, 6.710000, 6.610000, 4.260000, 3.210000, 2.560000, 2.110000, 1.810000, 1.560000, 1.410000, 1.260000, 1.160000, 1.090000, 1.170000, 1.140000, 1.170000, 1.170000, 1.140000, 1.140000, 1.140000, 1.190000, 1.140000, 1.220000, 1.240000, 1.190000, 1.190000, 1.240000, 1.190000, 1.270000, 1.270000, 1.270000, 1.320000, 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": [ 799, 100000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.571400, 30.408701, 0.937935 ], "estimate": [ -13.571400, 30.408701, 0.937935 ], "true_pose": [ null, null, null ], "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": [ 6.610000, 2.710000, 2.640000, 2.560000, 2.560000, 2.560000, 2.510000, 2.460000, 2.460000, 2.410000, 2.360000, 2.310000, 2.310000, 2.210000, 2.110000, 2.110000, 1.960000, 1.760000, 1.710000, 1.740000, 1.810000, 1.810000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 1.910000, 1.910000, 1.860000, 1.810000, 1.660000, 1.810000, 1.710000, 1.610000, 1.660000, 1.710000, 1.660000, 1.660000, 1.560000, 1.610000, 1.610000, 1.560000, 1.460000, 1.610000, 1.610000, 1.760000, 1.660000, 1.610000, 1.460000, 1.310000, 1.460000, 1.410000, 1.460000, 1.460000, 1.410000, 1.410000, 1.310000, 1.160000, 1.310000, 1.260000, 1.260000, 1.210000, 1.190000, 1.220000, 1.210000, 1.260000, 1.310000, 1.360000, 1.260000, 1.210000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.660000, 1.560000, 1.660000, 2.810000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.440000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.640000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.760000, 8.410000, 8.310000, 8.160000, 8.110000, 6.460000, 3.870000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.910000, 2.960000, 3.010000, 3.060000, 3.060000, 3.060000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.410000, 3.510000, 3.610000, 3.660000, 3.810000, 6.960000, 6.910000, 6.910000, 6.860000, 6.910000, 6.460000, 6.510000, 6.860000, 6.710000, 6.660000, 5.510000, 3.760000, 2.960000, 2.410000, 2.060000, 1.710000, 1.510000, 1.410000, 1.260000, 1.190000, 1.170000, 1.170000, 1.140000, 1.220000, 1.170000, 1.220000, 1.190000, 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": [ 799, 340000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.570100, 30.410200, 0.720395 ], "estimate": [ -13.570100, 30.410200, 0.720395 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.110000, 5.260000, 6.260000, 6.310000, 4.010000, 6.410000, 6.410000, 6.510000, 6.510000, 6.560000, 6.610000, 2.710000, 2.610000, 2.560000, 2.510000, 2.510000, 2.510000, 2.410000, 2.460000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 1.960000, 1.760000, 1.660000, 1.740000, 1.760000, 1.810000, 3.310000, 3.360000, 3.410000, 3.460000, 3.560000, 3.660000, 3.710000, 3.760000, 3.810000, 1.910000, 1.910000, 1.860000, 1.760000, 1.660000, 1.660000, 1.860000, 1.710000, 1.610000, 1.710000, 1.760000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.460000, 1.560000, 1.610000, 1.660000, 1.610000, 1.660000, 1.460000, 1.310000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.410000, 1.410000, 1.140000, 1.260000, 1.310000, 1.260000, 1.240000, 1.220000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.360000, 1.410000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.610000, 1.510000, 1.710000, 1.710000, 2.760000, 1.660000, 1.610000, 1.610000, 1.560000, 1.510000, 1.560000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.610000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.640000, 1.690000, 1.710000, 1.760000, 1.810000, 1.860000, 5.760000, 8.410000, 8.260000, 8.210000, 8.110000, 6.460000, 3.840000, 3.310000, 3.160000, 3.010000, 2.960000, 2.910000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.510000, 3.560000, 3.710000, 3.810000, 6.910000, 6.910000, 6.910000, 6.910000, 6.860000, 6.410000, 6.510000, 6.860000, 6.660000, 6.860000, 5.260000, 3.660000, 2.910000, 2.360000, 2.060000, 1.710000, 1.560000, 1.360000, 1.210000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 799, 580000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.571375 ], "estimate": [ -13.568199, 30.411699, 0.571375 ], "true_pose": [ null, null, null ], "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": [ 13.510000, 12.360000, 9.610000, 9.710000, 9.210000, 7.210000, 6.060000, 5.960000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 3.960000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 6.560000, 2.640000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.460000, 2.510000, 2.360000, 2.310000, 2.260000, 2.210000, 2.110000, 2.110000, 2.110000, 1.910000, 1.710000, 1.710000, 1.690000, 1.810000, 1.860000, 3.260000, 3.360000, 3.410000, 3.510000, 3.560000, 3.610000, 3.710000, 3.810000, 3.860000, 1.910000, 1.910000, 1.910000, 1.860000, 1.660000, 1.760000, 4.660000, 1.710000, 1.610000, 1.660000, 1.760000, 1.560000, 1.610000, 1.610000, 1.560000, 1.510000, 1.460000, 1.560000, 1.560000, 1.610000, 1.660000, 1.610000, 1.410000, 1.460000, 1.460000, 1.360000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.190000, 1.210000, 1.260000, 1.260000, 1.190000, 1.200000, 1.240000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.410000, 1.410000, 1.510000, 1.510000, 1.560000, 1.510000, 1.610000, 1.610000, 1.660000, 1.710000, 1.760000, 2.760000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.760000, 1.810000, 2.160000, 5.760000, 8.360000, 8.260000, 8.160000, 8.060000, 3.870000, 3.910000, 3.260000, 3.110000, 3.010000, 2.960000, 2.910000, 3.010000, 3.060000, 3.010000, 3.060000, 3.110000, 3.210000, 3.360000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.810000, 4.060000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.460000, 6.710000, 6.710000, 6.660000, 6.110000, 3.560000 ], "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": [ 799, 899998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.567801, 30.411900, 0.485830 ], "estimate": [ -13.567801, 30.411900, 0.485830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.260000, 21.010000, 14.660000, 12.410000, 12.610000, 9.660000, 9.910000, 7.210000, 6.310000, 6.060000, 5.960000, 5.060000, 5.210000, 6.260000, 6.260000, 6.310000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 2.710000, 2.610000, 2.560000, 2.460000, 2.510000, 2.510000, 2.410000, 2.410000, 2.410000, 2.310000, 2.260000, 2.210000, 2.160000, 2.160000, 2.060000, 2.060000, 1.760000, 1.710000, 1.660000, 1.710000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.710000, 3.810000, 2.060000, 1.960000, 1.760000, 1.910000, 1.710000, 1.660000, 1.710000, 1.660000, 1.610000, 1.710000, 1.660000, 1.660000, 1.510000, 1.660000, 1.510000, 1.560000, 1.410000, 1.510000, 1.560000, 1.510000, 1.660000, 1.710000, 1.360000, 1.410000, 1.410000, 1.360000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.190000, 1.260000, 1.260000, 1.240000, 1.200000, 1.140000, 1.290000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.410000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.610000, 1.710000, 2.710000, 2.760000, 1.610000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.510000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.710000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.560000, 3.460000, 3.410000, 3.510000, 3.560000, 3.610000, 3.710000, 3.860000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.410000, 6.560000, 6.860000, 6.710000 ], "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": [ 800, 139998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568001, 30.411798, 0.456194 ], "estimate": [ -13.568001, 30.411798, 0.456194 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 22.210000, 22.210000, 21.010000, 14.510000, 12.360000, 9.660000, 9.660000, 9.260000, 7.210000, 6.060000, 6.060000, 5.060000, 5.110000, 6.260000, 6.260000, 6.310000, 3.960000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.690000, 2.560000, 2.510000, 2.490000, 2.510000, 2.510000, 2.360000, 2.460000, 2.360000, 2.360000, 2.260000, 2.260000, 2.110000, 2.060000, 2.110000, 1.960000, 1.760000, 1.710000, 1.690000, 1.760000, 1.760000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.710000, 3.760000, 3.860000, 1.910000, 1.860000, 1.910000, 1.810000, 1.660000, 1.760000, 1.760000, 1.660000, 1.610000, 1.660000, 1.760000, 1.610000, 1.660000, 1.710000, 1.510000, 1.610000, 1.510000, 1.510000, 1.660000, 1.560000, 1.560000, 1.610000, 1.360000, 1.460000, 1.310000, 1.360000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.210000, 1.140000, 1.310000, 1.260000, 1.140000, 1.200000, 1.240000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.410000, 1.410000, 1.460000, 1.510000, 1.560000, 1.510000, 1.610000, 1.660000, 1.760000, 1.710000, 1.760000, 2.710000, 2.110000, 1.610000, 1.660000, 1.610000, 1.610000, 1.510000, 1.460000, 1.440000, 1.410000, 1.410000, 1.460000, 1.510000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.860000, 2.010000, 5.810000, 8.360000, 8.260000, 8.110000, 8.010000, 3.870000, 3.960000, 3.260000, 3.160000, 3.010000, 2.960000, 2.910000, 2.960000, 3.060000, 3.010000, 3.110000, 3.160000, 3.210000, 3.360000, 3.610000, 3.510000, 3.460000, 3.410000, 3.510000, 3.560000, 3.710000, 3.810000, 6.960000, 7.010000, 6.910000, 6.910000, 6.910000, 6.410000, 6.460000, 6.710000 ], "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": [ 800, 379998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436438 ], "estimate": [ -13.568199, 30.411699, 0.436438 ], "true_pose": [ null, null, null ], "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": [ 44.070000, 49.770000, 22.070000, 21.020000, 17.020000, 13.320000, 12.370000, 9.670000, 9.870000, 7.170000, 7.170000, 6.070000, 5.920000, 5.120000, 5.120000, 6.270000, 6.320000, 6.370000, 3.970000, 6.370000, 6.420000, 6.470000, 6.520000, 6.570000, 2.820000, 2.620000, 2.520000, 2.520000, 2.500000, 2.520000, 2.420000, 2.420000, 2.420000, 2.420000, 2.320000, 2.270000, 2.170000, 2.120000, 2.120000, 2.070000, 1.870000, 1.720000, 1.720000, 1.700000, 1.820000, 2.070000, 3.320000, 3.420000, 3.470000, 3.520000, 3.620000, 3.620000, 3.770000, 3.870000, 3.870000, 1.870000, 2.020000, 1.870000, 1.820000, 1.670000, 1.720000, 1.720000, 1.620000, 1.670000, 1.620000, 1.670000, 1.720000, 1.570000, 1.670000, 1.570000, 1.620000, 1.470000, 1.620000, 1.570000, 1.570000, 1.620000, 1.320000, 1.420000, 1.320000, 1.370000, 1.370000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.200000, 1.320000, 1.270000, 1.250000, 1.200000, 1.210000, 1.270000, 1.270000, 1.320000, 1.320000, 1.370000, 1.220000, 1.320000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.570000, 1.670000, 1.670000, 1.770000, 1.770000, 1.820000, 1.670000, 1.720000, 1.670000, 1.620000, 1.520000, 1.520000, 1.470000, 1.450000, 1.420000, 1.420000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.620000, 1.720000, 1.670000, 1.620000, 1.570000, 1.570000, 1.550000, 1.600000, 1.650000, 1.700000, 1.700000, 1.720000, 1.770000, 1.820000, 1.870000, 5.820000, 8.420000, 8.270000, 8.220000, 8.120000, 6.420000, 3.880000, 3.270000, 3.220000, 3.070000, 3.020000, 2.920000, 2.970000, 3.070000, 3.070000, 3.120000, 3.170000, 3.170000, 3.220000, 3.620000, 3.570000, 3.470000, 3.420000, 3.420000, 3.570000, 3.570000, 3.720000, 3.820000, 6.970000, 6.970000, 6.970000, 6.870000, 6.920000, 6.470000, 6.520000 ], "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": [ 800, 539998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.070000, 49.770000, 21.970000, 21.170000, 17.020000, 13.320000, 12.370000, 9.670000, 9.870000, 7.220000, 7.170000, 6.070000, 5.920000, 5.120000, 5.120000, 6.320000, 6.320000, 6.370000, 3.970000, 6.420000, 6.420000, 6.470000, 6.520000, 6.570000, 2.920000, 2.620000, 2.570000, 2.520000, 2.520000, 2.520000, 2.420000, 2.420000, 2.470000, 2.320000, 2.320000, 2.270000, 2.170000, 2.120000, 2.120000, 2.070000, 1.920000, 1.670000, 1.720000, 1.770000, 1.820000, 2.020000, 3.320000, 3.370000, 3.470000, 3.520000, 3.570000, 3.670000, 3.770000, 3.870000, 3.970000, 1.920000, 1.920000, 1.820000, 1.820000, 1.670000, 1.770000, 1.720000, 1.620000, 1.620000, 1.620000, 1.670000, 1.770000, 1.620000, 1.670000, 1.570000, 1.620000, 1.470000, 1.620000, 1.570000, 1.620000, 1.670000, 1.370000, 1.370000, 1.420000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.150000, 1.320000, 1.270000, 1.250000, 1.210000, 1.210000, 1.220000, 1.270000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.520000, 1.570000, 1.670000, 1.620000, 1.770000, 2.720000, 2.720000, 1.720000, 1.670000, 1.670000, 1.570000, 1.520000, 1.520000, 1.420000, 1.400000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.620000, 1.570000, 1.520000, 1.570000, 1.650000, 1.650000, 1.650000, 1.750000, 1.750000, 1.770000, 1.820000, 1.870000, 5.770000, 8.370000, 8.270000, 8.170000, 8.070000, 6.420000, 3.880000, 3.320000, 3.170000, 3.120000, 3.020000, 2.970000, 2.970000, 3.020000, 3.020000, 3.120000, 3.120000, 3.120000, 3.220000, 3.620000, 3.570000, 3.520000, 3.470000, 3.520000, 3.570000, 3.620000, 3.770000, 3.820000, 6.970000, 6.920000, 6.920000, 6.970000, 6.920000, 6.470000, 6.520000 ], "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": [ 800, 701000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.020000, 49.770000, 21.870000, 23.820000, 16.970000, 13.320000, 12.370000, 9.670000, 9.820000, 7.220000, 7.170000, 6.020000, 5.920000, 5.120000, 5.120000, 6.270000, 6.320000, 6.320000, 3.920000, 6.370000, 6.420000, 6.420000, 6.520000, 6.570000, 3.070000, 2.670000, 2.570000, 2.520000, 2.500000, 2.470000, 2.420000, 2.420000, 2.470000, 2.370000, 2.320000, 2.270000, 2.220000, 2.120000, 2.120000, 2.070000, 1.920000, 1.670000, 1.670000, 1.670000, 1.820000, 1.970000, 3.370000, 3.420000, 3.420000, 3.520000, 3.570000, 3.620000, 3.770000, 3.820000, 3.920000, 1.870000, 1.970000, 1.820000, 1.870000, 1.670000, 1.720000, 1.770000, 1.620000, 1.670000, 1.570000, 1.670000, 1.720000, 1.570000, 1.620000, 1.570000, 1.670000, 1.470000, 1.570000, 1.570000, 1.620000, 1.620000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.320000, 1.370000, 1.200000, 1.270000, 1.320000, 1.250000, 1.210000, 1.200000, 1.300000, 1.320000, 1.320000, 1.320000, 1.320000, 1.220000, 1.270000, 1.470000, 1.420000, 1.520000, 1.520000, 1.520000, 1.570000, 1.620000, 1.620000, 1.620000, 2.820000, 2.720000, 2.720000, 1.620000, 1.670000, 1.670000, 1.620000, 1.570000, 1.520000, 1.470000, 1.450000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.520000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.720000, 1.620000, 1.620000, 1.570000, 1.600000, 1.600000, 1.650000, 1.700000, 1.700000, 1.750000, 1.770000, 1.820000, 1.870000, 5.820000, 8.420000, 8.270000, 8.220000, 8.120000, 6.470000, 3.930000, 3.270000, 3.170000, 3.120000, 3.020000, 2.920000, 2.970000, 3.070000, 3.020000, 3.070000, 3.170000, 3.170000, 3.220000, 3.620000, 3.570000, 3.520000, 3.420000, 3.470000, 3.570000, 3.620000, 3.720000, 3.820000, 7.020000, 6.920000, 6.920000, 6.920000, 6.920000, 6.520000, 6.570000 ], "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": [ 801, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.020000, 49.770000, 21.620000, 23.820000, 16.970000, 13.370000, 12.370000, 9.670000, 9.770000, 7.220000, 7.270000, 6.020000, 5.920000, 5.120000, 5.120000, 6.320000, 6.320000, 6.320000, 3.970000, 6.420000, 6.420000, 6.470000, 6.520000, 6.570000, 6.570000, 2.670000, 2.570000, 2.520000, 2.470000, 2.520000, 2.470000, 2.420000, 2.470000, 2.320000, 2.320000, 2.220000, 2.220000, 2.120000, 2.120000, 2.070000, 1.920000, 1.670000, 1.720000, 1.720000, 1.820000, 1.920000, 3.320000, 2.220000, 3.420000, 3.520000, 3.570000, 3.620000, 3.720000, 3.820000, 3.920000, 1.870000, 1.920000, 1.820000, 1.870000, 1.720000, 1.720000, 1.770000, 1.670000, 1.620000, 1.520000, 1.670000, 1.720000, 1.570000, 1.670000, 1.570000, 1.620000, 1.470000, 1.620000, 1.570000, 1.620000, 1.670000, 1.320000, 1.420000, 1.370000, 1.420000, 1.370000, 1.320000, 1.370000, 1.420000, 1.370000, 1.370000, 1.200000, 1.320000, 1.270000, 1.250000, 1.200000, 1.210000, 1.250000, 1.270000, 1.320000, 1.370000, 1.370000, 1.220000, 1.270000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.520000, 1.570000, 1.720000, 1.620000, 1.820000, 2.720000, 1.770000, 1.670000, 1.670000, 1.670000, 1.620000, 1.520000, 1.470000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.620000, 1.570000, 1.620000, 1.620000, 1.670000, 1.670000, 1.620000, 1.570000, 1.520000, 1.620000, 1.650000, 1.650000, 1.700000, 1.750000, 1.720000, 1.770000, 1.820000, 1.870000, 5.770000, 8.420000, 8.320000, 8.270000, 8.120000, 6.520000, 3.880000, 3.320000, 3.170000, 3.070000, 3.020000, 2.970000, 2.970000, 3.070000, 3.070000, 3.120000, 3.170000, 3.170000, 3.220000, 3.620000, 3.520000, 3.470000, 3.470000, 3.420000, 3.570000, 3.620000, 3.770000, 3.820000, 6.970000, 6.970000, 6.970000, 6.970000, 6.920000, 6.420000, 6.570000 ], "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": [ 801, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 21.510000, 23.760000, 17.010000, 13.310000, 12.410000, 9.610000, 9.760000, 7.160000, 7.210000, 6.060000, 5.910000, 5.110000, 5.110000, 6.310000, 6.310000, 6.310000, 3.910000, 6.410000, 6.410000, 6.460000, 6.510000, 6.610000, 6.610000, 2.660000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.210000, 2.210000, 2.160000, 2.110000, 2.060000, 1.910000, 1.710000, 1.710000, 1.710000, 1.810000, 1.960000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 1.910000, 1.860000, 1.860000, 1.910000, 1.710000, 1.710000, 1.710000, 1.610000, 1.610000, 1.510000, 1.710000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.610000, 1.560000, 1.610000, 1.610000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.360000, 1.190000, 1.260000, 1.260000, 1.260000, 1.200000, 1.200000, 1.240000, 1.260000, 1.310000, 1.310000, 1.360000, 1.210000, 1.260000, 1.460000, 1.410000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.610000, 1.760000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.810000, 1.810000, 5.760000, 8.360000, 8.260000, 8.210000, 8.110000, 6.410000, 3.820000, 3.310000, 3.210000, 3.110000, 3.010000, 2.960000, 2.960000, 3.060000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.610000, 3.560000, 3.460000, 3.410000, 3.410000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 801, 379998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 21.510000, 23.760000, 17.010000, 13.310000, 12.360000, 9.660000, 9.810000, 7.210000, 7.210000, 6.010000, 5.910000, 5.110000, 5.110000, 6.310000, 6.260000, 6.310000, 3.910000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 2.610000, 2.510000, 2.460000, 2.490000, 2.510000, 2.410000, 2.360000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.910000, 1.710000, 1.710000, 1.710000, 1.810000, 1.960000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.860000, 1.910000, 1.860000, 1.810000, 1.810000, 1.710000, 1.710000, 1.710000, 1.610000, 1.560000, 1.560000, 1.710000, 1.710000, 1.560000, 1.660000, 1.510000, 1.610000, 1.460000, 1.660000, 1.560000, 1.610000, 1.610000, 1.310000, 1.360000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.360000, 1.310000, 1.360000, 1.140000, 1.310000, 1.310000, 1.240000, 1.190000, 1.240000, 1.240000, 1.260000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.610000, 1.760000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.610000, 1.560000, 1.460000, 1.460000, 1.440000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.610000, 1.590000, 1.640000, 1.640000, 1.740000, 1.710000, 1.760000, 1.810000, 1.810000, 5.760000, 8.410000, 8.310000, 8.210000, 8.110000, 6.410000, 3.920000, 3.360000, 3.210000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 2.960000, 3.110000, 3.160000, 3.160000, 3.210000, 3.610000, 3.560000, 3.510000, 3.410000, 3.410000, 3.560000, 3.560000, 3.760000, 3.760000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.510000, 6.510000 ], "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": [ 801, 580000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.060000, 49.760000, 21.460000, 23.760000, 16.910000, 13.310000, 12.360000, 9.610000, 9.760000, 7.210000, 7.210000, 6.060000, 5.910000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 3.960000, 6.360000, 6.460000, 6.460000, 6.510000, 6.610000, 6.610000, 2.610000, 2.510000, 2.510000, 2.490000, 2.540000, 2.410000, 2.360000, 2.410000, 2.310000, 2.360000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.910000, 1.710000, 1.660000, 1.710000, 1.810000, 1.910000, 3.260000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 1.860000, 1.860000, 1.810000, 1.860000, 1.710000, 1.710000, 1.760000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.410000, 1.560000, 1.560000, 1.560000, 1.610000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.410000, 1.310000, 1.360000, 1.190000, 1.260000, 1.260000, 1.240000, 1.190000, 1.200000, 1.260000, 1.260000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.660000, 1.610000, 1.760000, 1.760000, 2.660000, 1.660000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.510000, 1.590000, 1.590000, 1.640000, 1.640000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.760000, 8.410000, 8.260000, 8.160000, 8.110000, 6.460000, 3.870000, 3.310000, 3.160000, 3.110000, 2.960000, 2.960000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.110000, 3.260000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 801, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.810000, 21.260000, 23.710000, 16.960000, 13.310000, 12.410000, 9.660000, 9.710000, 7.210000, 7.210000, 6.060000, 5.910000, 5.110000, 5.160000, 6.260000, 6.260000, 6.310000, 3.960000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 2.610000, 2.510000, 2.510000, 2.490000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.110000, 1.960000, 1.660000, 1.660000, 1.710000, 1.810000, 1.960000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 1.910000, 1.910000, 1.860000, 1.860000, 1.710000, 1.710000, 1.760000, 1.610000, 1.610000, 1.560000, 1.710000, 1.710000, 1.610000, 1.610000, 1.560000, 1.610000, 1.460000, 1.610000, 1.560000, 1.610000, 1.660000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.360000, 1.140000, 1.260000, 1.260000, 1.260000, 1.200000, 1.190000, 1.240000, 1.260000, 1.310000, 1.360000, 1.360000, 1.210000, 1.210000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.660000, 1.660000, 1.760000, 2.660000, 1.760000, 1.710000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.440000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.760000, 8.360000, 8.310000, 8.160000, 8.110000, 6.410000, 3.920000, 3.310000, 3.210000, 3.110000, 3.010000, 2.960000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 801, 940000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 21.210000, 23.710000, 17.010000, 13.360000, 12.360000, 9.660000, 9.710000, 7.210000, 7.210000, 6.010000, 5.910000, 5.110000, 5.110000, 6.310000, 6.310000, 6.310000, 3.960000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 2.610000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.210000, 2.210000, 2.160000, 2.110000, 2.110000, 1.910000, 1.660000, 1.710000, 1.710000, 1.810000, 1.910000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.760000, 3.910000, 1.860000, 1.910000, 1.810000, 1.910000, 1.710000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.710000, 1.660000, 1.560000, 1.660000, 1.560000, 1.610000, 1.460000, 1.560000, 1.560000, 1.610000, 1.560000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.410000, 1.310000, 1.360000, 1.310000, 1.360000, 1.190000, 1.210000, 1.310000, 1.240000, 1.190000, 1.240000, 1.210000, 1.260000, 1.310000, 1.310000, 1.360000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 2.760000, 2.660000, 1.760000, 1.710000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.610000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.760000, 8.360000, 8.260000, 8.160000, 8.160000, 6.410000, 3.910000, 3.310000, 3.210000, 3.110000, 2.960000, 2.960000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.410000, 3.560000, 3.610000, 3.710000, 3.760000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 802, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436017 ], "estimate": [ -13.568199, 30.411699, 0.436017 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 21.110000, 23.760000, 16.960000, 13.310000, 12.410000, 9.660000, 9.760000, 7.210000, 7.210000, 6.060000, 5.960000, 5.110000, 5.110000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.610000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.210000, 2.110000, 2.110000, 2.060000, 1.910000, 1.710000, 1.710000, 1.710000, 1.810000, 1.910000, 3.260000, 3.360000, 3.460000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 1.810000, 1.910000, 1.810000, 1.860000, 1.710000, 1.710000, 1.760000, 1.610000, 1.660000, 1.560000, 1.710000, 1.710000, 1.610000, 1.610000, 1.510000, 1.610000, 1.460000, 1.610000, 1.610000, 1.610000, 1.610000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.190000, 1.260000, 1.260000, 1.290000, 1.240000, 1.240000, 1.240000, 1.260000, 1.310000, 1.310000, 1.360000, 1.210000, 1.310000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.610000, 1.560000, 1.660000, 1.660000, 1.760000, 1.760000, 1.810000, 1.660000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.560000, 1.640000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 5.760000, 8.360000, 8.310000, 8.210000, 8.110000, 6.410000, 3.910000, 3.310000, 3.210000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.110000, 3.160000, 3.160000, 3.260000, 3.610000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.710000, 3.760000, 6.960000, 6.960000, 6.960000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 802, 299998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436227 ], "estimate": [ -13.568199, 30.411699, 0.436227 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 21.010000, 23.710000, 16.960000, 13.310000, 12.360000, 9.660000, 9.760000, 7.210000, 7.210000, 6.060000, 5.910000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.610000, 2.510000, 2.460000, 2.510000, 2.510000, 2.410000, 2.360000, 2.460000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.910000, 1.710000, 1.710000, 1.710000, 1.810000, 1.910000, 3.310000, 2.210000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.910000, 1.910000, 1.910000, 1.810000, 1.860000, 1.710000, 1.710000, 1.710000, 1.610000, 1.610000, 1.560000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.610000, 1.610000, 1.610000, 1.610000, 1.360000, 1.410000, 1.360000, 1.310000, 1.410000, 1.360000, 1.360000, 1.360000, 1.260000, 1.310000, 1.140000, 1.310000, 1.260000, 1.240000, 1.200000, 1.240000, 1.260000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.660000, 1.760000, 1.810000, 1.810000, 1.710000, 1.660000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.510000, 1.540000, 1.640000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.860000, 5.760000, 8.410000, 8.260000, 8.210000, 8.110000, 6.410000, 3.870000, 3.310000, 3.210000, 3.060000, 3.010000, 2.960000, 2.960000, 3.060000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.410000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.960000, 6.460000, 6.510000 ], "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": [ 802, 490000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436647 ], "estimate": [ -13.568199, 30.411699, 0.436647 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 21.060000, 23.710000, 17.010000, 13.310000, 12.360000, 9.660000, 9.710000, 7.160000, 7.160000, 6.010000, 5.910000, 5.160000, 5.110000, 6.310000, 6.260000, 6.310000, 3.960000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 6.610000, 2.660000, 2.560000, 2.510000, 2.510000, 2.510000, 2.460000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.110000, 1.910000, 1.660000, 1.710000, 1.710000, 1.760000, 1.910000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 3.910000, 1.860000, 1.860000, 1.860000, 1.860000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.710000, 1.710000, 1.610000, 1.660000, 1.510000, 1.610000, 1.460000, 1.610000, 1.610000, 1.560000, 1.660000, 1.360000, 1.410000, 1.360000, 1.310000, 1.360000, 1.310000, 1.360000, 1.310000, 1.310000, 1.310000, 1.140000, 1.260000, 1.310000, 1.240000, 1.190000, 1.200000, 1.260000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.660000, 2.760000, 1.760000, 1.810000, 1.660000, 1.610000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.440000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.610000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.810000, 5.760000, 8.410000, 8.260000, 8.210000, 8.110000, 6.460000, 3.870000, 3.310000, 3.210000, 3.110000, 3.010000, 2.910000, 2.960000, 3.060000, 3.010000, 3.060000, 3.110000, 3.210000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.410000, 3.560000, 3.610000, 3.710000, 3.760000, 6.960000, 6.910000, 6.960000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 802, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.436647 ], "estimate": [ -13.568199, 30.411699, 0.436647 ], "true_pose": [ null, null, null ], "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": [ 44.050000, 49.800000, 21.000000, 20.850000, 16.950000, 13.350000, 12.350000, 9.650000, 9.700000, 7.200000, 7.200000, 6.050000, 5.900000, 5.100000, 5.150000, 6.250000, 6.300000, 6.300000, 3.900000, 6.350000, 6.450000, 6.450000, 6.500000, 6.550000, 3.100000, 2.650000, 2.500000, 2.450000, 2.480000, 2.500000, 2.450000, 2.350000, 2.400000, 2.300000, 2.300000, 2.250000, 2.150000, 2.100000, 2.100000, 2.050000, 1.900000, 1.700000, 1.700000, 1.700000, 1.750000, 1.900000, 3.250000, 3.400000, 3.450000, 3.500000, 3.550000, 3.650000, 3.750000, 3.800000, 3.900000, 1.850000, 1.850000, 1.850000, 1.800000, 1.650000, 1.650000, 1.700000, 1.600000, 1.650000, 1.550000, 1.650000, 1.700000, 1.600000, 1.650000, 1.500000, 1.600000, 1.450000, 1.600000, 1.550000, 1.600000, 1.650000, 1.350000, 1.350000, 1.350000, 1.300000, 1.350000, 1.400000, 1.350000, 1.350000, 1.300000, 1.300000, 1.130000, 1.250000, 1.250000, 1.200000, 1.180000, 1.180000, 1.200000, 1.250000, 1.300000, 1.250000, 1.300000, 1.200000, 1.250000, 1.450000, 1.450000, 1.500000, 1.500000, 1.550000, 1.550000, 1.600000, 1.650000, 1.600000, 2.750000, 2.650000, 1.750000, 1.750000, 1.650000, 1.650000, 1.600000, 1.550000, 1.450000, 1.450000, 1.430000, 1.400000, 1.400000, 1.450000, 1.450000, 1.500000, 1.500000, 1.500000, 1.500000, 1.550000, 1.600000, 1.600000, 1.600000, 1.650000, 1.650000, 1.550000, 1.550000, 1.550000, 1.580000, 1.630000, 1.630000, 1.630000, 1.680000, 1.700000, 1.750000, 1.800000, 1.850000, 5.750000, 8.400000, 8.250000, 8.200000, 8.150000, 6.450000, 3.860000, 3.300000, 3.150000, 3.100000, 2.950000, 2.950000, 2.950000, 3.050000, 3.000000, 3.100000, 3.100000, 3.150000, 3.200000, 3.600000, 3.550000, 3.500000, 3.450000, 3.400000, 3.600000, 3.600000, 3.750000, 3.750000, 6.950000, 6.950000, 6.900000, 6.900000, 6.900000, 6.450000, 6.550000 ], "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": [ 802, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.438119 ], "estimate": [ -13.568199, 30.411699, 0.438119 ], "true_pose": [ null, null, null ], "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": [ 44.060000, 49.760000, 21.060000, 20.810000, 17.010000, 13.310000, 12.360000, 9.660000, 9.810000, 7.210000, 7.210000, 6.060000, 5.910000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.910000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.860000, 2.610000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.460000, 2.310000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.910000, 1.710000, 1.710000, 1.760000, 1.810000, 2.010000, 3.260000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.860000, 1.910000, 1.860000, 1.810000, 1.710000, 1.760000, 1.710000, 1.610000, 1.660000, 1.560000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.610000, 1.610000, 1.560000, 1.610000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.260000, 1.310000, 1.190000, 1.260000, 1.260000, 1.240000, 1.200000, 1.240000, 1.260000, 1.260000, 1.310000, 1.310000, 1.360000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.710000, 1.610000, 1.760000, 2.660000, 1.810000, 1.710000, 1.660000, 1.660000, 1.610000, 1.510000, 1.510000, 1.460000, 1.440000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.810000, 5.810000, 8.360000, 8.310000, 8.160000, 8.110000, 6.460000, 3.870000, 3.310000, 3.160000, 3.110000, 2.960000, 2.960000, 2.960000, 3.060000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.510000, 3.460000, 3.410000, 3.560000, 3.560000, 3.710000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 803, 49998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568299, 30.411699, 0.439379 ], "estimate": [ -13.568299, 30.411699, 0.439379 ], "true_pose": [ null, null, null ], "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": [ 44.000000, 49.800000, 20.950000, 20.750000, 17.000000, 13.350000, 12.400000, 9.650000, 9.850000, 7.200000, 7.200000, 6.000000, 5.950000, 5.050000, 5.150000, 6.250000, 6.250000, 6.300000, 3.900000, 6.400000, 6.350000, 6.450000, 6.550000, 6.550000, 2.750000, 2.600000, 2.500000, 2.500000, 2.480000, 2.530000, 2.400000, 2.400000, 2.450000, 2.300000, 2.300000, 2.250000, 2.150000, 2.100000, 2.100000, 2.050000, 1.850000, 1.650000, 1.700000, 1.730000, 1.750000, 2.100000, 3.300000, 3.350000, 3.400000, 3.500000, 3.550000, 3.650000, 3.750000, 3.800000, 3.900000, 1.900000, 1.950000, 1.800000, 1.800000, 1.600000, 1.750000, 1.700000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.650000, 1.500000, 1.650000, 1.450000, 1.600000, 1.600000, 1.600000, 1.600000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.350000, 1.400000, 1.350000, 1.250000, 1.300000, 1.180000, 1.250000, 1.250000, 1.230000, 1.180000, 1.190000, 1.230000, 1.250000, 1.350000, 1.300000, 1.350000, 1.200000, 1.250000, 1.450000, 1.450000, 1.500000, 1.550000, 1.600000, 1.500000, 1.650000, 1.700000, 1.600000, 2.750000, 2.650000, 2.650000, 1.650000, 1.700000, 1.650000, 1.550000, 1.500000, 1.500000, 1.450000, 1.430000, 1.400000, 1.450000, 1.450000, 1.450000, 1.500000, 1.500000, 1.500000, 1.500000, 1.550000, 1.600000, 1.600000, 1.650000, 1.650000, 1.700000, 1.550000, 1.600000, 1.550000, 1.550000, 1.580000, 1.630000, 1.680000, 1.730000, 1.730000, 1.750000, 1.800000, 1.800000, 5.750000, 8.350000, 8.300000, 8.200000, 8.100000, 6.450000, 3.860000, 3.300000, 3.150000, 3.050000, 2.950000, 2.950000, 2.950000, 3.050000, 3.050000, 3.100000, 3.100000, 3.150000, 3.200000, 3.600000, 3.500000, 3.450000, 3.450000, 3.450000, 3.550000, 3.600000, 3.750000, 3.800000, 6.900000, 6.900000, 6.900000, 6.900000, 6.900000, 6.450000, 6.500000 ], "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": [ 803, 210000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568299, 30.411699, 0.440851 ], "estimate": [ -13.568299, 30.411699, 0.440851 ], "true_pose": [ null, null, null ], "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": [ 44.000000, 49.750000, 50.000000, 20.700000, 16.950000, 12.450000, 12.400000, 9.650000, 9.900000, 7.200000, 7.200000, 6.050000, 5.950000, 5.100000, 5.150000, 6.250000, 6.300000, 6.300000, 3.950000, 6.350000, 6.400000, 6.450000, 6.500000, 6.550000, 2.700000, 2.600000, 2.500000, 2.500000, 2.500000, 2.450000, 2.400000, 2.400000, 2.450000, 2.400000, 2.300000, 2.200000, 2.200000, 2.100000, 2.100000, 2.100000, 1.900000, 1.700000, 1.650000, 1.680000, 1.750000, 3.250000, 3.300000, 3.350000, 3.450000, 3.500000, 3.600000, 3.650000, 3.750000, 3.800000, 3.900000, 1.850000, 2.000000, 1.850000, 1.850000, 1.650000, 4.550000, 1.700000, 1.600000, 1.650000, 1.700000, 1.650000, 1.650000, 1.650000, 1.600000, 1.500000, 1.550000, 1.500000, 1.650000, 1.600000, 1.600000, 1.550000, 1.350000, 1.400000, 1.350000, 1.300000, 1.350000, 1.400000, 1.350000, 1.350000, 1.250000, 1.300000, 1.180000, 1.250000, 1.250000, 1.230000, 1.210000, 1.160000, 1.250000, 1.250000, 1.300000, 1.300000, 1.400000, 1.250000, 1.250000, 1.450000, 1.450000, 1.500000, 1.550000, 1.550000, 1.550000, 1.650000, 1.750000, 1.650000, 1.700000, 2.700000, 2.700000, 1.700000, 1.700000, 1.650000, 1.550000, 1.550000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.500000, 1.500000, 1.550000, 1.550000, 1.600000, 1.600000, 1.600000, 1.650000, 1.650000, 1.700000, 1.600000, 1.600000, 1.550000, 1.550000, 1.580000, 1.630000, 1.680000, 1.730000, 1.700000, 1.700000, 1.800000, 1.850000, 5.750000, 8.400000, 8.300000, 8.200000, 8.100000, 4.000000, 3.880000, 3.300000, 3.150000, 3.050000, 3.000000, 2.950000, 2.950000, 3.000000, 3.050000, 3.100000, 3.100000, 3.150000, 3.200000, 3.600000, 3.500000, 3.500000, 3.450000, 3.450000, 3.550000, 3.550000, 3.700000, 3.800000, 6.950000, 6.900000, 6.950000, 6.950000, 6.900000, 6.400000, 6.550000 ], "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": [ 803, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568299, 30.411699, 0.442322 ], "estimate": [ -13.568299, 30.411699, 0.442322 ], "true_pose": [ null, null, null ], "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": [ 44.050000, 49.750000, 20.600000, 20.700000, 17.000000, 12.450000, 12.400000, 9.650000, 9.900000, 7.200000, 7.250000, 6.000000, 5.950000, 5.050000, 5.200000, 6.300000, 6.300000, 6.300000, 3.900000, 6.400000, 6.450000, 6.450000, 6.500000, 6.550000, 2.700000, 2.650000, 2.550000, 2.450000, 2.500000, 2.500000, 2.400000, 2.400000, 2.450000, 2.350000, 2.300000, 2.250000, 2.200000, 2.100000, 2.050000, 2.050000, 1.900000, 1.650000, 1.750000, 1.680000, 1.750000, 3.250000, 3.300000, 3.350000, 3.450000, 3.500000, 3.550000, 3.700000, 3.750000, 3.850000, 3.900000, 1.900000, 1.900000, 1.800000, 1.850000, 1.600000, 4.550000, 1.700000, 1.650000, 1.600000, 1.650000, 1.600000, 1.600000, 1.650000, 1.600000, 1.550000, 1.500000, 1.500000, 1.650000, 1.550000, 1.550000, 1.550000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.350000, 1.300000, 1.300000, 1.150000, 1.300000, 1.300000, 1.230000, 1.160000, 1.210000, 1.230000, 1.300000, 1.300000, 1.300000, 1.300000, 1.250000, 1.250000, 1.400000, 1.400000, 1.450000, 1.500000, 1.500000, 1.550000, 1.650000, 1.700000, 1.650000, 1.750000, 2.650000, 2.700000, 1.700000, 1.700000, 1.650000, 1.600000, 1.500000, 1.450000, 1.400000, 1.430000, 1.400000, 1.400000, 1.450000, 1.450000, 1.500000, 1.500000, 1.550000, 1.550000, 1.550000, 1.550000, 1.600000, 1.600000, 1.650000, 1.650000, 1.600000, 1.550000, 1.500000, 1.550000, 1.630000, 1.630000, 1.680000, 1.730000, 1.730000, 1.750000, 1.800000, 1.800000, 5.750000, 8.350000, 8.250000, 8.200000, 8.100000, 3.900000, 3.800000, 3.300000, 3.200000, 3.100000, 3.000000, 2.950000, 2.950000, 3.000000, 3.050000, 3.100000, 3.100000, 3.150000, 3.250000, 3.600000, 3.500000, 3.500000, 3.400000, 3.400000, 3.600000, 3.600000, 3.750000, 3.800000, 6.950000, 6.900000, 6.950000, 6.900000, 6.900000, 6.450000, 6.600000 ], "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": [ 803, 610998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.444845 ], "estimate": [ -13.568399, 30.411598, 0.444845 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 20.360000, 20.660000, 17.010000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.260000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 4.210000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.540000, 2.490000, 2.410000, 2.410000, 2.460000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.860000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.410000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.860000, 1.860000, 1.810000, 1.660000, 1.760000, 1.660000, 1.610000, 1.610000, 1.660000, 1.610000, 1.560000, 1.660000, 1.510000, 1.560000, 1.460000, 1.510000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.410000, 1.360000, 1.360000, 1.360000, 1.260000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.170000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.610000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.590000, 1.590000, 1.640000, 1.640000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.710000, 8.360000, 8.310000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.160000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.510000, 3.610000, 3.760000, 3.760000, 6.960000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000 ], "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": [ 803, 850000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.444845 ], "estimate": [ -13.568399, 30.411598, 0.444845 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.710000, 20.260000, 20.610000, 16.960000, 12.410000, 12.410000, 9.610000, 9.910000, 7.160000, 6.260000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 4.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.510000, 2.490000, 2.360000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.860000, 1.660000, 1.710000, 1.690000, 1.810000, 3.260000, 3.310000, 3.410000, 3.410000, 3.510000, 3.610000, 3.660000, 3.710000, 3.860000, 3.960000, 1.910000, 1.860000, 1.860000, 1.860000, 1.660000, 1.810000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.710000, 1.560000, 1.560000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.410000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.710000, 1.710000, 2.660000, 2.710000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.640000, 1.590000, 1.640000, 1.640000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.960000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.610000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.560000 ], "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": [ 804, 9998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445055 ], "estimate": [ -13.568399, 30.411598, 0.445055 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.710000, 20.260000, 20.560000, 17.010000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.260000, 6.060000, 5.960000, 5.110000, 5.210000, 6.260000, 6.310000, 6.360000, 6.410000, 6.360000, 6.410000, 6.460000, 6.510000, 6.610000, 2.760000, 2.610000, 2.560000, 2.460000, 2.510000, 2.490000, 2.410000, 2.410000, 2.460000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.760000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.860000, 1.860000, 1.760000, 1.660000, 1.760000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.560000, 1.660000, 1.610000, 1.610000, 1.460000, 1.460000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.260000, 1.210000, 1.310000, 1.260000, 1.240000, 1.170000, 1.170000, 1.260000, 1.260000, 1.360000, 1.360000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.560000, 1.610000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.640000, 1.740000, 1.760000, 1.810000, 1.810000, 1.860000, 5.760000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.210000, 3.610000, 3.560000, 3.510000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 6.960000, 6.910000, 6.960000, 6.910000, 6.860000, 6.460000, 6.610000 ], "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": [ 804, 250998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445055 ], "estimate": [ -13.568399, 30.411598, 0.445055 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 20.260000, 20.510000, 16.960000, 12.360000, 12.360000, 9.610000, 9.860000, 7.260000, 6.310000, 6.010000, 5.960000, 5.110000, 5.210000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 2.710000, 2.660000, 2.510000, 2.510000, 2.490000, 2.540000, 2.410000, 2.410000, 2.460000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.810000, 1.710000, 1.710000, 1.740000, 1.810000, 3.210000, 3.360000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.960000, 1.910000, 1.910000, 1.860000, 1.760000, 1.660000, 1.810000, 1.660000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.710000, 1.560000, 1.560000, 1.460000, 1.510000, 1.560000, 1.660000, 1.660000, 1.560000, 1.460000, 1.460000, 1.360000, 1.310000, 1.310000, 1.410000, 1.310000, 1.360000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.170000, 1.260000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.660000, 2.660000, 2.660000, 1.760000, 1.710000, 1.660000, 1.610000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.760000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.910000, 6.910000, 6.910000, 6.960000, 6.910000, 6.410000, 6.560000 ], "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": [ 804, 330000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445055 ], "estimate": [ -13.568399, 30.411598, 0.445055 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 20.210000, 20.410000, 16.960000, 12.360000, 12.360000, 9.660000, 9.910000, 7.210000, 6.310000, 6.010000, 5.910000, 5.110000, 5.210000, 6.260000, 6.310000, 6.360000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.710000, 2.610000, 2.510000, 2.460000, 2.490000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.710000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.910000, 1.910000, 1.860000, 1.860000, 1.710000, 1.710000, 1.760000, 1.660000, 1.610000, 1.660000, 1.610000, 1.660000, 1.560000, 1.710000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.660000, 1.610000, 1.610000, 1.510000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.240000, 1.310000, 1.310000, 1.310000, 1.210000, 1.210000, 1.310000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.460000, 1.410000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.210000, 8.060000, 3.910000, 3.910000, 3.260000, 3.160000, 3.060000, 3.010000, 2.910000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.610000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.860000, 6.460000, 6.560000 ], "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": [ 804, 570000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 20.210000, 20.310000, 16.960000, 12.360000, 12.410000, 9.660000, 9.860000, 7.210000, 6.310000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.460000, 2.540000, 2.410000, 2.410000, 2.460000, 2.310000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.860000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.360000, 3.410000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.860000, 3.910000, 1.910000, 1.810000, 1.810000, 1.760000, 1.710000, 1.810000, 1.660000, 1.610000, 1.710000, 1.660000, 1.660000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.510000, 1.610000, 1.610000, 1.660000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.170000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.410000, 1.510000, 1.560000, 1.560000, 1.560000, 1.710000, 1.710000, 1.660000, 1.760000, 2.660000, 2.660000, 1.760000, 1.660000, 1.610000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.560000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.210000, 8.060000, 3.910000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000, 6.610000 ], "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": [ 804, 650998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 20.310000, 20.260000, 17.010000, 12.410000, 12.360000, 9.660000, 9.860000, 7.160000, 6.260000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.410000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.510000, 2.460000, 2.490000, 2.540000, 2.410000, 2.460000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.160000, 2.110000, 2.060000, 1.810000, 1.660000, 1.660000, 1.690000, 1.810000, 3.260000, 3.310000, 3.360000, 3.410000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.760000, 1.610000, 1.610000, 1.710000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.610000, 1.560000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.310000, 1.260000, 1.240000, 1.200000, 1.220000, 1.210000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.210000, 1.460000, 1.410000, 1.510000, 1.560000, 1.560000, 1.510000, 1.660000, 1.710000, 1.710000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.790000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.960000, 3.310000, 3.160000, 3.110000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.810000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.860000, 6.460000, 6.560000 ], "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": [ 804, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 20.360000, 20.560000, 16.960000, 12.360000, 12.360000, 9.660000, 9.860000, 7.210000, 6.260000, 6.010000, 5.960000, 5.060000, 5.160000, 6.260000, 6.260000, 6.360000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.490000, 2.540000, 2.410000, 2.410000, 2.460000, 2.410000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.110000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 2.010000, 1.860000, 1.860000, 1.810000, 1.710000, 1.810000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.510000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.210000, 1.310000, 1.260000, 1.240000, 1.170000, 1.220000, 1.260000, 1.310000, 1.260000, 1.310000, 1.310000, 1.260000, 1.260000, 1.410000, 1.410000, 1.460000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.660000, 2.710000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.710000, 8.360000, 8.210000, 8.160000, 8.110000, 3.860000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.910000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.860000, 6.460000, 6.610000 ], "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": [ 805, 9998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.410000, 20.160000, 16.960000, 12.360000, 12.410000, 9.610000, 9.860000, 7.210000, 6.310000, 6.010000, 5.910000, 5.060000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.410000, 6.510000, 6.510000, 6.560000, 2.710000, 2.610000, 2.560000, 2.510000, 2.460000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.810000, 1.660000, 1.760000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.560000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.910000, 1.860000, 1.810000, 1.660000, 1.760000, 1.660000, 1.660000, 1.710000, 1.610000, 1.610000, 1.560000, 1.710000, 1.560000, 1.610000, 1.510000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.460000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.610000, 1.660000, 1.710000, 1.660000, 1.710000, 2.710000, 2.660000, 1.760000, 1.710000, 1.660000, 1.610000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.860000, 1.860000, 5.790000, 8.360000, 8.260000, 8.160000, 8.060000, 3.860000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.910000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.810000, 6.460000, 6.560000 ], "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": [ 805, 250000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 28.460000, 20.010000, 16.960000, 12.360000, 12.410000, 9.660000, 9.860000, 7.160000, 6.260000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.710000, 2.610000, 2.510000, 2.460000, 2.490000, 2.510000, 2.410000, 2.460000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.860000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.760000, 1.660000, 1.610000, 1.710000, 1.660000, 1.660000, 1.560000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.610000, 1.660000, 1.610000, 1.660000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.310000, 1.360000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.170000, 1.210000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.710000, 2.660000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.510000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.760000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.060000, 3.860000, 3.960000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.610000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.860000, 6.460000, 6.610000 ], "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": [ 805, 370000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.810000, 28.410000, 21.010000, 16.960000, 12.360000, 12.410000, 9.610000, 9.910000, 7.210000, 6.260000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.260000, 6.360000, 6.360000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.540000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.160000, 2.110000, 2.060000, 1.810000, 1.660000, 1.660000, 1.740000, 1.810000, 3.210000, 3.310000, 3.360000, 3.410000, 3.560000, 3.610000, 3.710000, 3.760000, 3.860000, 3.910000, 1.960000, 1.860000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.260000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.240000, 1.200000, 1.170000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.410000, 1.410000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.560000, 1.660000, 1.660000, 1.710000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.710000, 8.410000, 8.260000, 8.160000, 8.060000, 3.860000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.010000, 3.110000, 3.160000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.760000, 6.960000, 6.910000, 6.960000, 6.910000, 6.860000, 6.460000, 6.610000 ], "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": [ 805, 570000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.410000, 21.010000, 16.960000, 12.360000, 12.460000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.260000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.610000, 2.760000, 2.610000, 2.510000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.810000, 1.660000, 1.710000, 1.690000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 1.960000, 1.810000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.660000, 1.510000, 1.560000, 1.510000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.160000, 1.310000, 1.260000, 1.240000, 1.170000, 1.220000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.710000, 1.660000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.110000, 3.960000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.760000, 6.460000, 6.560000 ], "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": [ 805, 730000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.410000, 21.010000, 16.960000, 12.410000, 12.410000, 9.660000, 9.910000, 7.210000, 6.260000, 6.060000, 5.960000, 5.060000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.410000, 6.510000, 6.510000, 6.560000, 2.760000, 2.560000, 2.510000, 2.460000, 2.490000, 2.490000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.760000, 3.260000, 3.310000, 3.360000, 3.410000, 3.510000, 3.610000, 3.710000, 3.760000, 3.810000, 3.910000, 1.910000, 1.860000, 1.860000, 1.860000, 1.660000, 1.810000, 1.660000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.220000, 1.210000, 1.260000, 1.310000, 1.310000, 1.260000, 1.210000, 1.210000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.760000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.790000, 8.360000, 8.260000, 8.210000, 8.110000, 3.960000, 3.960000, 3.260000, 3.160000, 3.060000, 3.010000, 2.910000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.810000, 6.410000, 6.560000 ], "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": [ 805, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445265 ], "estimate": [ -13.568399, 30.411598, 0.445265 ], "true_pose": [ null, null, null ], "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": [ 49.860000, 49.760000, 28.410000, 21.010000, 16.960000, 12.360000, 12.410000, 9.660000, 9.910000, 7.160000, 6.260000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.260000, 6.310000, 6.360000, 6.360000, 6.460000, 6.460000, 6.510000, 6.610000, 2.760000, 2.610000, 2.560000, 2.510000, 2.460000, 2.490000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.860000, 1.660000, 1.710000, 1.740000, 1.810000, 3.210000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.860000, 1.860000, 1.860000, 1.660000, 1.760000, 1.660000, 1.610000, 1.710000, 1.660000, 1.660000, 1.560000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.610000, 1.610000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.220000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.610000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.610000, 1.560000, 1.560000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.690000, 1.690000, 1.740000, 1.740000, 1.710000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.960000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.610000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.760000, 6.460000, 6.560000 ], "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": [ 806, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.410000, 21.060000, 16.960000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.260000, 6.060000, 5.960000, 5.060000, 5.160000, 6.310000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.510000, 6.510000, 6.560000, 2.710000, 2.610000, 2.560000, 2.510000, 2.510000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.110000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.360000, 2.110000, 3.460000, 3.510000, 3.560000, 3.710000, 3.760000, 3.810000, 3.910000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.860000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.710000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.410000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.210000, 1.240000, 1.200000, 1.170000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.410000, 1.460000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 2.660000, 2.710000, 1.810000, 1.710000, 1.610000, 1.560000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.110000, 8.060000, 3.960000, 3.910000, 3.310000, 3.210000, 3.010000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.510000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.810000, 6.460000, 6.560000 ], "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": [ 806, 289998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 28.410000, 21.010000, 16.960000, 12.360000, 12.410000, 9.610000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 2.710000, 2.610000, 2.510000, 2.510000, 2.540000, 2.490000, 2.410000, 2.360000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.760000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.710000, 3.810000, 3.910000, 1.960000, 1.860000, 1.860000, 1.810000, 1.710000, 1.810000, 1.610000, 1.610000, 1.710000, 1.660000, 1.660000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.610000, 1.660000, 1.660000, 1.410000, 1.460000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.210000, 1.260000, 1.260000, 1.240000, 1.170000, 1.220000, 1.210000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.210000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.710000, 1.660000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.910000, 5.790000, 8.360000, 8.310000, 8.210000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 3.010000, 3.060000, 3.010000, 3.110000, 3.160000, 3.160000, 3.210000, 3.560000, 3.510000, 3.410000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.710000, 6.460000, 6.610000 ], "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": [ 806, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.410000, 21.010000, 17.010000, 12.410000, 12.410000, 9.660000, 9.910000, 7.210000, 6.260000, 6.060000, 5.960000, 5.060000, 5.210000, 6.310000, 6.260000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 2.760000, 2.610000, 2.510000, 2.460000, 2.490000, 2.490000, 2.410000, 2.410000, 2.460000, 2.360000, 2.260000, 2.210000, 2.210000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.760000, 1.690000, 1.810000, 3.210000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.810000, 1.910000, 1.760000, 1.610000, 1.860000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.560000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.210000, 1.200000, 1.220000, 1.240000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.410000, 1.460000, 1.560000, 1.510000, 1.610000, 1.610000, 1.710000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.510000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.640000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.740000, 8.360000, 8.260000, 8.210000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.560000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.960000, 6.910000, 6.710000, 6.410000, 6.610000 ], "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": [ 806, 610998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 28.410000, 21.010000, 16.960000, 12.360000, 12.410000, 9.660000, 9.910000, 7.160000, 6.310000, 6.060000, 5.960000, 5.060000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 2.760000, 2.560000, 2.560000, 2.510000, 2.510000, 2.490000, 2.360000, 2.410000, 2.410000, 2.410000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.810000, 1.660000, 1.660000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 1.910000, 1.860000, 1.860000, 1.760000, 1.660000, 1.860000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.710000, 1.610000, 1.560000, 1.460000, 1.510000, 1.610000, 1.610000, 1.660000, 1.660000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.170000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.760000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.210000, 8.060000, 3.910000, 3.960000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.460000, 3.610000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.760000, 6.460000, 6.610000 ], "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": [ 806, 759998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.810000, 28.410000, 21.010000, 16.960000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.410000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 2.760000, 2.610000, 2.510000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.710000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 4.010000, 1.860000, 1.910000, 1.860000, 1.710000, 1.810000, 1.660000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.660000, 1.560000, 1.560000, 1.460000, 1.510000, 1.610000, 1.610000, 1.610000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.310000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.210000, 1.220000, 1.170000, 1.260000, 1.310000, 1.360000, 1.310000, 1.210000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.740000, 8.410000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.210000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.960000, 6.760000, 6.410000, 6.610000 ], "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": [ 806, 919998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 28.410000, 21.010000, 17.010000, 12.360000, 12.410000, 9.660000, 9.860000, 7.160000, 6.310000, 6.010000, 5.960000, 5.110000, 5.210000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.510000, 2.460000, 2.510000, 2.510000, 2.410000, 2.460000, 2.460000, 2.360000, 2.260000, 2.260000, 2.210000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.760000, 1.690000, 1.810000, 3.260000, 3.310000, 2.160000, 3.410000, 3.560000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.910000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.610000, 1.660000, 1.610000, 1.660000, 1.560000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.460000, 1.460000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.210000, 1.170000, 1.170000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.660000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.810000, 1.860000, 5.760000, 8.310000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.910000, 6.960000, 6.960000, 6.910000, 6.760000, 6.460000, 6.560000 ], "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": [ 807, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.810000, 28.410000, 21.060000, 17.010000, 12.410000, 12.410000, 9.660000, 9.910000, 7.160000, 6.260000, 6.010000, 5.910000, 5.060000, 5.160000, 6.260000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 2.760000, 2.610000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.760000, 1.740000, 1.760000, 3.260000, 3.360000, 3.360000, 3.460000, 3.560000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 1.960000, 1.860000, 1.810000, 1.760000, 1.610000, 1.810000, 1.610000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.660000, 1.560000, 1.560000, 1.410000, 1.510000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.260000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.170000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.210000, 1.260000, 1.460000, 1.410000, 1.510000, 1.510000, 1.560000, 1.510000, 1.610000, 1.660000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.310000, 8.160000, 8.110000, 3.960000, 3.910000, 3.260000, 3.160000, 3.110000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.260000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.960000, 6.910000, 6.760000, 6.460000, 6.610000 ], "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": [ 807, 320000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.410000, 21.010000, 16.960000, 12.410000, 12.460000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.410000, 6.510000, 6.510000, 6.610000, 2.710000, 2.610000, 2.560000, 2.510000, 2.490000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.060000, 2.110000, 1.810000, 1.610000, 1.710000, 1.690000, 1.810000, 3.260000, 3.310000, 3.410000, 3.410000, 3.510000, 3.560000, 3.710000, 3.710000, 3.860000, 3.910000, 1.860000, 1.810000, 1.810000, 1.810000, 1.660000, 1.860000, 1.660000, 1.610000, 1.710000, 1.610000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.610000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.220000, 1.260000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.960000, 3.260000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.510000, 3.510000, 3.460000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.710000, 6.460000, 6.610000 ], "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": [ 807, 529998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.770000, 49.770000, 28.370000, 21.020000, 16.970000, 12.420000, 12.420000, 9.620000, 9.870000, 7.170000, 6.320000, 6.020000, 5.920000, 5.070000, 5.170000, 6.320000, 6.320000, 6.320000, 6.370000, 6.420000, 6.470000, 6.470000, 6.520000, 6.570000, 2.770000, 2.620000, 2.570000, 2.470000, 2.520000, 2.520000, 2.420000, 2.420000, 2.470000, 2.420000, 2.320000, 2.220000, 2.170000, 2.170000, 2.070000, 2.070000, 1.820000, 1.670000, 1.670000, 1.750000, 1.870000, 3.270000, 3.320000, 3.420000, 3.470000, 3.570000, 3.570000, 3.720000, 3.770000, 3.870000, 3.920000, 1.970000, 1.870000, 1.870000, 1.820000, 1.620000, 1.870000, 1.670000, 1.670000, 1.670000, 1.670000, 1.620000, 1.570000, 1.670000, 1.570000, 1.570000, 1.470000, 1.520000, 1.620000, 1.620000, 1.620000, 1.670000, 1.470000, 1.470000, 1.370000, 1.320000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.270000, 1.220000, 1.270000, 1.270000, 1.250000, 1.180000, 1.230000, 1.270000, 1.320000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.470000, 1.470000, 1.470000, 1.570000, 1.570000, 1.570000, 1.670000, 1.720000, 1.720000, 1.720000, 2.670000, 2.720000, 1.770000, 1.670000, 1.670000, 1.570000, 1.520000, 1.520000, 1.420000, 1.470000, 1.420000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.570000, 1.570000, 1.570000, 1.600000, 1.600000, 1.650000, 1.700000, 1.750000, 1.770000, 1.770000, 1.820000, 1.920000, 5.750000, 8.370000, 8.270000, 8.170000, 8.070000, 3.920000, 3.970000, 3.320000, 3.170000, 3.070000, 2.970000, 2.920000, 2.970000, 3.070000, 3.020000, 3.120000, 3.120000, 3.220000, 3.220000, 3.570000, 3.570000, 3.470000, 3.420000, 3.520000, 3.570000, 3.620000, 3.770000, 3.820000, 6.970000, 6.920000, 6.970000, 6.920000, 6.670000, 6.470000, 6.570000 ], "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": [ 807, 730000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.820000, 49.770000, 28.370000, 21.070000, 16.970000, 12.370000, 12.420000, 9.670000, 9.870000, 7.220000, 6.320000, 6.070000, 5.970000, 5.120000, 5.170000, 6.270000, 6.320000, 6.320000, 6.370000, 6.370000, 6.420000, 6.520000, 6.520000, 6.620000, 2.770000, 2.620000, 2.570000, 2.520000, 2.520000, 2.550000, 2.420000, 2.470000, 2.420000, 2.370000, 2.320000, 2.220000, 2.120000, 2.120000, 2.120000, 2.070000, 1.820000, 1.670000, 1.720000, 1.750000, 1.770000, 3.270000, 3.320000, 3.370000, 3.470000, 3.520000, 3.570000, 3.670000, 3.770000, 3.870000, 3.970000, 1.920000, 1.820000, 1.870000, 1.770000, 1.620000, 1.820000, 1.670000, 1.670000, 1.670000, 1.670000, 1.670000, 1.570000, 1.670000, 1.570000, 1.620000, 1.520000, 1.470000, 1.620000, 1.620000, 1.670000, 1.620000, 1.520000, 1.420000, 1.370000, 1.370000, 1.420000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.220000, 1.270000, 1.270000, 1.300000, 1.210000, 1.180000, 1.220000, 1.270000, 1.320000, 1.370000, 1.270000, 1.270000, 1.270000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.570000, 1.670000, 1.720000, 1.620000, 1.670000, 2.670000, 2.720000, 1.820000, 1.670000, 1.620000, 1.570000, 1.570000, 1.520000, 1.420000, 1.470000, 1.470000, 1.420000, 1.470000, 1.470000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.570000, 1.620000, 1.670000, 1.720000, 1.670000, 1.570000, 1.620000, 1.570000, 1.600000, 1.600000, 1.650000, 1.700000, 1.750000, 1.720000, 1.770000, 1.820000, 1.870000, 5.750000, 8.420000, 8.270000, 8.170000, 8.070000, 3.920000, 3.920000, 3.320000, 3.170000, 3.070000, 2.970000, 2.970000, 3.020000, 3.020000, 3.020000, 3.070000, 3.170000, 3.220000, 3.270000, 3.620000, 3.520000, 3.470000, 3.470000, 3.520000, 3.570000, 3.620000, 3.770000, 3.820000, 6.970000, 6.970000, 6.920000, 6.870000, 6.670000, 6.470000, 6.620000 ], "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": [ 807, 850000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.770000, 49.770000, 28.370000, 21.020000, 16.970000, 12.420000, 12.420000, 9.670000, 9.870000, 7.220000, 6.320000, 6.020000, 5.920000, 5.120000, 5.220000, 6.270000, 6.320000, 6.320000, 6.370000, 6.370000, 6.420000, 6.470000, 6.520000, 6.620000, 2.770000, 2.620000, 2.520000, 2.470000, 2.470000, 2.500000, 2.420000, 2.420000, 2.420000, 2.370000, 2.270000, 2.220000, 2.220000, 2.170000, 2.120000, 2.070000, 1.820000, 1.670000, 1.720000, 1.700000, 1.820000, 3.270000, 3.320000, 3.370000, 3.470000, 3.520000, 3.620000, 3.670000, 3.770000, 3.870000, 3.920000, 1.920000, 1.870000, 1.870000, 1.770000, 1.720000, 1.820000, 1.670000, 1.670000, 1.720000, 1.670000, 1.620000, 1.620000, 1.670000, 1.520000, 1.570000, 1.470000, 1.470000, 1.620000, 1.670000, 1.620000, 1.620000, 1.470000, 1.470000, 1.370000, 1.370000, 1.370000, 1.420000, 1.370000, 1.320000, 1.320000, 1.320000, 1.170000, 1.270000, 1.270000, 1.220000, 1.180000, 1.230000, 1.270000, 1.270000, 1.320000, 1.320000, 1.270000, 1.220000, 1.270000, 1.470000, 1.470000, 1.470000, 1.570000, 1.570000, 1.570000, 1.670000, 1.720000, 1.670000, 1.720000, 2.720000, 2.720000, 1.820000, 1.720000, 1.620000, 1.570000, 1.570000, 1.520000, 1.420000, 1.420000, 1.470000, 1.470000, 1.470000, 1.520000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.570000, 1.620000, 1.620000, 1.720000, 1.670000, 1.620000, 1.570000, 1.570000, 1.600000, 1.650000, 1.650000, 1.650000, 1.750000, 1.720000, 1.770000, 1.820000, 1.870000, 5.720000, 8.370000, 8.270000, 8.220000, 8.070000, 3.970000, 3.970000, 3.320000, 3.170000, 3.020000, 3.020000, 2.970000, 3.020000, 3.020000, 3.020000, 3.120000, 3.120000, 3.170000, 3.270000, 3.620000, 3.520000, 3.470000, 3.420000, 3.520000, 3.570000, 3.670000, 3.770000, 3.820000, 6.970000, 6.920000, 6.920000, 6.920000, 6.670000, 6.470000, 6.570000 ], "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": [ 808, 90000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.770000, 49.770000, 28.420000, 21.020000, 17.020000, 12.370000, 12.420000, 9.620000, 9.870000, 7.220000, 6.270000, 6.070000, 5.920000, 5.120000, 5.170000, 6.270000, 6.320000, 6.320000, 6.370000, 6.420000, 6.420000, 6.520000, 6.520000, 6.570000, 2.720000, 2.570000, 2.520000, 2.520000, 2.500000, 2.550000, 2.420000, 2.420000, 2.470000, 2.370000, 2.320000, 2.270000, 2.170000, 2.120000, 2.120000, 2.070000, 1.820000, 1.670000, 1.720000, 1.750000, 1.820000, 3.270000, 3.320000, 2.220000, 3.470000, 3.520000, 3.570000, 3.720000, 3.770000, 3.820000, 3.970000, 1.970000, 1.870000, 1.820000, 1.820000, 1.670000, 1.820000, 1.670000, 1.620000, 1.720000, 1.670000, 1.670000, 1.620000, 1.720000, 1.570000, 1.570000, 1.520000, 1.470000, 1.620000, 1.620000, 1.620000, 1.570000, 1.520000, 1.470000, 1.370000, 1.320000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.120000, 1.270000, 1.270000, 1.250000, 1.210000, 1.180000, 1.250000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.470000, 1.470000, 1.470000, 1.570000, 1.520000, 1.620000, 1.720000, 1.670000, 1.670000, 1.720000, 2.670000, 2.720000, 1.770000, 1.720000, 1.620000, 1.570000, 1.520000, 1.470000, 1.470000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.620000, 1.670000, 1.670000, 1.620000, 1.570000, 1.520000, 1.600000, 1.600000, 1.700000, 1.650000, 1.750000, 1.720000, 1.770000, 1.820000, 1.870000, 5.750000, 8.370000, 8.270000, 8.220000, 8.120000, 3.970000, 3.920000, 3.320000, 3.220000, 3.020000, 3.020000, 2.970000, 3.020000, 3.020000, 3.020000, 3.120000, 3.120000, 3.220000, 3.270000, 3.620000, 3.520000, 3.470000, 3.420000, 3.520000, 3.570000, 3.620000, 3.770000, 3.820000, 6.920000, 6.920000, 6.970000, 6.920000, 6.670000, 6.470000, 6.620000 ], "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": [ 808, 210000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.770000, 49.720000, 28.370000, 21.020000, 16.970000, 12.420000, 12.420000, 9.620000, 9.920000, 7.220000, 6.320000, 6.070000, 5.970000, 5.120000, 5.120000, 6.270000, 6.320000, 6.370000, 6.370000, 6.420000, 6.420000, 6.470000, 6.520000, 6.570000, 2.720000, 2.570000, 2.570000, 2.520000, 2.470000, 2.500000, 2.420000, 2.420000, 2.420000, 2.420000, 2.270000, 2.220000, 2.170000, 2.170000, 2.120000, 2.020000, 1.770000, 1.670000, 1.670000, 1.750000, 1.820000, 3.270000, 3.320000, 3.370000, 3.470000, 3.570000, 3.620000, 3.670000, 3.770000, 3.870000, 3.920000, 1.970000, 1.820000, 1.870000, 1.820000, 1.670000, 1.820000, 1.670000, 1.620000, 1.720000, 1.670000, 1.670000, 1.620000, 1.670000, 1.520000, 1.570000, 1.470000, 1.470000, 1.620000, 1.620000, 1.670000, 1.620000, 1.470000, 1.420000, 1.420000, 1.320000, 1.370000, 1.370000, 1.370000, 1.320000, 1.270000, 1.320000, 1.170000, 1.270000, 1.270000, 1.250000, 1.230000, 1.180000, 1.270000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.420000, 1.420000, 1.470000, 1.520000, 1.570000, 1.570000, 1.670000, 1.670000, 1.720000, 1.720000, 2.670000, 2.670000, 1.820000, 1.670000, 1.620000, 1.570000, 1.520000, 1.470000, 1.470000, 1.420000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.620000, 1.570000, 1.620000, 1.620000, 1.720000, 1.670000, 1.620000, 1.620000, 1.570000, 1.600000, 1.650000, 1.650000, 1.700000, 1.750000, 1.770000, 1.770000, 1.820000, 1.870000, 5.750000, 8.370000, 8.270000, 8.170000, 8.020000, 3.970000, 3.920000, 3.320000, 3.170000, 3.070000, 2.970000, 2.970000, 3.020000, 3.070000, 3.070000, 3.120000, 3.120000, 3.170000, 3.270000, 3.620000, 3.570000, 3.470000, 3.470000, 3.470000, 3.620000, 3.620000, 3.770000, 3.820000, 6.970000, 6.970000, 6.970000, 6.920000, 6.670000, 6.470000, 6.620000 ], "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": [ 808, 451000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.770000, 49.770000, 28.420000, 21.070000, 17.020000, 12.420000, 12.420000, 9.620000, 9.870000, 7.220000, 6.270000, 6.020000, 5.920000, 5.120000, 5.120000, 6.270000, 6.320000, 6.320000, 6.420000, 6.420000, 6.420000, 6.470000, 6.570000, 6.570000, 2.720000, 2.620000, 2.520000, 2.470000, 2.470000, 2.550000, 2.420000, 2.420000, 2.420000, 2.370000, 2.320000, 2.220000, 2.170000, 2.120000, 2.120000, 2.070000, 1.820000, 1.670000, 1.770000, 1.750000, 1.820000, 3.270000, 3.320000, 2.170000, 3.470000, 3.520000, 3.620000, 3.670000, 3.770000, 3.870000, 3.920000, 1.920000, 1.870000, 1.870000, 1.770000, 1.620000, 1.820000, 1.620000, 1.620000, 1.670000, 1.670000, 1.670000, 1.620000, 1.670000, 1.520000, 1.570000, 1.470000, 1.520000, 1.620000, 1.670000, 1.620000, 1.670000, 1.520000, 1.470000, 1.370000, 1.270000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.220000, 1.270000, 1.270000, 1.250000, 1.230000, 1.220000, 1.300000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.270000, 1.470000, 1.420000, 1.470000, 1.570000, 1.570000, 1.570000, 1.670000, 1.670000, 1.670000, 1.820000, 2.670000, 2.670000, 1.820000, 1.670000, 1.620000, 1.570000, 1.520000, 1.520000, 1.420000, 1.420000, 1.420000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.670000, 1.670000, 1.720000, 1.570000, 1.620000, 1.570000, 1.600000, 1.600000, 1.650000, 1.700000, 1.750000, 1.770000, 1.770000, 1.820000, 1.920000, 5.750000, 8.370000, 8.270000, 8.170000, 8.120000, 3.920000, 3.920000, 3.320000, 3.220000, 3.070000, 2.970000, 2.920000, 3.020000, 3.070000, 3.020000, 3.070000, 3.120000, 3.220000, 3.220000, 3.620000, 3.570000, 3.520000, 3.420000, 3.470000, 3.570000, 3.620000, 3.770000, 3.820000, 6.920000, 6.920000, 6.920000, 6.920000, 6.720000, 6.420000, 6.570000 ], "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": [ 808, 639998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.820000, 49.770000, 28.420000, 21.070000, 16.970000, 12.370000, 12.470000, 9.670000, 9.920000, 7.220000, 6.320000, 6.020000, 5.920000, 5.120000, 5.170000, 6.320000, 6.320000, 6.320000, 6.370000, 6.420000, 6.420000, 6.520000, 6.520000, 6.570000, 2.720000, 2.620000, 2.570000, 2.520000, 2.520000, 2.520000, 2.420000, 2.420000, 2.420000, 2.370000, 2.270000, 2.270000, 2.170000, 2.120000, 2.070000, 2.020000, 1.820000, 1.720000, 1.720000, 1.750000, 1.820000, 3.270000, 3.320000, 3.370000, 3.470000, 3.520000, 3.620000, 3.670000, 3.770000, 3.820000, 3.970000, 1.920000, 1.870000, 1.920000, 1.820000, 1.670000, 4.570000, 1.620000, 1.670000, 1.670000, 1.670000, 1.670000, 1.570000, 1.720000, 1.570000, 1.570000, 1.470000, 1.520000, 1.620000, 1.570000, 1.670000, 1.570000, 1.470000, 1.420000, 1.370000, 1.320000, 1.370000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.170000, 1.270000, 1.270000, 1.250000, 1.180000, 1.230000, 1.220000, 1.270000, 1.320000, 1.320000, 1.270000, 1.220000, 1.270000, 1.470000, 1.470000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.720000, 1.670000, 1.720000, 2.670000, 2.720000, 1.770000, 1.720000, 1.670000, 1.570000, 1.520000, 1.520000, 1.470000, 1.420000, 1.470000, 1.470000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.620000, 1.570000, 1.620000, 1.670000, 1.720000, 1.670000, 1.570000, 1.570000, 1.570000, 1.600000, 1.650000, 1.650000, 1.700000, 1.750000, 1.720000, 1.770000, 1.820000, 1.870000, 5.800000, 8.370000, 8.270000, 8.170000, 8.070000, 3.920000, 3.970000, 3.270000, 3.170000, 3.120000, 3.020000, 2.970000, 2.970000, 3.070000, 3.020000, 3.170000, 3.120000, 3.220000, 3.270000, 3.620000, 3.520000, 3.470000, 3.420000, 3.470000, 3.570000, 3.620000, 3.770000, 3.820000, 6.970000, 6.920000, 6.920000, 6.920000, 6.770000, 6.470000, 6.570000 ], "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": [ 808, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 16.960000, 12.410000, 12.410000, 9.610000, 9.860000, 7.210000, 6.310000, 6.060000, 5.960000, 5.110000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.460000, 6.560000, 6.560000, 2.710000, 2.610000, 2.510000, 2.460000, 2.510000, 2.490000, 2.410000, 2.410000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.160000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 1.960000, 1.810000, 1.860000, 1.760000, 1.660000, 1.810000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.660000, 1.610000, 1.610000, 1.560000, 1.460000, 1.410000, 1.410000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.460000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.660000, 1.710000, 1.710000, 1.760000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.660000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.060000, 3.960000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.160000, 3.210000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.960000, 6.710000, 6.460000, 6.610000 ], "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": [ 808, 960000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.410000, 21.010000, 16.960000, 12.360000, 12.410000, 9.660000, 9.910000, 7.160000, 6.310000, 6.060000, 5.960000, 5.060000, 5.160000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.410000, 6.460000, 6.510000, 6.510000, 2.710000, 2.610000, 2.510000, 2.460000, 2.490000, 2.540000, 2.410000, 2.410000, 2.410000, 2.410000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.710000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.610000, 3.760000, 3.860000, 3.960000, 1.910000, 1.860000, 1.910000, 1.860000, 1.610000, 1.810000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.660000, 1.610000, 1.660000, 1.560000, 1.460000, 1.460000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.170000, 1.260000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.710000, 1.710000, 2.660000, 2.660000, 1.710000, 1.660000, 1.660000, 1.610000, 1.510000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.740000, 1.740000, 1.710000, 1.810000, 1.810000, 1.860000, 5.740000, 8.360000, 8.310000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.210000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.260000, 3.560000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.960000, 6.710000, 6.460000, 6.560000 ], "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": [ 809, 200000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 16.960000, 12.410000, 12.410000, 9.610000, 9.860000, 7.260000, 6.310000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 6.560000, 2.760000, 2.560000, 2.560000, 2.460000, 2.490000, 2.490000, 2.410000, 2.410000, 2.410000, 2.410000, 2.260000, 2.260000, 2.160000, 2.110000, 2.060000, 2.110000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.860000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.510000, 1.610000, 1.510000, 1.460000, 1.610000, 1.610000, 1.610000, 1.610000, 1.460000, 1.460000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.210000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.760000, 2.660000, 2.710000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.960000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.160000, 3.260000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.860000, 7.010000, 6.960000, 6.910000, 6.910000, 6.710000, 6.410000, 6.610000 ], "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": [ 809, 360998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 16.960000, 12.360000, 12.410000, 9.660000, 9.910000, 7.160000, 6.310000, 6.010000, 5.960000, 5.110000, 5.210000, 6.310000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.560000, 6.560000, 2.710000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.410000, 2.410000, 2.410000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.760000, 1.760000, 3.260000, 3.310000, 3.360000, 3.460000, 3.560000, 3.610000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.760000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.660000, 1.610000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.210000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.510000, 1.560000, 1.660000, 1.710000, 1.660000, 1.660000, 2.710000, 2.660000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.610000, 1.560000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.590000, 1.640000, 1.640000, 1.640000, 1.740000, 1.760000, 1.810000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.210000, 8.060000, 3.910000, 3.960000, 3.310000, 3.160000, 3.110000, 2.960000, 2.910000, 3.010000, 3.060000, 3.010000, 3.110000, 3.160000, 3.210000, 3.210000, 3.610000, 3.560000, 3.510000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.860000, 6.910000, 6.910000, 6.910000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 809, 600000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.360000, 21.010000, 16.960000, 12.410000, 12.460000, 9.610000, 9.910000, 7.210000, 6.310000, 6.010000, 5.910000, 5.110000, 5.110000, 6.260000, 6.260000, 6.310000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 2.710000, 2.610000, 2.560000, 2.460000, 2.510000, 2.490000, 2.360000, 2.410000, 2.460000, 2.360000, 2.260000, 2.260000, 2.210000, 2.110000, 2.110000, 2.060000, 1.810000, 1.710000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 1.860000, 1.860000, 1.810000, 1.810000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.310000, 1.360000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.410000, 1.410000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.640000, 1.740000, 1.740000, 1.760000, 1.760000, 1.860000, 5.740000, 8.360000, 8.260000, 8.210000, 8.060000, 3.910000, 3.910000, 3.260000, 3.160000, 3.060000, 3.010000, 2.910000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 6.960000, 6.910000, 6.960000, 6.910000, 6.710000, 6.460000, 6.610000 ], "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": [ 809, 759998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 16.960000, 12.360000, 12.410000, 9.610000, 9.860000, 7.160000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.410000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 2.710000, 2.560000, 2.560000, 2.510000, 2.510000, 2.490000, 2.360000, 2.410000, 2.410000, 2.410000, 2.260000, 2.260000, 2.210000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.660000, 1.690000, 1.810000, 3.260000, 3.310000, 3.410000, 3.410000, 3.560000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 1.910000, 1.810000, 1.910000, 1.810000, 1.660000, 1.810000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.560000, 1.660000, 1.510000, 1.560000, 1.460000, 1.460000, 1.610000, 1.610000, 1.610000, 1.610000, 1.460000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.310000, 1.160000, 1.260000, 1.210000, 1.240000, 1.220000, 1.170000, 1.290000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.810000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.060000, 3.960000, 3.910000, 3.310000, 3.160000, 3.010000, 2.960000, 2.910000, 3.010000, 3.060000, 3.010000, 3.060000, 3.160000, 3.210000, 3.210000, 3.610000, 3.510000, 3.510000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.910000, 6.910000, 6.910000, 6.910000, 6.610000, 6.460000, 6.610000 ], "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": [ 810, 0 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445475 ], "estimate": [ -13.568399, 30.411598, 0.445475 ], "true_pose": [ null, null, null ], "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": [ 49.860000, 49.760000, 28.360000, 21.010000, 17.010000, 12.410000, 12.410000, 9.610000, 9.860000, 7.210000, 6.260000, 6.010000, 5.960000, 5.060000, 5.160000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.460000, 6.460000, 6.510000, 6.560000, 2.710000, 2.560000, 2.560000, 2.510000, 2.510000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.160000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.690000, 1.860000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 1.910000, 1.810000, 1.860000, 1.810000, 1.660000, 1.810000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.660000, 1.560000, 1.610000, 1.510000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.460000, 1.460000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.360000, 1.260000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.170000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.710000, 1.710000, 1.760000, 2.710000, 2.710000, 1.810000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.760000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.010000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.710000, 6.460000, 6.560000 ], "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": [ 810, 240000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.410000, 21.010000, 16.960000, 12.360000, 12.410000, 9.610000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.060000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.410000, 6.460000, 6.560000, 6.560000, 2.710000, 2.660000, 2.560000, 2.460000, 2.490000, 2.490000, 2.360000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.160000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.760000, 3.260000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.710000, 3.760000, 3.810000, 3.960000, 1.960000, 1.810000, 1.860000, 1.810000, 1.660000, 1.810000, 1.610000, 1.610000, 1.710000, 1.660000, 1.710000, 1.560000, 1.660000, 1.510000, 1.560000, 1.460000, 1.410000, 1.610000, 1.610000, 1.610000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.170000, 1.210000, 1.260000, 1.310000, 1.310000, 1.260000, 1.210000, 1.210000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.610000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 1.810000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.560000, 1.660000, 1.660000, 1.710000, 1.560000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.710000, 8.410000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.910000, 3.010000, 3.010000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.710000, 6.460000, 6.610000 ], "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": [ 810, 399998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.060000, 17.010000, 12.410000, 12.410000, 9.660000, 9.910000, 7.210000, 6.260000, 6.010000, 5.910000, 5.110000, 5.160000, 6.310000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.560000, 6.610000, 2.710000, 2.560000, 2.510000, 2.460000, 2.490000, 2.490000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.210000, 2.210000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 2.160000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.960000, 1.910000, 1.860000, 1.910000, 1.760000, 1.660000, 1.810000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.510000, 1.660000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.260000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.610000, 1.710000, 1.710000, 1.810000, 2.660000, 2.710000, 1.760000, 1.660000, 1.660000, 1.560000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.310000, 8.160000, 8.060000, 3.910000, 3.960000, 3.310000, 3.210000, 3.060000, 2.960000, 2.910000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 810, 480000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.310000, 21.060000, 16.960000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.060000, 5.210000, 6.260000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.460000, 2.310000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.860000, 1.910000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.710000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.410000, 1.460000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.210000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.610000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.810000, 1.810000, 1.910000, 5.740000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.560000, 3.560000, 3.460000, 3.460000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.710000, 6.460000, 6.610000 ], "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": [ 810, 605000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 17.010000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.410000, 6.460000, 6.560000, 6.610000, 2.710000, 2.610000, 2.560000, 2.460000, 2.510000, 2.540000, 2.410000, 2.360000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.160000, 2.060000, 2.060000, 1.810000, 1.710000, 1.760000, 1.690000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.560000, 3.610000, 3.710000, 3.760000, 3.810000, 3.910000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.810000, 1.660000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.460000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.310000, 1.260000, 1.290000, 1.220000, 1.170000, 1.260000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.860000, 5.740000, 8.360000, 8.310000, 8.160000, 8.110000, 3.910000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.260000, 3.610000, 3.560000, 3.460000, 3.410000, 3.410000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.710000, 6.460000, 6.560000 ], "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": [ 810, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.360000, 21.060000, 17.010000, 12.410000, 12.410000, 9.660000, 9.860000, 7.210000, 6.260000, 6.010000, 5.960000, 5.060000, 5.160000, 6.260000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 2.710000, 2.610000, 2.560000, 2.510000, 2.490000, 2.490000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.060000, 2.060000, 1.860000, 1.660000, 1.710000, 1.690000, 1.860000, 3.260000, 3.360000, 3.410000, 3.460000, 3.560000, 3.610000, 3.710000, 3.760000, 3.810000, 3.960000, 1.910000, 1.860000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.610000, 1.660000, 1.510000, 1.560000, 1.460000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.410000, 1.410000, 1.410000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.260000, 1.310000, 1.160000, 1.260000, 1.260000, 1.290000, 1.220000, 1.220000, 1.260000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.710000, 1.710000, 2.660000, 2.660000, 1.760000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.590000, 1.690000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.210000, 8.060000, 3.910000, 3.910000, 3.310000, 3.110000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.660000, 6.410000, 6.610000 ], "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": [ 811, 39998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.810000, 28.360000, 21.010000, 17.010000, 12.410000, 12.410000, 9.610000, 9.860000, 7.210000, 6.310000, 6.010000, 5.910000, 5.110000, 5.210000, 6.260000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 2.760000, 2.560000, 2.560000, 2.460000, 2.490000, 2.490000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.260000, 2.210000, 2.110000, 2.110000, 2.060000, 1.760000, 1.660000, 1.710000, 1.660000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.960000, 1.960000, 1.810000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.240000, 1.200000, 1.220000, 1.210000, 1.310000, 1.260000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.410000, 1.460000, 1.560000, 1.560000, 1.560000, 1.710000, 1.760000, 1.660000, 1.710000, 2.710000, 2.660000, 1.760000, 1.660000, 1.660000, 1.560000, 1.560000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.560000, 1.560000, 1.510000, 1.590000, 1.590000, 1.690000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.110000, 3.960000, 3.910000, 3.310000, 3.160000, 3.110000, 3.010000, 2.910000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.610000, 6.460000, 6.560000 ], "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": [ 811, 159998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.710000, 49.760000, 28.360000, 21.010000, 17.010000, 12.360000, 12.460000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.410000, 6.410000, 6.460000, 6.510000, 6.510000, 6.560000, 2.760000, 2.560000, 2.510000, 2.510000, 2.460000, 2.510000, 2.410000, 2.410000, 2.410000, 2.410000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.710000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.860000, 1.910000, 1.760000, 1.660000, 1.760000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.610000, 1.560000, 1.410000, 1.410000, 1.410000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.260000, 1.310000, 1.210000, 1.260000, 1.310000, 1.240000, 1.200000, 1.170000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.310000, 1.260000, 1.460000, 1.410000, 1.460000, 1.560000, 1.610000, 1.560000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.710000, 1.710000, 1.610000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.010000, 3.110000, 3.160000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.610000, 3.760000, 3.760000, 6.960000, 6.960000, 6.960000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 811, 399998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 28.310000, 21.060000, 16.960000, 12.410000, 12.460000, 9.610000, 9.860000, 7.210000, 6.260000, 6.010000, 5.910000, 5.060000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.360000, 6.460000, 6.460000, 6.510000, 6.560000, 2.660000, 2.610000, 2.560000, 2.460000, 2.510000, 2.510000, 2.410000, 2.410000, 2.460000, 2.310000, 2.310000, 2.210000, 2.210000, 2.110000, 2.110000, 2.060000, 1.760000, 1.660000, 1.710000, 1.710000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.710000, 3.860000, 3.910000, 1.910000, 1.860000, 1.910000, 1.760000, 1.660000, 1.760000, 1.610000, 1.610000, 1.660000, 1.610000, 1.660000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.410000, 1.310000, 1.360000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.610000, 1.660000, 1.710000, 1.710000, 1.760000, 2.660000, 2.660000, 1.760000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 3.010000, 3.010000, 3.010000, 3.110000, 3.160000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.860000, 6.710000, 6.460000, 6.610000 ], "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": [ 811, 519998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.360000, 21.060000, 17.010000, 12.360000, 12.460000, 9.660000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 2.710000, 2.610000, 2.510000, 2.460000, 2.460000, 2.490000, 2.360000, 2.410000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.760000, 1.740000, 1.810000, 3.260000, 3.310000, 2.210000, 3.510000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 1.960000, 1.860000, 1.860000, 1.760000, 1.660000, 1.760000, 1.610000, 1.610000, 1.610000, 1.660000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.460000, 1.510000, 1.660000, 1.610000, 1.660000, 1.610000, 1.460000, 1.460000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.290000, 1.200000, 1.170000, 1.210000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.660000, 1.710000, 1.610000, 1.710000, 2.660000, 2.710000, 1.760000, 1.660000, 1.610000, 1.560000, 1.560000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.760000, 1.810000, 1.910000, 5.790000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.160000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.510000, 3.610000, 3.610000, 3.810000, 3.860000, 6.910000, 6.960000, 6.960000, 6.910000, 6.710000, 6.460000, 6.560000 ], "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": [ 811, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.310000, 21.010000, 17.010000, 12.410000, 12.460000, 9.610000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.110000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.410000, 6.510000, 6.510000, 6.560000, 2.760000, 2.560000, 2.510000, 2.510000, 2.510000, 2.510000, 2.360000, 2.460000, 2.410000, 2.410000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.560000, 3.610000, 3.660000, 3.810000, 3.860000, 3.960000, 1.910000, 1.810000, 1.910000, 1.810000, 1.660000, 1.810000, 1.610000, 1.610000, 1.710000, 1.660000, 1.710000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.660000, 1.610000, 1.610000, 1.610000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.210000, 1.260000, 1.260000, 1.240000, 1.220000, 1.220000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.410000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.710000, 2.660000, 1.760000, 1.710000, 1.610000, 1.610000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.010000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.660000, 6.410000, 6.560000 ], "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": [ 812, 39998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.310000, 21.010000, 16.960000, 12.360000, 12.410000, 9.610000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 2.710000, 2.610000, 2.560000, 2.460000, 2.490000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.810000, 1.710000, 1.710000, 1.690000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.960000, 1.910000, 1.860000, 1.860000, 1.760000, 1.660000, 1.810000, 1.660000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.560000, 1.510000, 1.460000, 1.610000, 1.610000, 1.610000, 1.610000, 1.460000, 1.460000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.290000, 1.170000, 1.170000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.710000, 1.760000, 2.710000, 2.710000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.740000, 8.410000, 8.260000, 8.160000, 8.110000, 3.960000, 3.960000, 3.310000, 3.160000, 3.010000, 2.960000, 2.910000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.610000, 3.560000, 3.460000, 3.410000, 3.510000, 3.510000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.960000, 6.960000, 6.610000, 6.410000, 6.610000 ], "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": [ 812, 192000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.810000, 28.310000, 21.010000, 17.010000, 12.360000, 12.410000, 9.610000, 9.910000, 7.210000, 6.310000, 6.010000, 5.910000, 5.110000, 5.160000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 2.710000, 2.610000, 2.560000, 2.510000, 2.510000, 2.490000, 2.360000, 2.410000, 2.460000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.760000, 1.710000, 1.710000, 1.690000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.810000, 3.810000, 3.910000, 1.910000, 1.810000, 1.860000, 1.810000, 1.660000, 1.810000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.660000, 1.660000, 1.510000, 1.510000, 1.510000, 1.460000, 1.610000, 1.660000, 1.660000, 1.660000, 1.460000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.210000, 1.200000, 1.220000, 1.260000, 1.260000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.810000, 2.660000, 2.660000, 1.710000, 1.710000, 1.660000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.660000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.860000, 1.860000, 5.710000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 3.010000, 3.060000, 3.010000, 3.060000, 3.110000, 3.210000, 3.210000, 3.610000, 3.560000, 3.460000, 3.460000, 3.510000, 3.560000, 3.610000, 3.710000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.660000, 6.460000, 6.610000 ], "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": [ 812, 429998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.710000, 49.760000, 28.410000, 21.060000, 17.010000, 12.410000, 12.410000, 9.660000, 9.910000, 7.210000, 6.310000, 6.060000, 5.960000, 5.110000, 5.210000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.460000, 6.460000, 6.510000, 6.610000, 2.760000, 2.560000, 2.510000, 2.510000, 2.490000, 2.490000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.260000, 2.160000, 2.110000, 2.060000, 2.110000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.310000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.710000, 3.760000, 3.810000, 3.960000, 1.910000, 1.810000, 1.910000, 1.810000, 1.660000, 1.810000, 1.610000, 1.660000, 1.610000, 1.710000, 1.660000, 1.610000, 1.710000, 1.510000, 1.560000, 1.460000, 1.510000, 1.610000, 1.660000, 1.660000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.170000, 1.220000, 1.260000, 1.260000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.460000, 1.460000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.660000, 2.660000, 1.710000, 1.710000, 1.610000, 1.560000, 1.560000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.510000, 1.460000, 1.560000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.610000, 1.590000, 1.590000, 1.640000, 1.640000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.740000, 8.360000, 8.260000, 8.210000, 8.110000, 3.910000, 3.960000, 3.260000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.760000, 6.960000, 6.910000, 6.910000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 812, 590000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 16.960000, 12.360000, 12.410000, 9.660000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.060000, 5.160000, 6.260000, 6.310000, 6.360000, 6.410000, 6.360000, 6.410000, 6.460000, 6.560000, 6.560000, 2.710000, 2.560000, 2.510000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 4.010000, 1.860000, 1.910000, 1.810000, 1.660000, 1.810000, 1.660000, 1.610000, 1.660000, 1.610000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.660000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.310000, 1.260000, 1.290000, 1.200000, 1.170000, 1.260000, 1.310000, 1.360000, 1.360000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.710000, 1.760000, 2.660000, 2.660000, 1.760000, 1.660000, 1.610000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.910000, 5.710000, 8.360000, 8.260000, 8.110000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.060000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.260000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 6.910000, 6.910000, 6.960000, 6.910000, 6.660000, 6.510000, 6.610000 ], "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": [ 812, 830000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.060000, 17.010000, 12.360000, 12.460000, 9.610000, 9.860000, 7.210000, 6.310000, 6.010000, 5.910000, 5.060000, 5.160000, 6.310000, 6.310000, 6.310000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 2.710000, 2.560000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.410000, 3.410000, 3.510000, 3.610000, 3.660000, 3.710000, 3.860000, 3.910000, 1.910000, 1.860000, 1.860000, 1.760000, 1.660000, 1.810000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.460000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.310000, 1.310000, 1.210000, 1.310000, 1.260000, 1.290000, 1.220000, 1.220000, 1.260000, 1.260000, 1.260000, 1.310000, 1.310000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.510000, 1.660000, 1.710000, 1.660000, 1.710000, 2.660000, 2.660000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.710000, 1.810000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.110000, 3.960000, 3.910000, 3.260000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.060000, 3.060000, 3.060000, 3.110000, 3.210000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.660000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 812, 990000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.360000, 21.010000, 16.960000, 12.410000, 12.460000, 9.660000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.260000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.510000, 6.610000, 2.710000, 2.610000, 2.510000, 2.460000, 2.460000, 2.510000, 2.410000, 2.360000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.360000, 3.410000, 3.460000, 3.510000, 3.610000, 3.710000, 3.710000, 3.810000, 3.910000, 1.910000, 1.910000, 1.810000, 1.810000, 1.660000, 1.760000, 1.660000, 1.560000, 1.660000, 1.610000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.510000, 1.460000, 1.610000, 1.660000, 1.660000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.190000, 1.170000, 1.220000, 1.240000, 1.260000, 1.310000, 1.360000, 1.260000, 1.210000, 1.260000, 1.410000, 1.410000, 1.460000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.660000, 2.660000, 1.810000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.510000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.860000, 1.860000, 5.790000, 8.410000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.260000, 3.160000, 3.110000, 2.960000, 2.960000, 3.010000, 3.060000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 813, 149998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.310000, 21.010000, 17.010000, 12.360000, 12.410000, 9.610000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.060000, 5.210000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.610000, 2.710000, 2.610000, 2.510000, 2.510000, 2.510000, 2.510000, 2.410000, 2.410000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.760000, 1.710000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 1.910000, 1.860000, 1.910000, 1.760000, 1.660000, 1.860000, 1.660000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.710000, 1.560000, 1.560000, 1.460000, 1.510000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.170000, 1.210000, 1.260000, 1.310000, 1.360000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.460000, 1.610000, 1.560000, 1.560000, 1.660000, 1.660000, 1.660000, 1.710000, 2.660000, 2.660000, 1.810000, 1.660000, 1.610000, 1.610000, 1.560000, 1.510000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.710000, 1.660000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.910000, 5.790000, 8.310000, 8.260000, 8.160000, 8.110000, 3.960000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.010000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.560000, 3.760000, 3.810000, 6.960000, 6.960000, 6.960000, 6.910000, 6.610000, 6.460000, 6.610000 ], "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": [ 813, 309998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 28.360000, 19.360000, 16.960000, 12.360000, 12.410000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.060000, 5.160000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.610000, 2.710000, 2.610000, 2.560000, 2.460000, 2.510000, 2.540000, 2.360000, 2.410000, 2.410000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.110000, 2.060000, 1.760000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.360000, 3.410000, 3.460000, 3.510000, 3.610000, 3.660000, 3.710000, 3.860000, 3.910000, 1.960000, 1.860000, 1.860000, 1.760000, 1.660000, 1.860000, 1.610000, 1.610000, 1.660000, 1.710000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.310000, 1.260000, 1.240000, 1.250000, 1.170000, 1.260000, 1.310000, 1.310000, 1.310000, 1.260000, 1.210000, 1.260000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.760000, 2.710000, 2.660000, 1.810000, 1.710000, 1.660000, 1.560000, 1.560000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.810000, 1.810000, 1.860000, 5.760000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.960000, 3.260000, 3.160000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.260000, 3.560000, 3.510000, 3.460000, 3.410000, 3.460000, 3.510000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 813, 549998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 28.310000, 19.510000, 16.960000, 12.360000, 12.460000, 9.660000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.460000, 6.510000, 6.510000, 6.510000, 2.710000, 2.610000, 2.560000, 2.460000, 2.510000, 2.490000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.760000, 1.660000, 1.710000, 1.710000, 1.760000, 3.260000, 3.310000, 3.410000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.810000, 1.960000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.610000, 1.660000, 1.710000, 1.610000, 1.710000, 1.510000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.240000, 1.170000, 1.220000, 1.260000, 1.260000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.410000, 1.460000, 1.510000, 1.510000, 1.560000, 1.510000, 1.660000, 1.660000, 1.660000, 1.760000, 2.660000, 2.660000, 1.760000, 1.660000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.660000, 1.610000, 1.610000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.690000, 1.710000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 3.010000, 3.060000, 3.060000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.410000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.910000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 813, 669998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.810000, 28.310000, 19.460000, 16.960000, 12.360000, 12.410000, 9.610000, 9.910000, 7.210000, 6.310000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.260000, 6.310000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.610000, 2.710000, 2.610000, 2.560000, 2.510000, 2.510000, 2.490000, 2.410000, 2.360000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.060000, 1.760000, 1.660000, 1.710000, 1.790000, 1.810000, 3.310000, 3.360000, 2.160000, 3.460000, 3.510000, 3.560000, 3.660000, 3.760000, 3.810000, 3.960000, 1.960000, 1.910000, 1.910000, 1.760000, 1.660000, 1.760000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.660000, 1.660000, 1.560000, 1.460000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.260000, 1.310000, 1.260000, 1.160000, 1.260000, 1.260000, 1.240000, 1.220000, 1.170000, 1.240000, 1.310000, 1.310000, 1.360000, 1.260000, 1.210000, 1.260000, 1.410000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.760000, 2.660000, 2.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.740000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.960000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 2.960000, 3.060000, 3.060000, 3.110000, 3.160000, 3.210000, 3.260000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.560000, 3.660000, 3.710000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.710000, 6.460000, 6.610000 ], "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": [ 813, 870000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.360000, 19.510000, 16.960000, 12.360000, 12.460000, 9.610000, 9.860000, 7.210000, 6.260000, 6.010000, 5.910000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 2.710000, 2.610000, 2.510000, 2.460000, 2.490000, 2.510000, 2.410000, 2.460000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.110000, 2.110000, 2.060000, 1.810000, 1.660000, 1.710000, 1.710000, 1.810000, 3.260000, 3.310000, 2.160000, 3.460000, 3.560000, 3.610000, 3.710000, 3.810000, 3.860000, 3.910000, 1.960000, 1.860000, 1.960000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.660000, 1.710000, 1.560000, 1.660000, 1.510000, 1.560000, 1.510000, 1.510000, 1.610000, 1.660000, 1.610000, 1.660000, 1.510000, 1.460000, 1.360000, 1.310000, 1.360000, 1.410000, 1.360000, 1.310000, 1.260000, 1.310000, 1.160000, 1.260000, 1.260000, 1.290000, 1.200000, 1.170000, 1.260000, 1.310000, 1.360000, 1.310000, 1.260000, 1.210000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.710000, 1.760000, 2.710000, 2.710000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.510000, 1.410000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.790000, 8.360000, 8.310000, 8.160000, 8.110000, 3.910000, 3.960000, 3.260000, 3.160000, 3.060000, 2.960000, 2.910000, 2.960000, 3.010000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.410000, 3.460000, 3.610000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.610000, 6.460000, 6.560000 ], "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": [ 814, 110998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.810000, 49.760000, 28.410000, 19.510000, 16.960000, 12.410000, 12.460000, 9.660000, 9.910000, 7.260000, 6.310000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.260000, 6.360000, 6.360000, 6.410000, 6.460000, 6.460000, 6.510000, 6.560000, 2.760000, 2.610000, 2.560000, 2.510000, 2.490000, 2.540000, 2.410000, 2.460000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.160000, 2.110000, 2.060000, 1.760000, 1.660000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 2.210000, 3.460000, 3.560000, 3.610000, 3.660000, 3.760000, 3.860000, 3.910000, 1.910000, 1.860000, 1.860000, 1.810000, 1.660000, 4.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.710000, 1.610000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.610000, 1.660000, 1.610000, 1.460000, 1.410000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.160000, 1.310000, 1.260000, 1.240000, 1.200000, 1.220000, 1.260000, 1.260000, 1.310000, 1.360000, 1.260000, 1.210000, 1.260000, 1.460000, 1.410000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.710000, 1.710000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.510000, 1.540000, 1.640000, 1.640000, 1.690000, 1.740000, 1.710000, 1.760000, 1.810000, 1.860000, 5.790000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.910000, 2.960000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.210000, 3.560000, 3.510000, 3.460000, 3.460000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.660000, 6.460000, 6.610000 ], "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": [ 814, 360000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.760000, 19.710000, 19.460000, 16.960000, 12.410000, 12.460000, 9.660000, 9.860000, 7.210000, 6.310000, 6.010000, 5.960000, 5.060000, 5.160000, 6.260000, 6.310000, 6.310000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.660000, 2.610000, 2.560000, 2.460000, 2.490000, 2.510000, 2.410000, 2.410000, 2.460000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.110000, 1.810000, 1.710000, 1.710000, 1.740000, 1.810000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.710000, 3.710000, 3.810000, 3.960000, 1.910000, 1.860000, 1.860000, 1.810000, 1.610000, 1.860000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.660000, 1.560000, 1.610000, 1.460000, 1.510000, 1.610000, 1.660000, 1.610000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.360000, 1.410000, 1.310000, 1.360000, 1.310000, 1.310000, 1.210000, 1.310000, 1.260000, 1.240000, 1.170000, 1.220000, 1.210000, 1.260000, 1.310000, 1.360000, 1.310000, 1.260000, 1.260000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.760000, 1.660000, 1.760000, 2.710000, 2.710000, 1.760000, 1.710000, 1.660000, 1.560000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.740000, 1.810000, 1.810000, 1.910000, 5.740000, 8.360000, 8.260000, 8.160000, 8.110000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.460000, 3.460000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.910000, 6.960000, 6.910000, 6.660000, 6.460000, 6.560000 ], "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": [ 814, 481998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.445686 ], "estimate": [ -13.568399, 30.411598, 0.445686 ], "true_pose": [ null, null, null ], "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": [ 49.760000, 49.810000, 19.560000, 20.960000, 16.960000, 12.410000, 12.460000, 9.660000, 9.860000, 7.160000, 6.310000, 6.060000, 5.960000, 5.110000, 5.210000, 6.260000, 6.310000, 6.360000, 6.360000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 2.710000, 2.610000, 2.560000, 2.510000, 2.490000, 2.540000, 2.410000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.110000, 2.060000, 2.060000, 1.810000, 1.660000, 1.710000, 1.690000, 1.810000, 3.260000, 3.360000, 3.410000, 3.460000, 3.560000, 3.560000, 3.660000, 3.760000, 3.860000, 3.910000, 1.960000, 1.860000, 1.910000, 1.760000, 1.660000, 1.810000, 1.610000, 1.660000, 1.660000, 1.660000, 1.660000, 1.610000, 1.710000, 1.610000, 1.560000, 1.460000, 1.510000, 1.610000, 1.660000, 1.660000, 1.610000, 1.460000, 1.410000, 1.360000, 1.310000, 1.310000, 1.410000, 1.310000, 1.310000, 1.310000, 1.310000, 1.160000, 1.260000, 1.260000, 1.240000, 1.200000, 1.170000, 1.260000, 1.310000, 1.310000, 1.310000, 1.310000, 1.210000, 1.260000, 1.410000, 1.510000, 1.460000, 1.510000, 1.510000, 1.560000, 1.660000, 1.710000, 1.660000, 1.760000, 2.660000, 2.710000, 1.810000, 1.710000, 1.610000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.560000, 1.560000, 1.560000, 1.590000, 1.590000, 1.640000, 1.640000, 1.740000, 1.740000, 1.760000, 1.810000, 1.910000, 5.790000, 8.360000, 8.260000, 8.160000, 8.060000, 3.910000, 3.910000, 3.310000, 3.160000, 3.060000, 3.010000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.260000, 3.610000, 3.560000, 3.460000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.760000, 6.960000, 6.960000, 6.910000, 6.910000, 6.610000, 6.460000, 6.560000 ], "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": [ 814, 710000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568399, 30.411598, 0.443163 ], "estimate": [ -13.568399, 30.411598, 0.443163 ], "true_pose": [ null, null, null ], "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": [ 44.010000, 49.760000, 19.710000, 23.760000, 16.960000, 13.360000, 12.360000, 9.610000, 9.810000, 7.210000, 7.210000, 6.060000, 5.910000, 5.160000, 5.110000, 6.260000, 6.360000, 6.310000, 3.960000, 6.410000, 6.410000, 6.460000, 6.510000, 6.510000, 6.610000, 2.610000, 2.560000, 2.510000, 2.510000, 2.510000, 2.360000, 2.360000, 2.460000, 2.310000, 2.310000, 2.260000, 2.160000, 2.110000, 2.110000, 2.060000, 1.910000, 1.710000, 1.710000, 1.710000, 1.810000, 1.960000, 3.310000, 3.360000, 3.410000, 3.510000, 3.560000, 3.610000, 3.760000, 3.810000, 3.910000, 1.860000, 1.860000, 1.860000, 1.810000, 1.710000, 1.710000, 1.710000, 1.610000, 1.660000, 1.560000, 1.710000, 1.710000, 1.610000, 1.710000, 1.560000, 1.610000, 1.460000, 1.610000, 1.560000, 1.610000, 1.560000, 1.360000, 1.360000, 1.360000, 1.310000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.310000, 1.190000, 1.260000, 1.260000, 1.290000, 1.190000, 1.200000, 1.210000, 1.260000, 1.310000, 1.360000, 1.360000, 1.210000, 1.260000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.760000, 2.660000, 2.710000, 1.760000, 1.710000, 1.660000, 1.610000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.610000, 1.610000, 1.560000, 1.590000, 1.590000, 1.640000, 1.640000, 1.740000, 1.740000, 1.760000, 1.810000, 1.860000, 5.710000, 8.410000, 8.310000, 8.210000, 8.110000, 6.410000, 3.870000, 3.360000, 3.210000, 3.110000, 3.010000, 2.910000, 2.910000, 3.060000, 3.060000, 3.110000, 3.110000, 3.160000, 3.210000, 3.610000, 3.510000, 3.510000, 3.410000, 3.410000, 3.560000, 3.610000, 3.710000, 3.860000, 6.910000, 6.910000, 6.910000, 6.910000, 6.910000, 6.460000, 6.510000 ], "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": [ 815, 29998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.568199, 30.411699, 0.420884 ], "estimate": [ -13.568199, 30.411699, 0.420884 ], "true_pose": [ null, null, null ], "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": [ 27.460000, 44.010000, 19.810000, 19.860000, 21.110000, 16.960000, 12.460000, 12.360000, 9.610000, 9.910000, 7.210000, 7.160000, 6.010000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.760000, 2.660000, 2.560000, 2.510000, 2.460000, 2.540000, 2.410000, 2.460000, 2.410000, 2.310000, 2.310000, 2.260000, 2.160000, 2.110000, 2.060000, 2.110000, 1.860000, 1.710000, 1.710000, 1.740000, 1.810000, 2.010000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.710000, 3.810000, 3.910000, 1.860000, 1.910000, 1.810000, 1.810000, 1.660000, 1.810000, 1.710000, 1.660000, 1.660000, 1.610000, 1.710000, 1.710000, 1.610000, 1.660000, 1.560000, 1.610000, 1.410000, 1.610000, 1.560000, 1.610000, 1.610000, 1.410000, 1.410000, 1.360000, 1.260000, 1.360000, 1.360000, 1.310000, 1.360000, 1.310000, 1.260000, 1.190000, 1.260000, 1.260000, 1.210000, 1.240000, 1.190000, 1.290000, 1.260000, 1.360000, 1.360000, 1.360000, 1.260000, 1.260000, 1.410000, 1.410000, 1.510000, 1.560000, 1.510000, 1.560000, 1.560000, 1.660000, 1.610000, 1.710000, 2.660000, 2.660000, 1.760000, 1.710000, 1.660000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.560000, 1.560000, 1.590000, 1.640000, 1.690000, 1.690000, 1.740000, 1.760000, 1.810000, 1.860000, 5.710000, 8.410000, 8.260000, 8.160000, 8.160000, 6.510000, 3.910000, 3.360000, 3.210000, 3.060000, 3.010000, 2.960000, 2.960000, 3.010000, 3.010000, 3.060000, 3.110000, 3.160000, 3.210000, 3.610000, 3.560000, 3.510000, 3.460000, 3.410000, 3.560000, 3.610000, 3.760000, 3.810000, 6.960000, 6.960000, 6.910000, 6.910000, 6.910000, 6.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 815, 190000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.567700, 30.411900, 0.318104 ], "estimate": [ -13.567700, 30.411900, 0.318104 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.560000, 6.360000, 7.560000, 9.360000, 12.260000, 20.960000, 27.410000, 44.060000, 49.810000, 19.860000, 21.010000, 17.010000, 12.410000, 12.410000, 9.660000, 9.910000, 7.210000, 7.210000, 6.060000, 5.960000, 5.110000, 5.160000, 6.260000, 6.310000, 6.310000, 3.960000, 6.410000, 6.410000, 6.510000, 6.510000, 6.560000, 3.160000, 2.610000, 2.560000, 2.460000, 2.460000, 2.460000, 2.410000, 2.360000, 2.410000, 2.360000, 2.360000, 2.260000, 2.160000, 2.160000, 2.060000, 2.110000, 1.910000, 1.710000, 1.660000, 1.690000, 1.810000, 1.810000, 3.310000, 3.360000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 1.960000, 1.860000, 1.910000, 1.810000, 1.660000, 1.760000, 1.710000, 1.610000, 1.660000, 1.560000, 1.660000, 1.610000, 1.560000, 1.660000, 1.560000, 1.560000, 1.460000, 1.460000, 1.610000, 1.510000, 1.610000, 1.560000, 1.410000, 1.410000, 1.310000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.160000, 1.260000, 1.240000, 1.200000, 1.220000, 1.260000, 1.260000, 1.310000, 1.310000, 1.360000, 1.260000, 1.260000, 1.410000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 1.660000, 1.760000, 2.660000, 2.710000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.410000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.510000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.590000, 1.640000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.860000, 1.860000, 5.760000, 8.360000, 8.260000, 8.160000, 8.060000, 3.840000, 3.960000, 3.310000, 3.160000, 3.060000, 2.960000, 2.960000, 3.010000, 3.010000, 3.010000, 3.110000, 3.110000, 3.210000, 3.260000, 3.610000, 3.510000, 3.510000, 3.410000, 3.510000, 3.560000, 3.610000, 3.760000 ], "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": [ 815, 431000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.567100, 30.412100, 0.135455 ], "estimate": [ -13.567100, 30.412100, 0.135455 ], "true_pose": [ null, null, null ], "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": [ 2.090000, 2.160000, 2.260000, 2.410000, 2.560000, 2.710000, 2.910000, 3.210000, 3.460000, 3.760000, 4.160000, 4.610000, 5.110000, 5.960000, 7.240000, 8.310000, 10.410000, 13.810000, 20.960000, 44.060000, 19.910000, 19.960000, 29.410000, 21.060000, 13.860000, 12.360000, 9.660000, 9.660000, 9.360000, 7.210000, 6.110000, 6.010000, 5.110000, 5.060000, 5.210000, 6.260000, 6.360000, 3.960000, 6.360000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 2.710000, 2.610000, 2.510000, 2.410000, 2.490000, 2.460000, 2.410000, 2.410000, 2.410000, 2.310000, 2.310000, 2.210000, 2.160000, 2.110000, 2.060000, 2.110000, 1.910000, 1.710000, 1.660000, 1.710000, 1.760000, 1.810000, 3.310000, 3.310000, 3.410000, 3.510000, 3.560000, 3.660000, 3.710000, 3.760000, 3.910000, 3.960000, 1.910000, 1.860000, 1.810000, 1.760000, 1.610000, 1.710000, 1.710000, 1.610000, 1.660000, 1.660000, 1.610000, 1.560000, 1.660000, 1.510000, 1.610000, 1.560000, 1.460000, 1.610000, 1.560000, 1.560000, 1.560000, 1.410000, 1.560000, 1.410000, 1.410000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.310000, 1.140000, 1.210000, 1.240000, 1.200000, 1.200000, 1.260000, 1.260000, 1.260000, 1.310000, 1.410000, 1.210000, 1.260000, 1.460000, 1.460000, 1.460000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 2.810000, 2.810000, 2.860000, 1.710000, 1.710000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.560000, 1.560000, 1.560000, 1.610000, 1.660000, 1.660000, 1.710000, 1.660000, 1.660000, 1.610000, 1.560000, 1.640000, 1.590000, 1.640000, 1.690000, 1.740000, 1.760000, 1.760000, 1.810000, 1.860000, 5.810000, 8.360000, 8.210000, 8.160000, 8.110000, 3.920000, 3.960000, 3.260000, 3.160000, 3.110000, 3.010000, 2.960000, 3.010000, 3.060000 ], "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": [ 815, 671000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.565800, 30.412100, -0.070525 ], "estimate": [ -13.565800, 30.412100, -0.070525 ], "true_pose": [ null, null, null ], "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, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.890000, 1.910000, 1.960000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.860000, 3.060000, 3.310000, 3.560000, 3.910000, 4.360000, 4.810000, 5.510000, 6.260000, 7.410000, 9.210000, 12.060000, 20.960000, 27.410000, 44.060000, 19.910000, 29.610000, 21.010000, 16.960000, 12.460000, 12.360000, 9.610000, 9.960000, 7.160000, 7.160000, 6.010000, 5.860000, 5.060000, 5.110000, 6.260000, 6.260000, 6.310000, 6.360000, 6.360000, 6.410000, 6.410000, 6.460000, 6.510000, 6.560000, 2.610000, 2.510000, 2.510000, 2.460000, 2.460000, 2.410000, 2.360000, 2.410000, 2.410000, 2.310000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.110000, 1.860000, 1.710000, 1.610000, 1.660000, 1.810000, 1.860000, 3.260000, 3.310000, 3.410000, 3.460000, 3.560000, 3.610000, 3.760000, 3.810000, 3.910000, 4.010000, 1.910000, 1.860000, 1.860000, 1.710000, 1.610000, 1.760000, 1.760000, 1.610000, 1.710000, 1.710000, 1.610000, 1.610000, 6.110000, 1.560000, 1.610000, 1.510000, 1.460000, 1.560000, 1.510000, 1.610000, 1.460000, 1.460000, 1.510000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.310000, 1.160000, 1.210000, 1.240000, 1.190000, 1.260000, 1.310000, 1.310000, 1.310000, 1.360000, 1.410000, 1.260000, 1.260000, 1.510000, 1.460000, 1.510000, 1.510000, 1.610000, 1.660000, 1.610000, 1.710000, 1.710000, 1.710000, 2.810000, 2.810000, 1.710000, 1.760000, 1.710000, 1.610000, 1.560000, 1.560000, 1.510000, 1.460000, 1.410000, 1.460000, 1.460000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.610000, 1.610000, 1.610000, 1.660000, 1.710000, 1.710000, 1.660000, 1.610000, 1.590000, 1.560000, 1.640000, 1.640000, 1.690000, 1.690000, 1.790000, 1.760000, 1.860000, 1.860000, 5.810000 ], "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": [ 815, 909998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.564400, 30.411798, -0.288484 ], "estimate": [ -13.564400, 30.411798, -0.288484 ], "true_pose": [ null, null, null ], "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": [ 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.250000, 1.250000, 1.350000, 1.350000, 1.400000, 1.450000, 1.500000, 1.500000, 1.600000, 1.650000, 1.750000, 1.800000, 1.850000, 1.920000, 2.020000, 2.120000, 2.270000, 2.420000, 2.520000, 2.720000, 2.920000, 3.120000, 3.420000, 3.770000, 4.170000, 4.620000, 5.170000, 5.970000, 7.200000, 8.370000, 10.520000, 14.020000, 21.270000, 43.970000, 19.970000, 36.770000, 23.820000, 17.070000, 13.570000, 12.320000, 9.670000, 9.620000, 9.270000, 7.170000, 6.120000, 6.020000, 5.170000, 5.070000, 5.170000, 6.220000, 6.270000, 6.320000, 6.420000, 6.370000, 6.420000, 6.470000, 6.570000, 6.620000, 6.620000, 2.620000, 2.520000, 2.470000, 2.470000, 2.470000, 2.470000, 2.370000, 2.470000, 2.370000, 2.320000, 2.220000, 2.170000, 2.120000, 2.120000, 2.070000, 2.070000, 1.870000, 1.620000, 1.720000, 1.720000, 1.820000, 3.270000, 3.320000, 3.420000, 3.470000, 3.570000, 3.570000, 3.720000, 3.820000, 3.870000, 3.920000, 4.070000, 1.870000, 1.870000, 1.870000, 1.720000, 1.670000, 1.720000, 1.620000, 1.620000, 1.620000, 1.670000, 1.670000, 1.570000, 1.770000, 1.620000, 1.570000, 1.470000, 1.470000, 1.570000, 1.570000, 1.620000, 1.470000, 1.570000, 1.570000, 1.420000, 1.370000, 1.420000, 1.420000, 1.420000, 1.420000, 1.320000, 1.270000, 1.200000, 1.250000, 1.230000, 1.220000, 1.270000, 1.320000, 1.370000, 1.420000, 1.420000, 1.270000, 1.320000, 1.520000, 1.520000, 1.520000, 1.520000, 1.570000, 1.670000, 1.620000, 1.670000, 1.670000, 1.720000, 1.720000, 2.770000, 2.820000, 1.770000, 1.720000, 1.720000, 1.670000, 1.570000, 1.520000, 1.470000, 1.500000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.620000, 1.670000, 1.670000, 1.720000, 1.720000, 1.720000, 1.620000, 1.570000, 1.620000 ], "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": [ 816, 150998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.562500, 30.411100, -0.392525 ], "estimate": [ -13.562500, 30.411100, -0.392525 ], "true_pose": [ null, null, null ], "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": [ 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.150000, 1.150000, 1.150000, 1.150000, 1.200000, 1.250000, 1.250000, 1.350000, 1.400000, 1.400000, 1.450000, 1.550000, 1.550000, 1.600000, 1.650000, 1.750000, 1.850000, 1.870000, 1.970000, 2.120000, 2.170000, 2.320000, 2.470000, 2.670000, 2.870000, 3.020000, 3.320000, 3.620000, 3.970000, 4.420000, 4.920000, 5.620000, 6.470000, 7.720000, 9.570000, 12.420000, 20.970000, 33.520000, 20.020000, 20.170000, 28.270000, 21.020000, 16.920000, 12.320000, 12.420000, 9.620000, 9.920000, 7.170000, 6.720000, 6.020000, 5.920000, 5.070000, 5.120000, 6.220000, 6.270000, 6.320000, 6.320000, 6.370000, 6.420000, 6.420000, 6.520000, 6.570000, 6.570000, 2.620000, 2.570000, 2.520000, 2.470000, 2.470000, 2.470000, 2.370000, 2.420000, 2.370000, 2.320000, 2.270000, 2.220000, 2.170000, 2.120000, 2.070000, 2.070000, 1.920000, 1.670000, 1.670000, 1.670000, 1.770000, 1.820000, 3.270000, 3.370000, 3.420000, 3.520000, 3.570000, 3.670000, 3.720000, 3.820000, 3.920000, 4.020000, 2.020000, 1.970000, 1.970000, 1.770000, 1.620000, 1.770000, 1.870000, 1.670000, 1.670000, 1.720000, 1.670000, 1.570000, 1.570000, 1.620000, 1.670000, 1.620000, 1.520000, 1.470000, 1.570000, 1.570000, 1.420000, 1.520000, 1.520000, 1.520000, 1.370000, 1.370000, 1.370000, 1.420000, 1.420000, 1.370000, 1.270000, 1.270000, 1.170000, 1.250000, 1.180000, 1.270000, 1.270000, 1.370000, 1.370000, 1.420000, 1.470000, 1.270000, 1.320000, 1.520000, 1.520000, 1.570000, 1.620000, 1.670000, 1.670000, 1.670000, 1.770000, 1.720000, 2.820000, 2.720000, 2.720000, 1.970000, 1.720000, 1.720000, 1.670000, 1.620000, 1.520000, 1.520000, 1.500000, 1.470000, 1.470000, 1.520000, 1.520000, 1.520000, 1.570000, 1.570000, 1.570000, 1.570000, 1.620000, 1.620000 ], "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": [ 816, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.561300, 30.410500, -0.491311 ], "estimate": [ -13.561300, 30.410500, -0.491311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.240000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.810000, 1.910000, 2.010000, 2.160000, 2.260000, 2.410000, 2.560000, 2.760000, 2.910000, 3.160000, 3.510000, 3.810000, 4.210000, 4.710000, 5.260000, 6.110000, 7.160000, 8.760000, 11.260000, 15.010000, 25.460000, 20.110000, 20.310000, 49.760000, 23.710000, 16.910000, 13.260000, 12.310000, 9.610000, 9.610000, 7.210000, 7.160000, 6.010000, 5.910000, 5.010000, 5.060000, 5.310000, 6.260000, 6.260000, 3.910000, 6.310000, 6.360000, 6.460000, 6.510000, 6.560000, 6.560000, 6.610000, 2.610000, 2.510000, 2.460000, 2.460000, 2.460000, 2.460000, 2.360000, 2.460000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.060000, 2.060000, 2.010000, 1.910000, 1.660000, 1.660000, 1.660000, 1.810000, 1.960000, 3.360000, 3.410000, 3.460000, 3.510000, 3.610000, 3.710000, 3.760000, 3.860000, 3.960000, 4.110000, 1.910000, 1.810000, 1.810000, 1.710000, 1.660000, 1.810000, 1.710000, 1.660000, 1.660000, 1.710000, 1.610000, 1.560000, 1.560000, 1.610000, 1.610000, 1.560000, 1.410000, 1.510000, 1.560000, 1.560000, 1.410000, 1.610000, 1.560000, 1.410000, 1.310000, 1.260000, 1.310000, 1.410000, 1.360000, 1.310000, 1.210000, 1.190000, 1.190000, 1.190000, 1.260000, 1.260000, 1.310000, 1.360000, 1.360000, 1.410000, 1.310000, 1.260000, 1.460000, 1.510000, 1.560000, 1.610000, 1.610000, 1.660000, 1.660000, 1.660000, 1.810000, 1.760000, 1.760000, 2.660000, 2.310000, 1.660000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.510000, 1.490000, 1.490000, 1.460000, 1.510000, 1.510000, 1.560000 ], "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": [ 816, 629998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.560300, 30.409901, -0.595772 ], "estimate": [ -13.560300, 30.409901, -0.595772 ], "true_pose": [ null, null, null ], "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": [ 1.140000, 1.090000, 1.040000, 0.990000, 0.990000, 0.940000, 0.990000, 0.940000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.490000, 1.540000, 1.540000, 1.640000, 1.640000, 1.740000, 1.810000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.660000, 2.910000, 3.110000, 3.310000, 3.660000, 4.060000, 4.560000, 5.060000, 5.860000, 7.160000, 8.210000, 10.310000, 13.510000, 20.960000, 20.310000, 20.310000, 36.810000, 29.360000, 20.960000, 13.810000, 12.360000, 9.610000, 9.610000, 9.910000, 7.110000, 6.210000, 6.010000, 5.860000, 5.060000, 5.110000, 6.210000, 6.260000, 6.310000, 3.910000, 6.360000, 6.410000, 6.460000, 6.510000, 6.560000, 6.610000, 2.610000, 2.560000, 2.460000, 2.460000, 2.460000, 2.460000, 2.410000, 2.410000, 2.360000, 2.310000, 2.260000, 2.160000, 2.160000, 2.160000, 2.060000, 2.010000, 1.960000, 1.710000, 1.660000, 1.710000, 1.710000, 1.810000, 3.310000, 3.360000, 3.410000, 3.460000, 3.560000, 3.660000, 3.760000, 3.860000, 3.960000, 4.060000, 1.910000, 1.810000, 1.810000, 1.760000, 1.610000, 1.760000, 1.710000, 1.610000, 1.660000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.610000, 1.510000, 1.510000, 1.510000, 1.610000, 1.560000, 1.410000, 1.410000, 1.560000, 1.510000, 1.360000, 1.360000, 1.360000, 1.410000, 1.360000, 1.360000, 1.260000, 1.260000, 1.190000, 1.220000, 1.240000, 1.310000, 1.360000, 1.360000, 1.410000, 1.410000, 1.260000, 1.260000, 1.310000, 1.510000, 1.560000, 1.560000, 1.560000, 1.560000, 1.660000, 1.660000, 1.610000, 1.810000, 1.760000, 2.710000, 2.710000, 1.910000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 816, 950000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.542100, 30.395802, -0.702545 ], "estimate": [ -13.542100, 30.395802, -0.702545 ], "true_pose": [ null, null, null ], "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": [ 1.490000, 1.490000, 1.390000, 1.340000, 1.290000, 1.240000, 1.240000, 1.140000, 1.140000, 1.090000, 1.090000, 1.040000, 0.990000, 0.990000, 0.940000, 0.890000, 0.890000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.710000, 1.790000, 1.910000, 1.960000, 2.060000, 2.160000, 2.310000, 2.460000, 2.610000, 2.810000, 3.010000, 3.260000, 3.510000, 3.910000, 4.360000, 4.860000, 5.510000, 6.310000, 7.560000, 9.460000, 12.310000, 20.910000, 33.510000, 20.360000, 50.000000, 28.260000, 20.960000, 16.860000, 12.360000, 12.310000, 9.610000, 9.760000, 7.110000, 7.110000, 5.960000, 5.860000, 5.010000, 5.060000, 6.160000, 6.210000, 6.260000, 6.260000, 6.310000, 6.360000, 6.360000, 6.460000, 6.510000, 6.510000, 6.560000, 2.590000, 2.510000, 2.410000, 2.410000, 2.410000, 2.410000, 2.360000, 2.410000, 2.360000, 2.360000, 2.260000, 2.160000, 2.160000, 2.110000, 2.060000, 2.060000, 2.010000, 1.810000, 1.660000, 1.660000, 1.660000, 1.760000, 1.960000, 3.360000, 3.410000, 3.460000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 3.960000, 4.110000, 2.010000, 1.760000, 1.810000, 1.710000, 1.660000, 1.660000, 1.560000, 1.660000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.760000, 6.410000, 1.610000, 1.410000, 1.510000, 1.560000, 1.310000, 1.410000, 1.560000, 1.560000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.190000, 1.190000, 1.210000, 1.260000, 1.360000, 1.360000, 1.410000, 1.410000, 1.460000, 1.260000, 1.310000, 1.460000, 1.560000, 1.560000, 1.610000, 1.560000, 1.610000, 1.710000, 1.710000, 1.660000 ], "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": [ 817, 190000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.485600, 30.324600, -1.028115 ], "estimate": [ -13.485600, 30.324600, -1.028115 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.910000, 0.890000, 0.890000, 0.890000, 0.890000, 0.860000, 0.910000, 1.310000, 1.910000, 1.810000, 1.660000, 1.560000, 1.490000, 1.390000, 1.390000, 1.340000, 1.240000, 1.190000, 1.190000, 1.090000, 1.040000, 1.040000, 0.990000, 0.990000, 0.940000, 0.890000, 0.840000, 0.840000, 0.840000, 0.840000, 0.790000, 0.790000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.440000, 1.440000, 1.490000, 1.590000, 1.590000, 1.690000, 1.790000, 1.810000, 1.910000, 1.960000, 2.110000, 2.160000, 2.360000, 2.510000, 2.610000, 2.810000, 3.060000, 3.310000, 3.610000, 4.010000, 4.410000, 4.910000, 5.610000, 7.010000, 7.760000, 9.610000, 12.360000, 20.860000, 20.410000, 20.410000, 50.000000, 27.510000, 20.860000, 16.810000, 12.260000, 12.210000, 9.510000, 9.710000, 7.060000, 7.010000, 5.910000, 5.760000, 4.960000, 4.960000, 5.010000, 6.110000, 6.160000, 6.210000, 3.810000, 6.310000, 6.310000, 6.360000, 6.410000, 6.460000, 6.510000, 2.810000, 2.460000, 2.410000, 2.310000, 2.340000, 2.310000, 2.360000, 2.260000, 2.310000, 2.310000, 2.210000, 2.210000, 2.160000, 2.060000, 2.060000, 2.060000, 1.960000, 1.910000, 1.860000, 1.710000, 1.610000, 1.560000, 1.610000, 1.710000, 2.110000, 3.310000, 3.410000, 3.510000, 3.560000, 3.660000, 3.760000, 3.860000, 3.960000, 4.060000, 4.160000, 4.260000, 1.760000, 1.760000, 1.710000, 1.660000, 1.610000, 1.560000, 1.660000, 1.610000, 1.560000, 1.560000, 1.510000, 1.660000, 1.510000, 1.610000, 1.610000, 1.510000, 1.510000, 1.260000, 1.310000, 1.510000, 1.460000, 1.410000, 1.410000, 1.310000, 1.310000, 1.210000, 1.260000, 1.260000, 1.160000, 1.200000, 1.240000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 817, 429998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.439100, 30.220501, -1.222744 ], "estimate": [ -13.439100, 30.220501, -1.222744 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.990000, 0.990000, 0.990000, 0.910000, 0.940000, 0.890000, 0.890000, 0.890000, 0.890000, 0.910000, 0.960000, 3.840000, 2.710000, 2.410000, 2.110000, 1.910000, 1.760000, 1.610000, 1.410000, 1.360000, 1.260000, 1.160000, 1.110000, 1.010000, 0.960000, 0.960000, 0.910000, 0.860000, 0.810000, 0.810000, 0.760000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 1.960000, 2.110000, 2.210000, 2.360000, 2.460000, 2.710000, 2.910000, 3.060000, 3.360000, 3.660000, 4.060000, 4.560000, 5.110000, 5.910000, 6.940000, 8.260000, 10.560000, 14.460000, 33.260000, 20.260000, 20.410000, 35.510000, 23.460000, 16.810000, 14.210000, 12.060000, 9.610000, 9.310000, 9.560000, 6.910000, 6.910000, 5.760000, 5.610000, 4.860000, 4.860000, 4.860000, 5.960000, 6.060000, 6.110000, 3.960000, 6.160000, 6.210000, 6.260000, 6.260000, 6.360000, 6.360000, 6.460000, 2.710000, 2.360000, 2.310000, 2.290000, 2.260000, 2.240000, 2.260000, 2.210000, 2.160000, 2.310000, 2.160000, 2.110000, 2.060000, 2.010000, 2.010000, 1.910000, 1.960000, 1.910000, 1.910000, 1.860000, 1.660000, 1.660000, 1.510000, 1.510000, 1.510000, 1.610000, 1.660000, 3.360000, 3.510000, 3.610000, 3.710000, 3.760000, 3.910000, 4.010000, 4.110000, 4.210000, 4.410000, 4.560000, 4.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.610000, 1.460000, 1.460000, 1.510000, 1.560000, 1.460000, 1.510000, 1.460000, 1.560000, 1.360000, 1.260000, 1.260000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 817, 669998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.401600, 30.098101, -1.303037 ], "estimate": [ -13.401600, 30.098101, -1.303037 ], "true_pose": [ null, null, null ], "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, 0.840000, 0.890000, 0.860000, 0.910000, 22.460000, 33.510000, 39.510000, 50.000000, 15.760000, 7.610000, 4.240000, 2.870000, 2.310000, 1.860000, 1.560000, 1.310000, 1.160000, 1.010000, 0.960000, 0.810000, 0.760000, 0.710000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.760000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.410000, 2.610000, 2.860000, 3.060000, 3.310000, 3.660000, 4.010000, 4.510000, 5.110000, 5.810000, 6.860000, 8.510000, 11.060000, 20.510000, 25.010000, 20.210000, 20.560000, 49.460000, 23.260000, 16.510000, 12.960000, 11.960000, 9.460000, 9.210000, 9.410000, 6.710000, 6.760000, 5.610000, 5.610000, 5.460000, 4.660000, 4.760000, 5.860000, 5.860000, 5.910000, 5.960000, 6.010000, 6.010000, 6.060000, 6.110000, 6.160000, 6.210000, 6.260000, 6.310000, 6.360000, 6.460000, 2.290000, 2.190000, 2.190000, 2.110000, 2.110000, 2.110000, 2.160000, 2.010000, 2.010000, 2.110000, 2.060000, 2.010000, 2.010000, 1.960000, 1.960000, 1.860000, 1.860000, 1.810000, 1.810000, 1.760000, 1.760000, 1.610000, 1.610000, 1.560000, 1.410000, 1.410000, 1.440000, 1.510000, 1.560000, 3.660000, 3.710000, 3.860000, 1.860000, 4.110000, 4.210000, 4.410000, 4.610000, 4.810000, 5.060000, 5.310000, 5.560000, 1.710000, 1.610000, 1.510000, 1.560000, 1.510000, 1.460000, 1.510000, 1.410000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 818, 19998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.372200, 29.991600, -1.282439 ], "estimate": [ -13.372200, 29.991600, -1.282439 ], "true_pose": [ null, null, null ], "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": [ 15.710000, 15.760000, 21.360000, 22.660000, 16.060000, 50.000000, 50.000000, 9.460000, 3.840000, 2.410000, 1.610000, 1.210000, 1.010000, 0.860000, 0.710000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.390000, 1.440000, 1.490000, 1.590000, 1.590000, 1.690000, 1.760000, 1.860000, 1.960000, 2.060000, 2.110000, 2.310000, 2.460000, 2.610000, 2.810000, 3.060000, 3.310000, 3.660000, 4.060000, 4.560000, 5.110000, 5.960000, 7.110000, 8.810000, 11.760000, 20.460000, 28.160000, 20.360000, 20.410000, 28.910000, 20.510000, 16.410000, 12.810000, 11.860000, 9.210000, 9.110000, 9.310000, 6.660000, 6.660000, 5.560000, 5.510000, 5.360000, 4.560000, 4.610000, 5.810000, 5.810000, 5.810000, 5.860000, 3.510000, 5.960000, 6.010000, 6.060000, 6.110000, 6.110000, 6.210000, 6.260000, 6.310000, 6.360000, 2.360000, 2.240000, 2.190000, 2.090000, 2.060000, 2.060000, 2.060000, 2.110000, 2.010000, 2.010000, 2.060000, 2.060000, 2.060000, 1.910000, 1.910000, 1.910000, 1.860000, 1.860000, 1.760000, 1.760000, 1.710000, 1.710000, 1.710000, 1.610000, 1.560000, 1.560000, 1.410000, 1.360000, 1.460000, 1.410000, 1.510000, 3.760000, 3.860000, 3.960000, 1.810000, 4.260000, 4.460000, 4.660000, 4.860000, 5.110000, 5.360000, 5.660000, 5.960000, 6.310000, 1.710000, 1.610000, 1.510000, 1.460000, 1.410000, 1.410000, 1.460000, 1.360000 ], "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": [ 818, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.352200, 29.928001, -1.249235 ], "estimate": [ -13.352200, 29.928001, -1.249235 ], "true_pose": [ null, null, null ], "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": [ 15.910000, 21.410000, 15.660000, 32.410000, 50.000000, 50.000000, 6.110000, 2.360000, 1.360000, 0.960000, 0.710000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.990000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.040000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.590000, 1.640000, 1.690000, 1.760000, 1.810000, 1.910000, 2.010000, 2.110000, 2.260000, 2.410000, 2.610000, 2.810000, 3.060000, 3.310000, 3.660000, 4.060000, 4.510000, 5.110000, 6.010000, 7.010000, 8.760000, 11.660000, 20.460000, 28.210000, 20.460000, 20.410000, 28.860000, 20.460000, 16.410000, 12.760000, 11.810000, 9.310000, 9.060000, 9.260000, 6.610000, 6.610000, 5.660000, 5.510000, 5.410000, 4.560000, 4.610000, 5.760000, 5.810000, 5.810000, 5.810000, 5.860000, 3.410000, 5.960000, 6.010000, 6.060000, 6.110000, 6.160000, 6.210000, 6.260000, 6.360000, 6.360000, 2.260000, 2.190000, 2.090000, 2.010000, 2.010000, 2.040000, 2.090000, 2.060000, 1.960000, 1.960000, 2.060000, 2.010000, 1.960000, 1.910000, 1.910000, 1.860000, 1.860000, 1.810000, 1.760000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.510000, 1.510000, 1.460000, 1.360000, 1.360000, 1.410000, 1.510000, 3.760000, 3.910000, 3.960000, 4.160000, 4.360000, 4.560000, 4.760000, 5.010000, 5.310000, 5.510000, 5.810000, 6.160000, 1.660000, 6.310000, 1.660000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.360000 ], "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": [ 818, 419998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.333300, 29.873402, -1.220856 ], "estimate": [ -13.333300, 29.873402, -1.220856 ], "true_pose": [ null, null, null ], "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": [ 15.660000, 22.510000, 50.000000, 0.610000, 0.620000, 0.590000, 0.620000, 0.540000, 0.590000, 0.590000, 0.540000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.810000, 1.860000, 2.010000, 2.110000, 2.210000, 2.360000, 2.610000, 2.760000, 2.960000, 3.260000, 3.560000, 3.960000, 4.460000, 5.010000, 5.710000, 6.760000, 8.460000, 11.060000, 20.360000, 24.960000, 20.960000, 20.460000, 50.000000, 23.060000, 16.310000, 12.960000, 11.760000, 50.000000, 8.960000, 9.260000, 8.510000, 6.560000, 5.660000, 5.360000, 5.310000, 4.510000, 4.510000, 4.610000, 5.710000, 5.710000, 5.760000, 5.810000, 3.310000, 5.860000, 5.910000, 5.960000, 6.010000, 6.060000, 6.110000, 6.210000, 6.260000, 6.310000, 4.560000, 2.210000, 2.090000, 2.090000, 1.990000, 1.960000, 1.960000, 1.960000, 2.010000, 2.010000, 1.910000, 1.960000, 2.010000, 1.960000, 1.860000, 1.910000, 1.860000, 1.810000, 1.810000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.510000, 1.460000, 1.460000, 1.360000, 1.340000, 1.360000, 1.360000, 1.460000, 3.960000, 4.110000, 4.360000, 4.560000, 1.760000, 1.810000, 5.310000, 5.560000, 5.910000, 1.710000, 6.360000, 1.810000, 1.710000, 1.710000, 1.610000, 1.510000, 1.510000, 1.510000, 1.410000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 818, 659998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.308399, 29.808500, -1.179661 ], "estimate": [ -13.308399, 29.808500, -1.179661 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.670000, 0.590000, 0.620000, 0.590000, 0.620000, 0.620000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.590000, 0.590000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.540000, 1.540000, 1.640000, 1.740000, 1.810000, 1.910000, 1.960000, 2.060000, 2.210000, 2.410000, 2.560000, 2.710000, 2.910000, 3.160000, 3.460000, 3.860000, 4.310000, 4.810000, 5.560000, 6.510000, 7.960000, 10.160000, 14.010000, 24.760000, 43.260000, 20.660000, 20.760000, 23.060000, 20.360000, 13.760000, 11.660000, 11.710000, 8.960000, 8.960000, 8.460000, 6.510000, 6.510000, 5.360000, 5.360000, 5.260000, 4.410000, 4.410000, 5.610000, 5.610000, 5.660000, 5.710000, 5.760000, 3.560000, 5.810000, 5.860000, 5.910000, 5.960000, 6.010000, 6.060000, 6.110000, 6.160000, 6.210000, 4.510000, 2.410000, 2.090000, 1.990000, 1.990000, 1.910000, 1.910000, 1.960000, 1.960000, 1.960000, 1.910000, 1.860000, 1.910000, 1.960000, 1.910000, 1.810000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.710000, 1.610000, 1.660000, 1.610000, 1.560000, 1.560000, 1.460000, 1.410000, 1.410000, 1.310000, 1.290000, 1.260000, 1.360000, 1.460000, 4.310000, 4.460000, 1.760000, 4.960000, 1.660000, 1.560000, 1.710000, 1.660000, 1.710000, 1.710000, 1.710000, 1.660000, 1.560000, 1.560000, 1.560000, 1.460000, 1.410000, 1.360000, 1.310000, 1.260000 ], "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": [ 818, 899998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.271100, 29.725100, -1.109037 ], "estimate": [ -13.271100, 29.725100, -1.109037 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.620000, 0.620000, 0.620000, 0.620000, 0.590000, 0.620000, 0.620000, 0.590000, 0.590000, 0.640000, 0.590000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.890000, 0.890000, 0.840000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.910000, 2.060000, 2.110000, 2.260000, 2.410000, 2.610000, 2.810000, 3.010000, 3.310000, 3.660000, 4.060000, 4.510000, 5.110000, 6.410000, 7.160000, 8.760000, 11.610000, 20.260000, 27.960000, 48.960000, 20.810000, 28.660000, 20.260000, 16.210000, 12.560000, 11.610000, 50.000000, 8.860000, 9.060000, 8.410000, 6.410000, 5.660000, 5.260000, 5.160000, 5.160000, 4.310000, 4.410000, 5.510000, 5.560000, 5.560000, 5.610000, 5.660000, 3.260000, 5.710000, 5.810000, 5.860000, 5.910000, 5.910000, 6.010000, 6.060000, 6.160000, 6.210000, 4.410000, 6.310000, 2.110000, 1.990000, 1.940000, 1.940000, 1.860000, 1.860000, 1.840000, 1.910000, 1.910000, 1.860000, 1.810000, 1.860000, 1.910000, 1.860000, 1.810000, 1.760000, 1.760000, 1.760000, 1.710000, 1.660000, 1.660000, 1.660000, 1.610000, 1.560000, 1.610000, 1.560000, 1.510000, 1.510000, 1.410000, 1.360000, 1.360000, 1.390000, 1.240000, 1.290000, 1.290000, 1.310000, 1.760000, 1.710000, 1.710000, 1.660000, 1.610000, 1.560000, 1.510000, 1.610000, 1.560000, 1.560000, 1.510000, 1.560000, 1.460000, 1.460000, 1.360000, 1.360000, 1.310000, 1.260000, 1.260000, 1.250000, 1.260000 ], "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": [ 819, 139998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.241700, 29.669600, -1.047244 ], "estimate": [ -13.241700, 29.669600, -1.047244 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.620000, 0.590000, 0.640000, 0.590000, 0.670000, 0.640000, 0.640000, 0.640000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.040000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.490000, 1.540000, 1.590000, 1.690000, 1.760000, 1.810000, 1.910000, 2.010000, 2.110000, 2.260000, 2.410000, 2.560000, 2.760000, 3.010000, 3.310000, 3.560000, 3.960000, 4.460000, 5.010000, 6.360000, 6.760000, 8.360000, 10.760000, 20.110000, 24.660000, 43.210000, 20.960000, 20.860000, 22.860000, 16.410000, 13.610000, 11.510000, 11.660000, 8.810000, 8.860000, 8.310000, 6.360000, 6.360000, 5.210000, 5.210000, 5.110000, 4.310000, 4.260000, 4.410000, 5.460000, 5.560000, 5.560000, 5.560000, 5.610000, 3.210000, 5.710000, 5.760000, 5.810000, 5.810000, 5.910000, 6.010000, 6.060000, 6.110000, 6.110000, 4.360000, 4.410000, 2.060000, 1.960000, 1.890000, 1.890000, 1.840000, 1.810000, 1.790000, 1.840000, 1.840000, 1.860000, 1.760000, 1.760000, 1.810000, 1.810000, 1.760000, 1.710000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.560000, 1.560000, 1.560000, 1.610000, 1.560000, 1.560000, 1.510000, 1.360000, 1.340000, 1.390000, 1.340000, 1.290000, 1.240000, 1.240000, 1.290000, 1.410000, 1.610000, 1.660000, 1.560000, 1.560000, 1.560000, 1.560000, 1.610000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.360000, 1.360000, 1.260000, 1.250000, 1.240000, 1.310000, 1.310000, 1.360000, 1.360000 ], "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": [ 819, 379998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.216999, 29.628700, -0.999746 ], "estimate": [ -13.216999, 29.628700, -0.999746 ], "true_pose": [ null, null, null ], "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": [ 0.590000, 0.590000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.640000, 0.640000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.690000, 1.710000, 1.810000, 1.910000, 1.960000, 2.060000, 2.210000, 2.360000, 2.510000, 2.660000, 2.860000, 3.060000, 3.410000, 3.710000, 4.060000, 4.560000, 5.160000, 6.290000, 7.060000, 8.710000, 11.460000, 20.110000, 26.360000, 43.110000, 50.000000, 20.960000, 22.760000, 16.060000, 13.160000, 11.460000, 50.000000, 8.760000, 8.860000, 8.260000, 6.310000, 6.310000, 5.110000, 5.160000, 5.010000, 4.210000, 4.210000, 4.260000, 5.460000, 5.460000, 5.460000, 5.510000, 5.560000, 3.210000, 5.610000, 5.660000, 5.760000, 5.760000, 5.860000, 5.910000, 5.960000, 6.010000, 6.060000, 4.260000, 4.510000, 4.010000, 2.010000, 1.860000, 1.840000, 1.790000, 1.740000, 1.710000, 1.760000, 1.760000, 1.810000, 1.760000, 1.760000, 1.710000, 1.760000, 1.760000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.510000, 1.410000, 1.340000, 1.340000, 1.340000, 1.340000, 1.240000, 1.190000, 1.210000, 1.290000, 1.360000, 1.510000, 1.460000, 1.560000, 1.560000, 1.560000, 1.560000, 1.460000, 1.460000, 1.360000, 1.360000, 1.360000, 1.310000, 1.260000, 1.270000, 1.210000, 1.310000, 1.310000, 1.360000, 1.360000, 1.410000, 1.360000, 1.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 819, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.170401, 29.558899, -0.971160 ], "estimate": [ -13.170401, 29.558899, -0.971160 ], "true_pose": [ null, null, null ], "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": [ 0.640000, 0.620000, 0.690000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.760000, 1.860000, 1.960000, 2.060000, 2.210000, 2.310000, 2.460000, 2.610000, 2.810000, 3.060000, 3.360000, 3.660000, 4.010000, 4.460000, 5.010000, 6.240000, 6.760000, 8.260000, 10.410000, 13.760000, 24.560000, 43.010000, 48.760000, 21.060000, 28.410000, 20.010000, 13.560000, 11.460000, 11.460000, 8.660000, 8.710000, 8.260000, 6.210000, 6.210000, 5.260000, 5.060000, 5.010000, 4.910000, 4.160000, 4.210000, 5.360000, 5.360000, 5.410000, 5.460000, 5.460000, 5.510000, 3.360000, 5.610000, 5.660000, 5.710000, 5.760000, 5.810000, 5.860000, 5.960000, 5.960000, 6.060000, 4.260000, 6.210000, 4.060000, 1.860000, 1.840000, 1.790000, 1.790000, 1.740000, 1.710000, 1.660000, 1.690000, 1.740000, 1.710000, 1.710000, 1.660000, 1.660000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.220000, 1.170000, 1.190000, 1.270000, 1.410000, 1.510000, 1.510000, 1.510000, 1.510000, 1.410000, 1.410000, 1.410000, 1.360000, 1.260000, 1.210000, 1.240000, 1.210000, 1.210000, 1.310000, 1.310000, 1.360000, 1.360000, 1.410000, 1.310000, 1.260000 ], "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": [ 819, 899998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.130401, 29.501900, -0.939842 ], "estimate": [ -13.130401, 29.501900, -0.939842 ], "true_pose": [ null, null, null ], "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, 0.640000, 0.690000, 0.640000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.760000, 1.860000, 1.910000, 2.060000, 2.110000, 2.210000, 2.410000, 2.510000, 2.710000, 2.910000, 3.160000, 3.460000, 3.760000, 4.110000, 4.610000, 5.210000, 6.140000, 6.960000, 8.510000, 10.810000, 13.860000, 24.410000, 42.910000, 48.660000, 21.360000, 21.260000, 19.910000, 13.410000, 11.310000, 11.310000, 8.510000, 8.610000, 8.160000, 6.110000, 6.110000, 5.210000, 4.960000, 4.860000, 4.760000, 4.010000, 4.110000, 5.210000, 5.260000, 5.310000, 5.310000, 5.310000, 5.410000, 3.360000, 5.510000, 5.510000, 5.560000, 5.610000, 5.710000, 5.710000, 5.810000, 5.860000, 5.910000, 4.210000, 6.060000, 6.160000, 3.860000, 2.060000, 1.760000, 1.690000, 1.690000, 1.640000, 1.640000, 1.560000, 1.610000, 1.560000, 1.610000, 1.660000, 1.610000, 1.610000, 1.560000, 1.610000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.360000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.310000, 1.240000, 1.240000, 1.270000, 1.270000, 1.270000, 1.120000, 1.120000, 1.170000, 1.260000, 1.360000, 1.360000, 1.360000, 1.360000, 1.260000, 1.210000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.310000, 1.410000, 1.460000, 1.460000, 1.410000, 1.460000, 1.560000, 1.560000 ], "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": [ 820, 259998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.059700, 29.408401, -0.916722 ], "estimate": [ -13.059700, 29.408401, -0.916722 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.810000, 1.860000, 1.960000, 2.060000, 2.160000, 2.310000, 2.460000, 2.610000, 2.760000, 3.010000, 3.260000, 3.460000, 3.910000, 4.260000, 4.760000, 5.460000, 6.110000, 7.210000, 8.810000, 11.310000, 19.860000, 24.360000, 42.910000, 48.910000, 21.310000, 21.260000, 15.910000, 13.360000, 11.260000, 11.360000, 8.510000, 8.560000, 8.110000, 6.060000, 6.060000, 5.110000, 4.910000, 4.810000, 4.810000, 3.960000, 4.110000, 5.160000, 5.260000, 5.210000, 5.260000, 5.310000, 5.360000, 3.060000, 5.460000, 5.510000, 5.560000, 5.560000, 5.660000, 5.710000, 5.760000, 5.810000, 5.910000, 5.960000, 4.160000, 4.310000, 3.860000, 2.060000, 1.760000, 1.690000, 1.690000, 1.640000, 1.590000, 1.590000, 1.560000, 1.590000, 1.590000, 1.590000, 1.610000, 1.560000, 1.510000, 1.560000, 1.560000, 1.610000, 1.560000, 1.510000, 1.510000, 1.510000, 1.510000, 1.460000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.240000, 1.220000, 1.270000, 1.270000, 1.220000, 1.220000, 1.220000, 1.170000, 1.120000, 1.140000, 1.260000, 1.360000, 1.310000, 1.260000, 1.210000, 1.190000, 1.210000, 1.210000, 1.210000, 1.210000, 1.360000, 1.360000, 1.410000, 1.510000, 1.460000, 1.410000, 1.560000, 1.660000 ], "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": [ 820, 389998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -13.027500, 29.366100, -0.923447 ], "estimate": [ -13.027500, 29.366100, -0.923447 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.590000, 1.740000, 1.790000, 1.840000, 1.860000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.660000, 2.810000, 3.060000, 3.210000, 3.560000, 3.860000, 4.260000, 4.710000, 5.960000, 5.960000, 7.060000, 8.510000, 10.560000, 13.510000, 26.210000, 40.910000, 48.460000, 48.510000, 21.360000, 19.760000, 15.710000, 11.260000, 11.160000, 8.410000, 8.410000, 8.560000, 6.010000, 5.960000, 5.110000, 4.810000, 4.810000, 4.710000, 3.860000, 3.910000, 3.960000, 5.060000, 5.060000, 5.110000, 5.210000, 5.160000, 5.260000, 2.710000, 5.310000, 5.360000, 5.460000, 5.460000, 5.510000, 5.610000, 5.610000, 5.660000, 5.760000, 5.860000, 3.960000, 6.010000, 6.210000, 4.110000, 3.860000, 1.910000, 1.660000, 1.590000, 1.590000, 1.540000, 1.490000, 1.490000, 1.460000, 1.460000, 1.460000, 1.460000, 1.510000, 1.510000, 1.460000, 1.410000, 1.410000, 1.510000, 1.510000, 1.460000, 1.460000, 1.410000, 1.410000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.360000, 1.310000, 1.260000, 1.310000, 1.310000, 1.260000, 1.220000, 1.170000, 1.200000, 1.200000, 1.250000, 1.220000, 1.220000, 1.100000, 1.100000, 1.100000, 1.170000, 1.160000, 1.210000, 1.310000, 1.360000, 1.210000, 1.310000, 1.410000, 1.410000, 1.460000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 820, 740998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.968000, 29.284300, -0.964854 ], "estimate": [ -12.968000, 29.284300, -0.964854 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.440000, 1.440000, 1.540000, 1.540000, 1.590000, 1.690000, 1.740000, 1.840000, 1.890000, 1.910000, 2.010000, 2.160000, 2.260000, 2.360000, 2.460000, 2.710000, 2.860000, 3.110000, 3.310000, 3.560000, 3.910000, 4.310000, 4.760000, 5.910000, 6.010000, 7.060000, 8.560000, 10.810000, 13.710000, 26.260000, 42.710000, 48.410000, 48.410000, 21.460000, 19.710000, 15.660000, 11.210000, 11.060000, 8.360000, 8.360000, 8.560000, 5.910000, 5.910000, 5.260000, 4.710000, 4.760000, 4.660000, 3.810000, 3.810000, 3.860000, 5.010000, 5.010000, 5.060000, 5.060000, 5.110000, 5.160000, 2.710000, 5.260000, 5.310000, 5.360000, 5.410000, 5.460000, 5.510000, 5.560000, 5.660000, 5.710000, 5.760000, 3.910000, 5.910000, 4.110000, 3.960000, 3.860000, 3.810000, 1.810000, 1.610000, 1.540000, 1.490000, 1.490000, 1.490000, 1.440000, 1.390000, 1.410000, 1.390000, 1.440000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.410000, 1.360000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.150000, 1.200000, 1.220000, 1.220000, 1.170000, 1.220000, 1.170000, 1.100000, 1.120000, 1.100000, 1.210000, 1.260000, 1.260000, 1.210000, 1.410000, 1.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 820, 940000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.932300, 29.230301, -1.006468 ], "estimate": [ -12.932300, 29.230301, -1.006468 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.760000, 1.840000, 1.910000, 2.010000, 2.160000, 2.210000, 2.360000, 2.510000, 2.610000, 2.810000, 3.010000, 3.210000, 3.460000, 3.810000, 4.110000, 4.660000, 5.710000, 5.890000, 6.710000, 7.960000, 9.710000, 12.260000, 19.610000, 32.210000, 42.810000, 48.510000, 50.000000, 19.810000, 15.560000, 12.060000, 10.960000, 50.000000, 8.260000, 8.360000, 7.760000, 5.810000, 5.810000, 4.860000, 4.660000, 4.560000, 4.510000, 3.710000, 3.710000, 3.860000, 4.910000, 4.960000, 5.010000, 5.060000, 5.110000, 5.110000, 2.660000, 5.210000, 5.260000, 5.310000, 5.360000, 5.360000, 5.510000, 5.560000, 5.560000, 5.660000, 5.710000, 3.910000, 5.860000, 5.960000, 3.610000, 3.560000, 3.560000, 1.810000, 1.860000, 1.560000, 1.490000, 1.490000, 1.440000, 1.440000, 1.440000, 1.390000, 1.360000, 1.360000, 1.410000, 1.390000, 1.410000, 1.360000, 1.410000, 1.390000, 1.360000, 1.410000, 1.410000, 1.360000, 1.460000, 1.410000, 1.410000, 1.360000, 1.360000, 1.360000, 1.360000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.210000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.200000, 1.170000, 1.170000, 1.250000, 1.220000, 1.170000, 1.220000, 1.150000, 1.100000, 1.070000 ], "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": [ 821, 179998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.896999, 29.171499, -1.064695 ], "estimate": [ -12.896999, 29.171499, -1.064695 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.770000, 0.770000, 0.690000, 0.720000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.790000, 1.890000, 1.910000, 2.060000, 2.110000, 2.260000, 2.360000, 2.460000, 2.660000, 2.810000, 3.010000, 3.260000, 3.510000, 3.810000, 4.160000, 4.610000, 5.710000, 5.760000, 6.660000, 7.910000, 9.610000, 12.010000, 19.510000, 27.210000, 42.560000, 48.360000, 50.000000, 22.210000, 15.510000, 12.210000, 10.910000, 50.000000, 8.210000, 8.310000, 7.710000, 5.710000, 5.710000, 4.810000, 4.610000, 4.560000, 4.510000, 3.660000, 3.660000, 3.710000, 4.860000, 4.860000, 4.910000, 4.960000, 4.960000, 5.010000, 5.060000, 2.560000, 5.160000, 5.210000, 5.210000, 5.310000, 5.360000, 5.410000, 5.460000, 5.560000, 5.560000, 5.660000, 3.810000, 5.860000, 5.910000, 6.060000, 3.610000, 3.460000, 3.460000, 1.710000, 1.710000, 1.910000, 1.460000, 1.390000, 1.340000, 1.390000, 1.340000, 1.340000, 1.290000, 1.310000, 1.310000, 1.290000, 1.340000, 1.340000, 1.310000, 1.360000, 1.310000, 1.260000, 1.360000, 1.360000, 1.410000, 1.410000, 1.360000, 1.310000, 1.260000, 1.360000, 1.310000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.160000, 1.190000, 1.240000, 1.190000, 1.190000, 1.220000, 1.170000 ], "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": [ 821, 500000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.855800, 29.089800, -1.134889 ], "estimate": [ -12.855800, 29.089800, -1.134889 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.740000, 0.690000, 0.720000, 0.770000, 0.770000, 0.740000, 0.690000, 0.740000, 0.690000, 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, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.590000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.910000, 2.010000, 2.110000, 2.210000, 2.310000, 2.460000, 2.560000, 2.760000, 2.960000, 3.160000, 3.410000, 3.760000, 4.110000, 4.460000, 5.560000, 5.690000, 6.510000, 7.610000, 9.160000, 11.760000, 19.510000, 23.960000, 42.460000, 48.260000, 34.210000, 22.160000, 19.460000, 12.910000, 10.810000, 10.860000, 8.060000, 8.210000, 8.310000, 5.760000, 5.660000, 5.710000, 4.510000, 4.460000, 4.360000, 4.310000, 3.560000, 3.610000, 3.660000, 4.760000, 4.860000, 4.860000, 4.910000, 4.910000, 4.910000, 4.960000, 2.460000, 5.060000, 5.110000, 5.160000, 5.210000, 5.310000, 5.310000, 5.460000, 5.460000, 5.510000, 5.610000, 3.760000, 5.810000, 6.010000, 3.960000, 3.710000, 3.610000, 3.560000, 3.610000, 5.160000, 1.710000, 1.860000, 1.460000, 1.360000, 1.340000, 1.290000, 1.340000, 1.290000, 1.290000, 1.240000, 1.260000, 1.260000, 1.290000, 1.310000, 1.310000, 1.310000, 1.310000, 1.260000, 1.260000, 1.290000, 1.360000, 1.360000, 1.310000, 1.310000, 1.260000, 1.310000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.240000, 1.190000, 1.190000, 1.190000, 1.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 821, 740000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.823001, 29.014999, -1.168523 ], "estimate": [ -12.823001, 29.014999, -1.168523 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.720000, 0.720000, 0.770000, 0.690000, 0.770000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.490000, 1.490000, 1.540000, 1.590000, 1.690000, 1.740000, 1.840000, 1.890000, 1.910000, 2.060000, 2.160000, 2.260000, 2.360000, 2.510000, 2.660000, 2.810000, 3.010000, 3.310000, 3.560000, 3.910000, 4.310000, 4.610000, 5.560000, 6.010000, 7.010000, 8.410000, 10.560000, 13.160000, 19.360000, 37.310000, 48.060000, 48.260000, 25.860000, 19.410000, 15.260000, 11.660000, 10.710000, 50.000000, 8.010000, 8.110000, 7.560000, 5.560000, 5.510000, 4.810000, 4.410000, 4.410000, 4.260000, 4.260000, 3.510000, 3.460000, 3.560000, 4.660000, 4.710000, 4.710000, 4.760000, 4.810000, 4.860000, 4.910000, 4.960000, 2.360000, 5.060000, 5.060000, 5.110000, 5.160000, 5.260000, 5.310000, 5.360000, 5.410000, 5.510000, 3.660000, 3.710000, 5.760000, 6.060000, 3.810000, 3.510000, 3.510000, 3.410000, 3.460000, 5.010000, 5.010000, 1.610000, 1.860000, 1.810000, 1.410000, 1.310000, 1.290000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.210000, 1.240000, 1.240000, 1.240000, 1.290000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000, 1.310000, 1.310000, 1.260000, 1.260000, 1.210000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.240000, 1.190000, 1.240000, 1.190000, 1.190000 ], "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": [ 822, 59998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.774100, 28.900702, -1.162010 ], "estimate": [ -12.774100, 28.900702, -1.162010 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.690000, 0.720000, 0.720000, 0.740000, 0.720000, 0.740000, 0.740000, 0.740000, 0.720000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.590000, 1.690000, 1.690000, 1.840000, 1.890000, 1.910000, 2.060000, 2.160000, 2.260000, 2.410000, 2.510000, 2.660000, 2.860000, 3.060000, 3.310000, 3.610000, 3.960000, 4.310000, 5.360000, 5.490000, 6.160000, 7.160000, 8.610000, 10.710000, 19.260000, 26.910000, 42.310000, 47.960000, 48.060000, 25.810000, 19.260000, 15.210000, 11.560000, 10.610000, 8.210000, 7.860000, 8.110000, 7.410000, 5.460000, 5.460000, 5.960000, 4.310000, 4.310000, 4.210000, 4.110000, 3.410000, 3.410000, 3.510000, 4.560000, 4.660000, 4.660000, 4.710000, 4.760000, 4.760000, 4.810000, 4.810000, 4.910000, 2.360000, 5.010000, 5.060000, 5.110000, 5.160000, 5.160000, 5.310000, 5.360000, 5.410000, 5.460000, 3.560000, 5.660000, 5.860000, 5.910000, 6.010000, 3.510000, 3.510000, 5.010000, 5.060000, 5.010000, 4.960000, 4.360000, 1.560000, 1.560000, 1.760000, 1.710000, 1.260000, 1.260000, 1.240000, 1.240000, 1.220000, 1.190000, 1.190000, 1.190000, 1.190000, 1.140000, 1.190000, 1.210000, 1.190000, 1.270000, 1.240000, 1.190000, 1.190000, 1.190000, 1.190000, 1.210000, 1.260000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.210000, 1.240000, 1.240000, 1.240000, 1.240000, 1.190000 ], "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": [ 822, 299998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.744900, 28.833401, -1.159902 ], "estimate": [ -12.744900, 28.833401, -1.159902 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.690000, 0.720000, 0.740000, 0.720000, 0.770000, 0.720000, 0.720000, 0.690000, 0.690000, 0.740000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.740000, 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, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.790000, 1.790000, 1.860000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.560000, 2.710000, 2.910000, 3.110000, 3.310000, 3.660000, 3.910000, 4.360000, 5.410000, 5.440000, 6.210000, 7.260000, 8.710000, 10.760000, 19.160000, 23.710000, 42.210000, 47.910000, 47.910000, 50.000000, 19.260000, 15.210000, 11.460000, 10.560000, 8.110000, 7.810000, 8.010000, 7.410000, 5.410000, 5.410000, 5.660000, 4.310000, 4.260000, 4.160000, 4.110000, 3.460000, 3.310000, 3.410000, 4.510000, 4.560000, 4.560000, 4.610000, 4.660000, 4.660000, 4.710000, 4.810000, 4.860000, 4.910000, 2.210000, 5.010000, 5.060000, 5.110000, 5.210000, 5.260000, 5.310000, 5.360000, 5.410000, 5.510000, 3.510000, 5.710000, 50.000000, 6.260000, 50.000000, 3.510000, 3.510000, 5.010000, 5.010000, 4.910000, 4.960000, 4.310000, 7.060000, 1.560000, 1.710000, 1.660000, 1.660000, 1.260000, 1.210000, 1.220000, 1.190000, 1.220000, 1.190000, 1.140000, 1.140000, 1.190000, 1.190000, 1.140000, 1.140000, 1.190000, 1.220000, 1.240000, 1.190000, 1.220000, 1.170000, 1.220000, 1.190000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.190000, 1.240000, 1.240000, 1.190000, 1.190000 ], "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": [ 822, 460000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.718101, 28.772200, -1.152760 ], "estimate": [ -12.718101, 28.772200, -1.152760 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.690000, 0.720000, 0.720000, 0.720000, 0.690000, 0.740000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.390000, 1.390000, 1.440000, 1.540000, 1.540000, 1.590000, 1.640000, 1.690000, 1.760000, 1.840000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.510000, 2.660000, 2.810000, 3.010000, 3.210000, 3.460000, 3.760000, 4.160000, 5.060000, 5.310000, 5.810000, 6.710000, 7.910000, 9.710000, 12.760000, 19.060000, 31.610000, 42.310000, 47.860000, 50.000000, 21.810000, 15.060000, 12.560000, 10.460000, 10.460000, 7.710000, 7.760000, 6.910000, 7.260000, 5.310000, 5.310000, 5.860000, 4.160000, 4.160000, 4.060000, 3.960000, 3.610000, 3.260000, 3.310000, 3.360000, 4.460000, 4.510000, 4.560000, 4.560000, 4.610000, 4.610000, 4.660000, 4.760000, 4.810000, 4.860000, 2.160000, 4.910000, 5.010000, 5.060000, 5.160000, 5.160000, 5.260000, 5.310000, 5.410000, 3.460000, 5.660000, 5.710000, 5.810000, 5.960000, 3.460000, 3.410000, 3.460000, 4.910000, 4.910000, 4.860000, 4.260000, 4.410000, 6.960000, 6.910000, 6.860000, 1.510000, 1.610000, 1.610000, 1.610000, 1.610000, 1.210000, 1.210000, 1.190000, 1.170000, 1.140000, 1.140000, 1.170000, 1.170000, 1.090000, 1.140000, 1.090000, 1.140000, 1.170000, 1.220000, 1.220000, 1.170000, 1.200000, 1.200000, 1.200000, 1.170000, 1.210000, 1.210000, 1.210000, 1.210000, 1.240000, 1.190000 ], "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": [ 822, 779998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.678900, 28.684399, -1.147296 ], "estimate": [ -12.678900, 28.684399, -1.147296 ], "true_pose": [ null, null, null ], "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, 0.700000, 0.730000, 0.730000, 0.700000, 0.730000, 0.730000, 0.730000, 0.730000, 0.750000, 0.750000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.900000, 0.950000, 1.000000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.200000, 1.150000, 1.200000, 1.250000, 1.300000, 1.300000, 1.350000, 1.400000, 1.400000, 1.500000, 1.500000, 1.600000, 1.600000, 1.700000, 1.750000, 1.800000, 1.900000, 1.970000, 2.070000, 2.120000, 2.220000, 2.370000, 2.470000, 2.720000, 2.870000, 3.020000, 3.320000, 3.570000, 3.920000, 4.270000, 5.300000, 5.250000, 6.020000, 7.020000, 8.370000, 10.470000, 13.970000, 19.020000, 37.020000, 47.770000, 47.770000, 25.620000, 19.070000, 15.020000, 11.420000, 10.420000, 50.000000, 7.670000, 7.720000, 7.870000, 7.170000, 5.270000, 5.270000, 4.420000, 4.070000, 4.120000, 3.970000, 3.970000, 3.970000, 3.170000, 3.270000, 3.320000, 4.470000, 4.470000, 4.520000, 4.520000, 4.570000, 4.620000, 4.620000, 4.670000, 4.770000, 4.770000, 2.070000, 4.870000, 4.970000, 5.020000, 5.070000, 5.170000, 5.220000, 5.270000, 5.320000, 5.470000, 3.420000, 5.620000, 5.770000, 5.870000, 6.020000, 3.370000, 3.370000, 4.820000, 4.920000, 4.920000, 4.870000, 1.770000, 6.870000, 6.920000, 6.820000, 6.770000, 1.920000, 1.520000, 1.620000, 1.570000, 1.570000, 1.570000, 1.170000, 1.120000, 1.150000, 1.180000, 1.100000, 1.100000, 1.150000, 1.130000, 1.130000, 1.130000, 1.180000, 1.130000, 1.130000, 1.180000, 1.180000, 1.210000, 1.210000, 1.230000, 1.210000, 1.210000, 1.170000, 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": [ 822, 980000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.637900, 28.595800, -1.122912 ], "estimate": [ -12.637900, 28.595800, -1.122912 ], "true_pose": [ null, null, null ], "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, 0.730000, 0.680000, 0.730000, 0.730000, 0.750000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.050000, 1.100000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.350000, 1.400000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.750000, 1.750000, 1.850000, 1.920000, 2.020000, 2.120000, 2.220000, 2.320000, 2.470000, 2.620000, 2.770000, 2.970000, 3.220000, 3.470000, 3.770000, 4.120000, 5.070000, 5.250000, 5.720000, 6.670000, 7.820000, 9.520000, 12.120000, 19.020000, 26.920000, 42.070000, 47.820000, 50.000000, 21.670000, 14.970000, 12.520000, 10.370000, 10.370000, 7.670000, 7.620000, 7.820000, 7.220000, 5.220000, 5.220000, 5.320000, 4.270000, 4.070000, 4.070000, 3.970000, 3.920000, 3.170000, 3.170000, 3.220000, 4.370000, 4.370000, 4.420000, 4.420000, 4.470000, 4.520000, 4.570000, 4.620000, 4.670000, 4.720000, 4.720000, 2.020000, 4.870000, 4.970000, 5.020000, 5.070000, 5.120000, 5.170000, 5.270000, 5.370000, 3.620000, 3.420000, 5.670000, 3.620000, 3.670000, 3.620000, 3.320000, 3.370000, 50.000000, 4.020000, 4.870000, 6.770000, 4.270000, 6.920000, 6.870000, 6.770000, 6.720000, 6.620000, 1.570000, 1.420000, 1.620000, 1.570000, 1.520000, 1.520000, 1.170000, 1.150000, 1.150000, 1.150000, 1.100000, 1.130000, 1.130000, 1.130000, 1.100000, 1.100000, 1.100000, 1.130000, 1.130000, 1.130000, 1.210000, 1.210000, 1.260000, 1.230000, 1.180000, 1.180000, 1.180000, 1.250000, 1.200000 ], "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": [ 823, 100999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.630301, 28.580000, -1.119965 ], "estimate": [ -12.630301, 28.580000, -1.119965 ], "true_pose": [ null, null, null ], "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, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.750000, 0.700000, 0.700000, 0.750000, 0.750000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.850000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.050000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.300000, 1.300000, 1.350000, 1.400000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.700000, 1.700000, 1.800000, 1.850000, 1.920000, 2.020000, 2.120000, 2.220000, 2.370000, 2.470000, 2.670000, 2.820000, 2.970000, 3.220000, 3.520000, 3.770000, 4.170000, 5.170000, 5.200000, 5.770000, 6.670000, 7.920000, 9.620000, 12.620000, 18.920000, 31.470000, 42.070000, 47.770000, 50.000000, 21.570000, 14.920000, 12.370000, 10.320000, 10.320000, 7.720000, 7.570000, 7.720000, 7.120000, 5.170000, 5.170000, 5.170000, 4.170000, 3.970000, 3.970000, 3.920000, 3.870000, 3.820000, 3.070000, 3.120000, 3.170000, 4.320000, 4.320000, 4.370000, 4.420000, 4.420000, 4.520000, 4.520000, 4.570000, 4.620000, 4.670000, 4.720000, 1.970000, 2.220000, 4.920000, 4.970000, 5.020000, 5.120000, 5.170000, 5.220000, 5.370000, 3.320000, 3.470000, 5.670000, 3.620000, 50.000000, 50.000000, 3.270000, 3.370000, 50.000000, 4.870000, 4.870000, 4.120000, 4.420000, 6.820000, 1.670000, 6.720000, 6.620000, 3.970000, 3.920000, 1.620000, 1.420000, 1.520000, 1.570000, 1.520000, 1.520000, 1.520000, 1.320000, 1.150000, 1.100000, 1.100000, 1.130000, 1.130000, 1.130000, 1.100000, 1.130000, 1.130000, 1.130000, 1.080000, 1.110000, 1.110000, 1.160000, 1.230000, 1.230000, 1.180000, 1.180000, 1.230000, 1.180000 ], "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": [ 823, 340000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.595900, 28.509699, -1.109876 ], "estimate": [ -12.595900, 28.509699, -1.109876 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.780000, 0.700000, 0.730000, 0.780000, 0.700000, 0.730000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.700000, 0.800000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.850000, 0.800000, 0.800000, 0.850000, 0.850000, 0.900000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 1.000000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.200000, 1.200000, 1.200000, 1.250000, 1.300000, 1.350000, 1.350000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.750000, 1.850000, 1.900000, 1.970000, 2.070000, 2.170000, 2.270000, 2.420000, 2.520000, 2.720000, 2.820000, 3.070000, 3.370000, 3.570000, 3.970000, 4.270000, 5.150000, 5.370000, 6.120000, 7.170000, 8.570000, 10.670000, 18.870000, 26.620000, 41.870000, 47.620000, 47.720000, 25.470000, 18.920000, 14.870000, 11.220000, 10.270000, 50.000000, 7.520000, 7.570000, 7.720000, 7.070000, 5.120000, 5.070000, 7.020000, 4.120000, 3.970000, 3.970000, 3.870000, 3.820000, 3.120000, 3.020000, 3.120000, 3.170000, 4.270000, 4.320000, 4.320000, 4.370000, 4.420000, 4.470000, 4.570000, 4.620000, 4.620000, 4.670000, 4.670000, 2.020000, 2.020000, 4.920000, 4.920000, 5.020000, 5.070000, 5.170000, 5.220000, 5.320000, 3.320000, 3.520000, 5.670000, 50.000000, 50.000000, 50.000000, 3.270000, 3.270000, 50.000000, 4.920000, 4.820000, 4.120000, 6.820000, 6.820000, 1.720000, 6.670000, 6.620000, 3.970000, 3.870000, 3.870000, 1.570000, 1.370000, 1.520000, 1.520000, 1.520000, 1.520000, 1.470000, 1.420000, 1.100000, 1.150000, 1.100000, 1.130000, 1.100000, 1.130000, 1.130000, 1.130000, 1.050000, 1.080000, 1.130000, 1.110000, 1.060000, 1.160000, 1.180000, 1.180000, 1.230000, 1.230000, 1.180000 ], "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": [ 823, 460000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.585999, 28.489799, -1.107778 ], "estimate": [ -12.585999, 28.489799, -1.107778 ], "true_pose": [ null, null, null ], "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, 0.730000, 0.730000, 0.780000, 0.730000, 0.750000, 0.700000, 0.700000, 0.700000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.300000, 1.350000, 1.400000, 1.400000, 1.500000, 1.450000, 1.550000, 1.550000, 1.650000, 1.750000, 1.800000, 1.850000, 1.920000, 2.020000, 2.070000, 2.170000, 2.320000, 2.420000, 2.570000, 2.720000, 2.970000, 3.120000, 3.420000, 3.720000, 4.070000, 5.020000, 5.100000, 5.620000, 6.470000, 7.620000, 9.120000, 11.370000, 18.820000, 23.470000, 41.820000, 47.670000, 33.570000, 21.670000, 18.870000, 14.770000, 11.120000, 10.170000, 50.000000, 7.470000, 7.620000, 7.070000, 6.970000, 5.020000, 5.070000, 6.970000, 4.020000, 3.870000, 3.870000, 3.770000, 3.720000, 3.120000, 2.970000, 3.020000, 3.070000, 4.270000, 4.320000, 4.320000, 4.370000, 4.420000, 4.420000, 4.470000, 4.520000, 4.570000, 4.620000, 4.670000, 4.670000, 1.920000, 4.870000, 4.920000, 4.970000, 5.020000, 5.120000, 5.220000, 5.320000, 5.420000, 3.270000, 5.570000, 5.720000, 3.520000, 3.420000, 3.220000, 3.170000, 3.120000, 3.120000, 3.320000, 4.070000, 4.120000, 6.770000, 6.720000, 6.620000, 1.770000, 6.520000, 3.870000, 3.820000, 3.770000, 3.770000, 1.520000, 1.370000, 1.420000, 1.470000, 1.520000, 1.470000, 1.470000, 1.420000, 1.100000, 1.100000, 1.100000, 1.130000, 1.080000, 1.080000, 1.080000, 1.130000, 1.080000, 1.080000, 1.080000, 1.080000, 1.130000, 1.130000, 1.160000, 1.180000, 1.180000 ], "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": [ 823, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.550501, 28.418602, -1.107359 ], "estimate": [ -12.550501, 28.418602, -1.107359 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.700000, 0.780000, 0.780000, 0.700000, 0.750000, 0.750000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.700000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.200000, 1.200000, 1.250000, 1.250000, 1.300000, 1.300000, 1.300000, 1.350000, 1.450000, 1.450000, 1.550000, 1.550000, 1.600000, 1.650000, 1.700000, 1.800000, 1.850000, 1.920000, 2.020000, 2.120000, 2.170000, 2.320000, 2.470000, 2.570000, 2.770000, 2.970000, 3.170000, 3.420000, 3.720000, 4.070000, 5.020000, 5.050000, 5.620000, 6.520000, 7.570000, 9.170000, 11.420000, 18.820000, 23.470000, 41.770000, 47.620000, 33.520000, 21.570000, 18.820000, 14.770000, 11.120000, 10.170000, 50.000000, 7.420000, 7.520000, 7.070000, 6.920000, 5.020000, 5.020000, 6.920000, 4.020000, 3.870000, 3.870000, 3.770000, 3.670000, 3.670000, 2.970000, 3.020000, 3.020000, 4.220000, 4.220000, 4.270000, 4.320000, 4.370000, 4.420000, 4.470000, 4.470000, 4.520000, 4.570000, 4.620000, 4.670000, 4.720000, 1.870000, 4.870000, 4.920000, 4.970000, 5.020000, 5.120000, 5.270000, 5.320000, 3.270000, 5.570000, 5.670000, 3.470000, 3.470000, 3.470000, 3.220000, 3.270000, 3.470000, 3.870000, 4.770000, 4.070000, 6.820000, 6.720000, 6.620000, 6.570000, 1.670000, 1.770000, 3.820000, 1.720000, 3.770000, 3.720000, 1.520000, 1.520000, 1.320000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.420000, 1.100000, 1.130000, 1.080000, 1.130000, 1.130000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.110000, 1.080000, 1.080000, 1.180000 ], "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": [ 823, 820000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.538400, 28.394400, -1.106939 ], "estimate": [ -12.538400, 28.394400, -1.106939 ], "true_pose": [ null, null, null ], "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, 0.690000, 0.720000, 0.690000, 0.740000, 0.720000, 0.690000, 0.690000, 0.690000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.290000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.840000, 1.840000, 1.910000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.660000, 2.760000, 2.960000, 3.160000, 3.460000, 3.760000, 4.010000, 4.990000, 4.960000, 5.710000, 6.610000, 7.710000, 9.410000, 12.010000, 18.710000, 25.210000, 41.660000, 50.000000, 33.460000, 21.360000, 18.710000, 12.310000, 10.960000, 10.010000, 50.000000, 7.310000, 7.360000, 7.110000, 6.810000, 4.910000, 4.910000, 6.860000, 4.010000, 3.760000, 3.760000, 3.710000, 3.760000, 3.560000, 2.860000, 2.860000, 2.910000, 3.160000, 4.160000, 4.160000, 4.260000, 4.260000, 4.310000, 4.360000, 4.410000, 4.460000, 4.460000, 4.460000, 4.510000, 4.610000, 4.660000, 1.760000, 1.810000, 4.860000, 4.960000, 5.010000, 5.110000, 5.210000, 5.310000, 3.210000, 5.510000, 5.610000, 50.000000, 3.360000, 3.360000, 3.160000, 3.160000, 3.310000, 3.810000, 6.760000, 3.960000, 6.710000, 6.610000, 6.560000, 6.510000, 6.410000, 6.360000, 3.760000, 1.710000, 3.760000, 3.660000, 1.660000, 2.910000, 1.510000, 1.460000, 1.310000, 1.310000, 1.460000, 1.410000, 1.410000, 1.410000, 1.410000, 1.360000, 1.210000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.040000, 1.070000 ], "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": [ 824, 90000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.493299, 28.305000, -1.095382 ], "estimate": [ -12.493299, 28.305000, -1.095382 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.140000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.890000, 1.960000, 2.060000, 2.160000, 2.310000, 2.460000, 2.510000, 2.660000, 2.860000, 3.060000, 3.310000, 3.610000, 3.910000, 4.810000, 4.840000, 5.310000, 6.010000, 7.110000, 8.460000, 10.910000, 13.910000, 24.360000, 36.560000, 47.310000, 47.460000, 25.910000, 18.610000, 14.560000, 12.060000, 9.910000, 9.960000, 7.460000, 7.210000, 7.360000, 6.210000, 6.710000, 4.760000, 4.810000, 6.710000, 3.860000, 3.660000, 3.660000, 3.560000, 3.660000, 3.510000, 3.160000, 2.710000, 2.760000, 2.810000, 4.010000, 4.110000, 4.110000, 4.110000, 4.160000, 4.210000, 4.260000, 4.310000, 4.360000, 4.410000, 4.510000, 4.510000, 4.510000, 4.610000, 4.660000, 1.660000, 1.760000, 4.860000, 4.960000, 5.060000, 5.160000, 5.260000, 3.110000, 3.110000, 5.560000, 50.000000, 50.000000, 50.000000, 3.110000, 3.110000, 3.160000, 3.760000, 3.860000, 3.910000, 6.560000, 6.510000, 6.460000, 6.460000, 6.360000, 6.260000, 3.710000, 1.760000, 3.660000, 3.660000, 1.660000, 1.510000, 2.910000, 1.410000, 1.310000, 1.410000, 1.410000, 1.410000, 1.260000, 1.260000, 1.410000, 1.360000, 1.310000, 1.360000, 1.360000, 1.340000, 1.190000, 1.140000, 1.100000, 1.050000, 1.070000, 1.070000 ], "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": [ 824, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.443700, 28.208401, -1.091386 ], "estimate": [ -12.443700, 28.208401, -1.091386 ], "true_pose": [ null, null, null ], "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, 0.720000, 0.740000, 0.770000, 0.690000, 0.720000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.840000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.290000, 1.290000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.590000, 1.690000, 1.740000, 1.790000, 1.890000, 1.960000, 2.010000, 2.160000, 2.210000, 2.360000, 2.510000, 2.660000, 2.810000, 3.010000, 3.210000, 3.510000, 3.810000, 4.660000, 4.740000, 5.060000, 5.710000, 6.660000, 7.760000, 9.510000, 12.210000, 18.460000, 24.960000, 41.460000, 47.510000, 33.260000, 21.160000, 18.510000, 14.460000, 10.760000, 9.810000, 50.000000, 7.110000, 7.110000, 6.160000, 6.660000, 4.760000, 4.710000, 4.760000, 6.660000, 3.710000, 3.560000, 3.610000, 3.460000, 3.510000, 3.460000, 2.960000, 2.660000, 2.710000, 2.760000, 3.960000, 3.960000, 4.060000, 4.110000, 4.110000, 4.160000, 4.160000, 4.260000, 4.310000, 4.360000, 4.410000, 4.460000, 4.510000, 4.560000, 4.610000, 4.660000, 1.660000, 1.660000, 4.860000, 4.960000, 5.110000, 5.210000, 5.310000, 3.010000, 5.510000, 5.760000, 50.000000, 50.000000, 3.260000, 3.060000, 3.060000, 3.710000, 3.660000, 3.860000, 3.860000, 6.510000, 6.460000, 6.360000, 3.910000, 6.260000, 3.660000, 3.710000, 3.660000, 3.610000, 1.760000, 3.560000, 1.660000, 1.360000, 1.210000, 3.160000, 1.560000, 1.410000, 1.410000, 1.360000, 1.360000, 1.260000, 1.260000, 1.360000, 1.310000, 1.390000, 1.290000, 1.240000, 1.220000, 1.120000, 1.140000, 1.100000 ], "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": [ 824, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.413900, 28.151699, -1.077092 ], "estimate": [ -12.413900, 28.151699, -1.077092 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.690000, 0.720000, 0.690000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.890000, 1.910000, 2.010000, 2.110000, 2.260000, 2.360000, 2.510000, 2.660000, 2.810000, 3.010000, 3.260000, 3.510000, 3.710000, 4.610000, 4.690000, 5.110000, 5.810000, 6.710000, 7.810000, 9.660000, 12.160000, 18.410000, 25.060000, 41.410000, 47.410000, 33.160000, 21.160000, 18.460000, 14.360000, 10.710000, 9.810000, 50.000000, 7.060000, 7.160000, 6.110000, 6.610000, 6.560000, 4.610000, 4.660000, 6.560000, 3.710000, 3.510000, 3.510000, 3.410000, 3.410000, 3.360000, 3.210000, 2.610000, 2.660000, 2.660000, 2.710000, 3.910000, 3.960000, 4.010000, 4.010000, 4.060000, 4.110000, 4.160000, 4.210000, 4.210000, 4.310000, 4.360000, 4.410000, 4.460000, 4.510000, 4.560000, 4.660000, 4.710000, 1.560000, 1.660000, 4.960000, 5.110000, 5.160000, 5.260000, 3.010000, 5.560000, 3.210000, 50.000000, 50.000000, 3.260000, 3.010000, 2.960000, 3.060000, 3.610000, 3.860000, 3.760000, 6.410000, 3.860000, 6.310000, 3.810000, 3.760000, 3.660000, 3.610000, 3.660000, 3.610000, 3.610000, 3.560000, 1.660000, 2.810000, 1.460000, 1.360000, 1.210000, 1.410000, 1.510000, 1.310000, 1.360000, 1.310000, 1.360000, 1.360000, 1.260000, 1.340000, 1.240000, 1.220000, 1.120000, 1.150000, 1.240000, 1.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 824, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.379700, 28.088600, -1.070579 ], "estimate": [ -12.379700, 28.088600, -1.070579 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.770000, 0.770000, 0.740000, 0.770000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.040000, 1.090000, 1.140000, 1.090000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.940000, 2.010000, 2.060000, 2.160000, 2.310000, 2.410000, 2.560000, 2.710000, 2.910000, 3.060000, 3.310000, 3.560000, 4.310000, 4.590000, 4.610000, 5.260000, 5.960000, 6.960000, 8.210000, 9.860000, 13.110000, 18.360000, 30.860000, 47.110000, 50.000000, 50.000000, 21.060000, 14.510000, 11.860000, 9.960000, 9.710000, 50.000000, 7.010000, 7.010000, 5.960000, 6.510000, 6.460000, 4.510000, 4.610000, 6.510000, 3.660000, 3.460000, 3.410000, 3.360000, 3.360000, 3.260000, 3.210000, 2.610000, 2.560000, 2.610000, 2.660000, 3.810000, 3.860000, 3.910000, 3.910000, 4.010000, 4.060000, 4.110000, 4.160000, 4.160000, 4.210000, 4.260000, 4.360000, 4.410000, 4.460000, 4.510000, 4.560000, 4.610000, 4.710000, 4.760000, 1.510000, 5.010000, 5.060000, 5.210000, 5.310000, 2.910000, 5.560000, 5.760000, 50.000000, 3.160000, 3.110000, 2.910000, 2.960000, 3.010000, 3.360000, 3.810000, 3.810000, 3.910000, 6.310000, 3.760000, 3.760000, 3.760000, 3.660000, 3.660000, 3.610000, 3.560000, 3.560000, 3.560000, 3.560000, 1.610000, 1.360000, 1.360000, 1.260000, 1.460000, 1.360000, 1.260000, 1.460000, 1.310000, 1.260000, 1.290000, 1.290000, 1.240000, 1.190000, 1.150000, 1.150000, 1.240000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 825, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.332000, 28.001499, -1.068891 ], "estimate": [ -12.332000, 28.001499, -1.068891 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.240000, 1.240000, 1.240000, 1.340000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.690000, 1.790000, 1.810000, 1.910000, 1.960000, 2.060000, 2.210000, 2.260000, 2.360000, 2.510000, 2.660000, 2.810000, 3.010000, 3.260000, 3.510000, 4.260000, 4.540000, 4.510000, 5.110000, 5.660000, 6.610000, 7.710000, 9.410000, 11.960000, 18.260000, 23.010000, 41.210000, 46.960000, 33.260000, 26.710000, 18.260000, 14.210000, 10.560000, 9.610000, 50.000000, 6.910000, 6.860000, 7.010000, 5.860000, 6.360000, 4.460000, 4.460000, 4.510000, 6.410000, 3.510000, 3.310000, 3.340000, 3.260000, 3.260000, 3.160000, 3.060000, 2.910000, 2.410000, 2.460000, 2.560000, 2.810000, 3.760000, 3.810000, 3.860000, 3.860000, 3.910000, 3.960000, 4.010000, 4.060000, 4.110000, 4.210000, 4.260000, 4.310000, 4.410000, 4.410000, 4.460000, 4.560000, 4.610000, 4.660000, 4.810000, 4.860000, 1.460000, 1.560000, 5.260000, 5.360000, 2.860000, 5.610000, 5.710000, 3.160000, 3.010000, 3.060000, 2.860000, 2.860000, 2.910000, 2.960000, 3.710000, 6.310000, 3.810000, 3.710000, 6.160000, 3.710000, 3.660000, 1.710000, 3.610000, 3.560000, 1.660000, 3.510000, 3.510000, 1.610000, 1.660000, 1.410000, 1.260000, 1.310000, 1.310000, 1.410000, 1.410000, 1.310000, 1.310000, 1.160000, 1.160000, 1.140000, 1.150000, 1.120000, 1.190000, 1.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 825, 450000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.288900, 27.921900, -1.076043 ], "estimate": [ -12.288900, 27.921900, -1.076043 ], "true_pose": [ null, null, null ], "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, 0.750000, 0.780000, 0.800000, 0.780000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.800000, 0.900000, 0.850000, 0.950000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.350000, 1.350000, 1.400000, 1.450000, 1.450000, 1.500000, 1.550000, 1.600000, 1.700000, 1.750000, 1.750000, 1.850000, 1.920000, 2.020000, 2.070000, 2.170000, 2.270000, 2.420000, 2.520000, 2.670000, 2.870000, 3.070000, 3.270000, 3.470000, 4.270000, 4.450000, 4.470000, 5.070000, 5.720000, 6.570000, 7.670000, 9.320000, 11.920000, 18.170000, 22.720000, 41.170000, 46.970000, 34.070000, 26.720000, 18.270000, 14.120000, 10.520000, 9.570000, 9.820000, 7.070000, 6.770000, 6.970000, 6.370000, 6.320000, 4.470000, 4.370000, 4.420000, 6.320000, 3.470000, 3.320000, 3.270000, 3.270000, 3.170000, 3.220000, 3.070000, 2.970000, 2.570000, 2.370000, 2.370000, 2.470000, 3.670000, 3.720000, 3.720000, 3.770000, 3.820000, 3.870000, 3.920000, 3.970000, 4.020000, 4.070000, 4.170000, 4.220000, 4.270000, 4.320000, 4.420000, 4.420000, 4.470000, 4.570000, 4.620000, 4.720000, 4.870000, 4.970000, 1.420000, 1.370000, 5.320000, 2.820000, 5.620000, 5.720000, 5.920000, 3.020000, 2.920000, 2.820000, 2.770000, 2.620000, 2.720000, 2.720000, 2.720000, 6.220000, 3.770000, 6.120000, 3.720000, 3.620000, 3.520000, 3.570000, 3.520000, 3.520000, 3.520000, 3.470000, 3.470000, 1.570000, 1.320000, 1.320000, 1.220000, 1.220000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.170000, 1.120000, 1.100000, 1.150000, 1.200000 ], "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": [ 825, 691000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.249201, 27.848101, -1.079829 ], "estimate": [ -12.249201, 27.848101, -1.079829 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.790000, 0.770000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.640000, 1.740000, 1.840000, 1.890000, 1.960000, 2.010000, 2.160000, 2.160000, 2.360000, 2.460000, 2.560000, 2.760000, 2.910000, 3.210000, 3.410000, 4.110000, 4.340000, 4.390000, 4.860000, 5.460000, 6.210000, 7.110000, 8.510000, 10.410000, 13.910000, 24.460000, 36.160000, 46.860000, 50.000000, 26.560000, 18.310000, 14.110000, 11.610000, 9.560000, 9.460000, 50.000000, 6.710000, 6.810000, 6.910000, 6.260000, 6.210000, 4.310000, 4.310000, 4.410000, 6.260000, 3.360000, 3.160000, 3.190000, 3.210000, 3.110000, 3.160000, 3.010000, 2.860000, 2.460000, 2.310000, 2.310000, 2.410000, 3.660000, 3.660000, 3.710000, 3.710000, 3.810000, 3.810000, 3.910000, 3.960000, 4.010000, 4.060000, 4.060000, 4.160000, 4.260000, 4.310000, 4.360000, 4.410000, 4.460000, 4.510000, 4.610000, 4.710000, 4.810000, 4.910000, 5.060000, 1.460000, 1.360000, 2.810000, 2.810000, 5.710000, 4.060000, 3.060000, 2.910000, 2.910000, 2.810000, 2.760000, 2.660000, 2.660000, 2.760000, 6.210000, 3.710000, 6.060000, 3.660000, 3.660000, 3.610000, 3.510000, 3.510000, 3.510000, 3.460000, 3.460000, 1.510000, 1.510000, 1.560000, 1.310000, 1.210000, 1.210000, 1.210000, 1.310000, 1.260000, 1.260000, 1.160000, 1.140000, 1.120000, 1.110000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 825, 850999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.213600, 27.778799, -1.107569 ], "estimate": [ -12.213600, 27.778799, -1.107569 ], "true_pose": [ null, null, null ], "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, 0.820000, 0.740000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.990000, 0.990000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.290000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.540000, 1.640000, 1.690000, 1.790000, 1.790000, 1.840000, 1.940000, 2.010000, 2.110000, 2.160000, 2.310000, 2.460000, 2.610000, 2.760000, 2.910000, 3.110000, 3.340000, 4.060000, 4.240000, 4.240000, 4.810000, 5.360000, 6.010000, 6.960000, 8.210000, 10.310000, 12.960000, 17.960000, 30.510000, 41.110000, 50.000000, 50.000000, 20.710000, 18.060000, 13.960000, 10.310000, 9.360000, 50.000000, 6.610000, 6.610000, 6.810000, 5.610000, 6.160000, 6.160000, 4.210000, 4.210000, 6.210000, 6.310000, 3.210000, 3.110000, 3.090000, 3.060000, 3.060000, 3.010000, 2.910000, 2.810000, 2.710000, 2.210000, 2.260000, 2.310000, 2.360000, 3.560000, 3.610000, 3.660000, 3.660000, 3.710000, 3.760000, 3.810000, 3.910000, 3.960000, 4.010000, 4.110000, 4.110000, 4.210000, 4.260000, 4.260000, 4.360000, 4.460000, 4.510000, 4.610000, 4.760000, 4.860000, 4.960000, 5.110000, 5.210000, 5.310000, 1.310000, 1.260000, 5.860000, 2.910000, 3.010000, 2.910000, 2.810000, 2.710000, 2.760000, 2.810000, 3.210000, 3.710000, 3.660000, 3.660000, 3.610000, 3.610000, 3.560000, 3.510000, 3.510000, 1.560000, 3.460000, 3.410000, 1.610000, 1.510000, 1.560000, 1.460000, 1.360000, 1.160000, 1.160000, 1.160000, 1.160000, 1.210000, 1.140000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 826, 169998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.175799, 27.700600, -1.126908 ], "estimate": [ -12.175799, 27.700600, -1.126908 ], "true_pose": [ null, null, null ], "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, 0.750000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 1.000000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.100000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.300000, 1.300000, 1.350000, 1.400000, 1.400000, 1.500000, 1.550000, 1.600000, 1.600000, 1.650000, 1.750000, 1.800000, 1.850000, 1.950000, 1.970000, 2.070000, 2.120000, 2.320000, 2.420000, 2.520000, 2.720000, 2.870000, 3.070000, 3.250000, 3.970000, 4.170000, 4.200000, 4.620000, 5.070000, 5.770000, 6.620000, 7.720000, 9.320000, 11.670000, 17.920000, 22.520000, 40.870000, 46.720000, 33.920000, 50.000000, 17.970000, 13.870000, 10.520000, 9.270000, 9.370000, 50.000000, 6.570000, 6.670000, 6.720000, 6.120000, 6.120000, 4.170000, 4.120000, 4.170000, 6.120000, 3.320000, 3.120000, 3.070000, 3.050000, 2.970000, 2.920000, 2.970000, 2.820000, 2.720000, 2.620000, 2.170000, 2.170000, 2.220000, 2.270000, 3.470000, 3.520000, 3.570000, 3.620000, 3.670000, 3.720000, 3.770000, 3.820000, 3.920000, 3.920000, 4.020000, 4.070000, 4.120000, 4.220000, 4.270000, 4.320000, 4.370000, 4.470000, 4.570000, 4.670000, 4.820000, 4.870000, 5.020000, 5.170000, 5.320000, 5.420000, 2.670000, 2.720000, 1.220000, 1.370000, 50.000000, 50.000000, 2.920000, 2.720000, 2.770000, 2.820000, 3.370000, 3.670000, 3.620000, 3.670000, 3.620000, 3.570000, 3.570000, 3.420000, 3.470000, 1.620000, 3.470000, 1.620000, 1.520000, 1.470000, 1.420000, 1.420000, 1.370000, 1.220000, 1.170000, 1.170000, 1.170000, 1.150000 ], "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": [ 826, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.132600, 27.609299, -1.131323 ], "estimate": [ -12.132600, 27.609299, -1.131323 ], "true_pose": [ null, null, null ], "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": [ 0.730000, 0.730000, 0.780000, 0.780000, 0.780000, 0.780000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 0.950000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.050000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.300000, 1.300000, 1.350000, 1.400000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.750000, 1.850000, 1.900000, 1.920000, 2.020000, 2.120000, 2.220000, 2.320000, 2.470000, 2.620000, 2.820000, 2.970000, 3.170000, 3.820000, 4.120000, 4.120000, 4.420000, 4.920000, 5.520000, 6.270000, 7.220000, 8.670000, 10.470000, 14.220000, 24.270000, 35.920000, 46.570000, 50.000000, 25.320000, 17.920000, 13.820000, 11.370000, 10.120000, 9.170000, 50.000000, 6.470000, 6.470000, 6.670000, 6.070000, 6.020000, 5.970000, 4.070000, 4.120000, 4.220000, 6.170000, 3.170000, 3.020000, 2.970000, 2.970000, 2.870000, 2.870000, 2.870000, 2.770000, 2.720000, 2.620000, 2.170000, 2.120000, 2.120000, 2.170000, 2.170000, 3.470000, 3.520000, 3.570000, 3.620000, 3.670000, 3.720000, 3.770000, 3.820000, 3.870000, 3.920000, 4.020000, 4.070000, 4.170000, 4.220000, 4.270000, 4.320000, 4.370000, 4.470000, 4.620000, 4.770000, 4.870000, 4.970000, 5.120000, 5.270000, 5.370000, 5.570000, 2.620000, 2.720000, 4.120000, 1.270000, 1.220000, 2.920000, 2.920000, 2.720000, 2.670000, 2.820000, 3.270000, 3.620000, 1.670000, 3.570000, 3.520000, 3.620000, 3.520000, 3.470000, 1.570000, 1.620000, 1.620000, 1.470000, 1.470000, 1.420000, 1.370000, 1.320000, 1.320000, 1.170000, 1.170000, 1.070000 ], "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": [ 826, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.099300, 27.538101, -1.130054 ], "estimate": [ -12.099300, 27.538101, -1.130054 ], "true_pose": [ null, null, null ], "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, 0.740000, 0.770000, 0.720000, 0.770000, 0.740000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.890000, 1.960000, 2.010000, 2.110000, 2.260000, 2.410000, 2.460000, 2.610000, 2.810000, 2.960000, 3.210000, 3.860000, 4.040000, 4.040000, 4.460000, 4.960000, 5.460000, 6.310000, 7.260000, 8.710000, 10.560000, 14.210000, 24.310000, 35.810000, 46.460000, 50.000000, 25.160000, 17.860000, 13.710000, 11.310000, 10.060000, 9.160000, 50.000000, 6.410000, 6.410000, 6.510000, 5.610000, 5.960000, 5.910000, 4.010000, 3.960000, 4.060000, 6.010000, 6.060000, 3.060000, 2.860000, 2.860000, 2.890000, 2.810000, 2.860000, 2.760000, 2.710000, 2.610000, 2.510000, 2.110000, 2.010000, 2.010000, 2.060000, 2.160000, 3.410000, 3.460000, 3.510000, 3.560000, 3.610000, 3.660000, 3.710000, 3.760000, 3.860000, 3.910000, 3.960000, 4.060000, 4.110000, 4.160000, 4.210000, 4.260000, 4.360000, 4.460000, 4.610000, 4.760000, 4.860000, 4.960000, 5.110000, 5.260000, 1.760000, 5.610000, 5.760000, 2.610000, 4.060000, 2.610000, 2.810000, 1.410000, 1.160000, 2.660000, 2.710000, 2.710000, 3.260000, 3.610000, 3.560000, 3.510000, 3.510000, 1.660000, 3.510000, 1.610000, 1.460000, 1.460000, 1.410000, 1.460000, 1.410000, 1.410000, 1.310000, 1.310000, 1.210000, 1.160000, 1.060000 ], "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": [ 826, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.074800, 27.486000, -1.126278 ], "estimate": [ -12.074800, 27.486000, -1.126278 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.820000, 0.770000, 0.770000, 0.720000, 0.770000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.940000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.490000, 1.490000, 1.590000, 1.640000, 1.690000, 1.740000, 1.790000, 1.890000, 1.940000, 2.010000, 2.110000, 2.210000, 2.260000, 2.460000, 2.610000, 2.710000, 2.910000, 3.310000, 3.760000, 3.940000, 3.940000, 4.310000, 4.760000, 5.260000, 6.010000, 6.910000, 8.110000, 9.960000, 12.760000, 17.660000, 30.210000, 40.760000, 46.460000, 31.660000, 20.360000, 17.660000, 13.610000, 10.010000, 9.010000, 9.060000, 50.000000, 6.360000, 6.410000, 6.510000, 5.360000, 5.760000, 5.860000, 3.910000, 3.860000, 4.010000, 6.010000, 3.410000, 2.910000, 2.810000, 2.760000, 2.760000, 2.710000, 2.710000, 2.710000, 2.610000, 2.560000, 2.460000, 2.410000, 2.010000, 1.960000, 1.960000, 2.060000, 2.110000, 3.360000, 3.410000, 3.460000, 3.510000, 3.560000, 3.610000, 3.660000, 3.760000, 3.810000, 3.860000, 3.910000, 4.060000, 4.110000, 4.110000, 4.160000, 4.310000, 4.360000, 4.460000, 4.660000, 4.760000, 4.910000, 5.010000, 5.210000, 5.310000, 5.510000, 5.660000, 5.810000, 2.560000, 4.060000, 2.610000, 2.810000, 50.000000, 2.910000, 2.760000, 1.140000, 1.210000, 3.210000, 3.510000, 1.560000, 3.560000, 1.610000, 1.560000, 1.610000, 1.510000, 1.460000, 1.460000, 1.410000, 1.310000, 1.360000, 1.310000, 1.260000, 1.210000, 1.160000, 1.060000 ], "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": [ 827, 169998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -12.036300, 27.407000, -1.109457 ], "estimate": [ -12.036300, 27.407000, -1.109457 ], "true_pose": [ null, null, null ], "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, 0.780000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.900000, 0.900000, 0.950000, 0.950000, 1.000000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.150000, 1.200000, 1.300000, 1.300000, 1.350000, 1.350000, 1.350000, 1.400000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.650000, 1.750000, 1.850000, 1.900000, 1.950000, 2.070000, 2.120000, 2.220000, 2.370000, 2.420000, 2.570000, 2.820000, 2.950000, 3.520000, 3.770000, 3.850000, 3.870000, 4.370000, 4.820000, 5.370000, 6.120000, 7.070000, 8.320000, 9.970000, 13.270000, 17.720000, 30.170000, 46.320000, 46.370000, 50.000000, 20.270000, 17.670000, 13.520000, 9.920000, 8.970000, 9.220000, 50.000000, 6.270000, 6.270000, 6.420000, 5.170000, 5.720000, 5.770000, 3.820000, 3.820000, 3.870000, 5.920000, 4.870000, 2.920000, 2.820000, 2.720000, 2.720000, 2.720000, 2.620000, 2.770000, 2.570000, 2.520000, 2.470000, 2.420000, 2.320000, 1.970000, 1.870000, 1.900000, 2.020000, 1.970000, 3.320000, 3.370000, 3.420000, 3.470000, 3.520000, 3.520000, 3.670000, 3.720000, 3.720000, 3.820000, 3.920000, 3.970000, 4.020000, 4.120000, 4.170000, 4.270000, 4.320000, 4.470000, 4.620000, 4.770000, 4.870000, 5.020000, 5.170000, 5.320000, 5.520000, 5.720000, 5.870000, 4.020000, 1.570000, 1.820000, 4.070000, 4.120000, 3.670000, 50.000000, 50.000000, 2.570000, 1.420000, 1.150000, 1.170000, 3.420000, 1.520000, 1.420000, 1.420000, 1.370000, 1.420000, 1.420000, 1.370000, 1.370000, 1.320000, 1.270000, 1.220000, 1.170000, 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": [ 827, 409998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.987600, 27.307100, -1.122912 ], "estimate": [ -11.987600, 27.307100, -1.122912 ], "true_pose": [ null, null, null ], "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, 0.750000, 0.750000, 0.750000, 0.780000, 0.780000, 0.750000, 0.750000, 0.750000, 0.800000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.250000, 1.250000, 1.300000, 1.300000, 1.400000, 1.400000, 1.400000, 1.500000, 1.500000, 1.600000, 1.600000, 1.700000, 1.700000, 1.800000, 1.850000, 1.900000, 1.970000, 2.070000, 2.170000, 2.270000, 2.420000, 2.520000, 2.620000, 2.820000, 3.370000, 3.620000, 3.800000, 3.800000, 4.170000, 4.570000, 5.020000, 5.670000, 6.470000, 7.520000, 8.970000, 11.220000, 17.520000, 21.970000, 40.470000, 46.220000, 46.220000, 24.020000, 17.520000, 13.420000, 10.970000, 9.820000, 8.870000, 50.000000, 6.370000, 6.170000, 6.270000, 6.370000, 5.720000, 5.670000, 5.670000, 3.770000, 3.770000, 3.770000, 4.370000, 4.620000, 2.820000, 2.720000, 2.620000, 2.620000, 2.650000, 2.570000, 2.570000, 2.570000, 2.470000, 2.420000, 2.320000, 2.320000, 2.220000, 1.920000, 1.820000, 1.850000, 1.920000, 1.970000, 3.270000, 3.320000, 3.370000, 3.420000, 3.470000, 3.570000, 3.620000, 3.670000, 3.720000, 3.770000, 3.920000, 3.970000, 4.020000, 4.070000, 4.170000, 4.220000, 4.320000, 4.520000, 4.670000, 4.770000, 4.870000, 5.070000, 5.220000, 5.370000, 5.620000, 5.820000, 1.620000, 1.520000, 2.520000, 3.970000, 1.670000, 1.420000, 3.670000, 3.470000, 3.420000, 50.000000, 2.520000, 1.470000, 1.620000, 1.370000, 1.100000, 1.220000, 1.320000, 1.370000, 1.320000, 1.320000, 1.320000, 1.270000, 1.270000, 1.170000, 1.130000 ], "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": [ 827, 649998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.954599, 27.238100, -1.119756 ], "estimate": [ -11.954599, 27.238100, -1.119756 ], "true_pose": [ null, null, null ], "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, 0.770000, 0.740000, 0.770000, 0.770000, 0.740000, 0.770000, 0.740000, 0.740000, 0.740000, 0.740000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 1.040000, 0.990000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.390000, 1.490000, 1.490000, 1.540000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.960000, 2.060000, 2.110000, 2.160000, 2.310000, 2.460000, 2.610000, 2.710000, 3.260000, 3.510000, 3.740000, 3.710000, 3.960000, 4.360000, 4.860000, 5.360000, 6.110000, 7.010000, 8.360000, 9.960000, 13.160000, 17.460000, 29.960000, 46.160000, 46.160000, 46.310000, 20.110000, 17.460000, 13.360000, 9.760000, 8.810000, 8.810000, 50.000000, 6.060000, 6.110000, 6.210000, 5.010000, 5.610000, 5.610000, 5.610000, 3.690000, 3.660000, 3.760000, 4.260000, 5.760000, 2.810000, 2.710000, 2.610000, 2.560000, 2.560000, 2.510000, 2.460000, 2.510000, 2.410000, 2.360000, 2.360000, 2.260000, 2.160000, 2.160000, 1.810000, 1.710000, 1.740000, 1.810000, 1.910000, 3.210000, 3.310000, 3.310000, 3.410000, 3.460000, 3.510000, 3.560000, 3.660000, 3.710000, 3.810000, 3.860000, 3.960000, 4.010000, 4.060000, 4.160000, 4.210000, 4.410000, 4.510000, 4.710000, 4.810000, 4.960000, 5.160000, 5.360000, 5.510000, 5.710000, 5.910000, 3.910000, 3.910000, 1.610000, 1.560000, 1.510000, 3.610000, 1.610000, 1.260000, 3.310000, 1.410000, 1.460000, 1.460000, 1.510000, 1.360000, 1.410000, 1.410000, 1.110000, 1.090000, 1.310000, 1.260000, 1.260000, 1.160000, 1.140000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 827, 889998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.928800, 27.185400, -1.107149 ], "estimate": [ -11.928800, 27.185400, -1.107149 ], "true_pose": [ null, null, null ], "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, 0.740000, 0.740000, 0.770000, 0.770000, 0.740000, 0.770000, 0.790000, 0.740000, 0.740000, 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, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.090000, 1.040000, 1.090000, 1.140000, 1.140000, 1.190000, 1.140000, 1.240000, 1.240000, 1.290000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.640000, 1.640000, 1.740000, 1.840000, 1.890000, 1.990000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.610000, 2.760000, 3.260000, 3.510000, 3.640000, 3.640000, 3.960000, 4.310000, 4.760000, 5.310000, 6.010000, 6.960000, 8.160000, 9.710000, 12.810000, 17.310000, 29.860000, 40.360000, 46.060000, 31.260000, 20.060000, 17.360000, 13.310000, 9.960000, 8.710000, 8.760000, 7.710000, 6.010000, 6.010000, 6.110000, 6.310000, 5.510000, 5.460000, 5.460000, 3.560000, 3.590000, 3.610000, 4.210000, 4.360000, 5.710000, 2.710000, 2.560000, 2.460000, 2.460000, 2.510000, 2.410000, 2.360000, 2.510000, 2.360000, 2.310000, 2.260000, 2.210000, 2.160000, 2.060000, 1.910000, 1.660000, 1.660000, 1.710000, 1.760000, 1.810000, 3.210000, 3.260000, 3.310000, 3.360000, 3.460000, 3.510000, 3.610000, 3.660000, 3.760000, 3.810000, 3.910000, 3.960000, 4.010000, 4.060000, 4.210000, 4.360000, 4.510000, 4.660000, 4.810000, 4.910000, 5.160000, 5.310000, 3.810000, 5.660000, 5.960000, 3.910000, 3.910000, 3.860000, 2.410000, 3.710000, 1.410000, 1.510000, 1.510000, 1.460000, 1.210000, 1.160000, 1.360000, 1.410000, 1.410000, 1.410000, 1.360000, 1.360000, 1.310000, 1.210000, 1.060000, 1.090000, 1.140000, 1.100000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 828, 129998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.888300, 27.106001, -1.085503 ], "estimate": [ -11.888300, 27.106001, -1.085503 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.790000, 0.740000, 0.770000, 0.790000, 0.740000, 0.790000, 0.790000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.440000, 1.440000, 1.490000, 1.590000, 1.590000, 1.640000, 1.690000, 1.740000, 1.840000, 1.890000, 1.960000, 2.010000, 2.110000, 2.210000, 2.360000, 2.460000, 2.640000, 3.110000, 3.310000, 3.510000, 3.540000, 3.660000, 4.010000, 4.360000, 4.860000, 5.410000, 6.160000, 7.110000, 8.510000, 10.160000, 13.410000, 21.960000, 29.810000, 45.960000, 46.060000, 50.000000, 19.910000, 17.310000, 13.210000, 9.660000, 8.610000, 8.660000, 7.560000, 5.910000, 5.910000, 6.010000, 6.360000, 5.460000, 5.410000, 5.460000, 3.510000, 3.510000, 3.560000, 5.610000, 5.660000, 5.660000, 2.660000, 2.560000, 2.410000, 2.410000, 2.440000, 2.410000, 2.310000, 2.410000, 2.360000, 2.310000, 2.210000, 2.160000, 2.110000, 2.110000, 2.010000, 1.860000, 1.660000, 1.610000, 1.660000, 1.710000, 1.760000, 3.160000, 3.210000, 3.310000, 3.360000, 3.410000, 3.460000, 3.510000, 3.660000, 3.710000, 3.810000, 3.860000, 3.910000, 3.960000, 4.060000, 4.260000, 4.410000, 4.510000, 4.660000, 4.810000, 5.010000, 5.160000, 5.360000, 5.510000, 5.760000, 6.010000, 3.860000, 3.760000, 3.860000, 2.360000, 2.460000, 3.610000, 3.460000, 1.410000, 1.260000, 1.310000, 1.260000, 1.360000, 1.210000, 1.210000, 1.360000, 1.310000, 1.210000, 1.210000, 1.260000, 1.160000, 1.140000, 1.120000, 1.040000, 1.110000 ], "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": [ 828, 370000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.848499, 27.032299, -1.066793 ], "estimate": [ -11.848499, 27.032299, -1.066793 ], "true_pose": [ null, null, null ], "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": [ 0.790000, 0.770000, 0.770000, 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, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 1.040000, 0.990000, 1.040000, 1.090000, 1.090000, 1.090000, 1.140000, 1.140000, 1.190000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.840000, 1.910000, 1.960000, 2.060000, 2.160000, 2.260000, 2.410000, 2.510000, 2.960000, 3.160000, 3.360000, 3.490000, 3.490000, 3.710000, 4.110000, 4.510000, 4.960000, 5.510000, 6.260000, 7.210000, 8.610000, 10.860000, 13.860000, 23.660000, 35.160000, 45.910000, 45.960000, 33.110000, 19.860000, 17.260000, 13.110000, 9.510000, 8.510000, 8.660000, 7.560000, 5.860000, 5.860000, 5.960000, 6.060000, 5.360000, 5.360000, 5.360000, 3.510000, 3.410000, 3.410000, 3.760000, 4.660000, 5.560000, 5.610000, 2.510000, 2.410000, 2.360000, 2.360000, 2.360000, 2.360000, 2.260000, 2.360000, 2.260000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.960000, 1.960000, 1.760000, 1.560000, 1.560000, 1.560000, 1.660000, 1.710000, 3.160000, 3.210000, 3.310000, 3.360000, 3.410000, 3.510000, 3.610000, 3.660000, 3.760000, 3.860000, 3.860000, 3.960000, 4.060000, 4.160000, 4.360000, 4.510000, 4.660000, 4.810000, 5.010000, 5.210000, 5.410000, 5.560000, 5.810000, 3.710000, 3.660000, 3.660000, 3.660000, 3.610000, 2.360000, 3.560000, 1.560000, 1.410000, 1.310000, 1.310000, 1.160000, 1.160000, 1.210000, 1.210000, 1.310000, 1.210000, 1.160000, 1.160000, 1.160000, 1.110000, 1.070000, 1.090000, 1.140000, 1.260000 ], "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": [ 828, 600999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.817200, 26.976398, -1.049352 ], "estimate": [ -11.817200, 26.976398, -1.049352 ], "true_pose": [ null, null, null ], "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, 0.820000, 0.740000, 0.740000, 0.790000, 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, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.190000, 1.240000, 1.240000, 1.290000, 1.340000, 1.340000, 1.390000, 1.440000, 1.490000, 1.490000, 1.540000, 1.590000, 1.640000, 1.740000, 1.790000, 1.890000, 1.890000, 2.010000, 2.060000, 2.160000, 2.260000, 2.360000, 2.510000, 3.010000, 3.160000, 3.310000, 3.390000, 3.440000, 3.710000, 4.060000, 4.460000, 4.910000, 5.460000, 6.210000, 7.160000, 8.510000, 10.860000, 13.360000, 21.760000, 29.560000, 45.860000, 45.910000, 50.000000, 19.810000, 17.160000, 13.060000, 9.710000, 8.460000, 8.510000, 7.510000, 5.960000, 5.760000, 5.860000, 5.960000, 4.660000, 5.260000, 5.260000, 5.310000, 3.360000, 3.360000, 3.360000, 5.460000, 4.410000, 5.510000, 2.660000, 2.410000, 2.310000, 2.260000, 2.260000, 2.310000, 2.310000, 2.210000, 2.260000, 2.210000, 2.160000, 2.110000, 2.010000, 2.060000, 1.960000, 1.860000, 1.860000, 1.860000, 1.660000, 1.460000, 1.510000, 1.510000, 1.560000, 1.610000, 3.160000, 3.260000, 3.310000, 3.360000, 3.460000, 3.560000, 3.610000, 3.710000, 3.760000, 3.860000, 3.860000, 3.960000, 4.110000, 4.310000, 4.460000, 4.610000, 4.810000, 4.910000, 5.210000, 5.360000, 3.660000, 5.760000, 1.760000, 1.610000, 3.660000, 3.610000, 3.560000, 3.560000, 1.610000, 1.410000, 1.560000, 1.310000, 1.260000, 1.260000, 1.210000, 1.210000, 1.210000, 1.160000, 1.260000, 1.210000, 1.110000, 1.090000, 1.070000, 1.070000, 1.190000, 1.160000, 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": [ 828, 840000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.766100, 26.887600, -1.057963 ], "estimate": [ -11.766100, 26.887600, -1.057963 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.780000, 0.780000, 0.830000, 0.800000, 0.800000, 0.750000, 0.750000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.050000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.150000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.300000, 1.300000, 1.300000, 1.350000, 1.400000, 1.450000, 1.500000, 1.500000, 1.500000, 1.600000, 1.650000, 1.700000, 1.750000, 1.800000, 1.870000, 1.950000, 2.020000, 2.120000, 2.220000, 2.320000, 2.450000, 2.820000, 3.020000, 3.220000, 3.300000, 3.320000, 3.520000, 3.870000, 4.170000, 4.570000, 5.070000, 5.620000, 6.420000, 7.420000, 9.370000, 10.770000, 17.070000, 21.470000, 34.970000, 45.820000, 45.970000, 25.470000, 19.770000, 17.070000, 12.970000, 9.420000, 8.420000, 8.470000, 7.370000, 5.720000, 5.670000, 5.820000, 5.870000, 4.620000, 5.220000, 5.220000, 5.220000, 3.320000, 3.320000, 3.320000, 5.370000, 4.620000, 5.420000, 5.470000, 2.400000, 2.320000, 2.220000, 2.220000, 2.270000, 2.220000, 2.170000, 2.170000, 2.220000, 2.170000, 2.070000, 2.020000, 2.020000, 1.970000, 1.920000, 1.870000, 1.820000, 1.770000, 1.620000, 1.470000, 1.420000, 1.470000, 1.470000, 1.570000, 3.120000, 3.220000, 3.270000, 3.370000, 3.420000, 3.520000, 3.570000, 3.670000, 3.770000, 3.820000, 3.820000, 3.970000, 4.120000, 4.320000, 4.470000, 4.620000, 4.820000, 5.020000, 5.170000, 3.620000, 3.670000, 5.920000, 3.620000, 3.570000, 1.570000, 1.570000, 1.670000, 1.570000, 1.420000, 1.520000, 1.370000, 1.270000, 1.320000, 1.170000, 1.170000, 1.170000, 1.120000, 1.170000, 1.170000, 1.070000, 1.070000, 1.110000, 1.080000, 1.200000, 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": [ 829, 49998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.715601, 26.796398, -1.070579 ], "estimate": [ -11.715601, 26.796398, -1.070579 ], "true_pose": [ null, null, null ], "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, 0.830000, 0.780000, 0.830000, 0.800000, 0.830000, 0.800000, 0.750000, 0.800000, 0.800000, 0.850000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.800000, 0.850000, 0.900000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.900000, 0.950000, 0.900000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.350000, 1.350000, 1.350000, 1.450000, 1.450000, 1.500000, 1.550000, 1.600000, 1.600000, 1.650000, 1.750000, 1.800000, 1.870000, 1.950000, 2.020000, 2.070000, 2.170000, 2.270000, 2.470000, 2.820000, 2.920000, 3.120000, 3.300000, 3.270000, 3.420000, 3.770000, 4.070000, 4.370000, 4.870000, 5.420000, 6.120000, 7.070000, 8.420000, 9.870000, 12.870000, 17.020000, 29.470000, 39.920000, 45.820000, 30.970000, 24.270000, 17.020000, 12.920000, 10.470000, 8.520000, 8.320000, 7.420000, 17.470000, 5.620000, 5.670000, 5.770000, 4.570000, 5.120000, 5.120000, 5.070000, 5.170000, 3.220000, 3.270000, 3.270000, 5.320000, 5.370000, 5.420000, 5.470000, 2.350000, 2.270000, 2.220000, 2.170000, 2.170000, 2.170000, 2.170000, 2.070000, 2.170000, 2.120000, 2.070000, 2.020000, 2.020000, 1.970000, 1.920000, 1.870000, 1.820000, 1.770000, 1.720000, 1.620000, 1.470000, 1.420000, 1.420000, 1.420000, 1.520000, 1.570000, 3.170000, 3.320000, 3.370000, 3.420000, 3.520000, 3.620000, 3.720000, 3.720000, 3.770000, 3.920000, 4.070000, 4.270000, 4.420000, 1.670000, 4.770000, 4.970000, 5.220000, 5.370000, 3.620000, 3.620000, 3.570000, 3.570000, 3.520000, 3.570000, 1.570000, 1.520000, 1.470000, 1.470000, 1.420000, 1.420000, 1.170000, 1.170000, 1.270000, 1.170000, 1.120000, 1.120000, 1.120000, 1.170000, 1.070000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 829, 250000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.697801, 26.763500, -1.079829 ], "estimate": [ -11.697801, 26.763500, -1.079829 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.830000, 0.800000, 0.830000, 0.780000, 0.800000, 0.800000, 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, 0.900000, 0.900000, 0.900000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.150000, 1.150000, 1.200000, 1.250000, 1.250000, 1.250000, 1.350000, 1.350000, 1.400000, 1.400000, 1.450000, 1.500000, 1.550000, 1.550000, 1.600000, 1.700000, 1.700000, 1.800000, 1.850000, 1.900000, 1.970000, 2.070000, 2.170000, 2.250000, 2.670000, 2.820000, 2.970000, 3.120000, 3.200000, 3.200000, 3.420000, 3.670000, 4.020000, 4.320000, 4.770000, 5.320000, 5.970000, 6.870000, 8.020000, 9.570000, 12.070000, 16.820000, 23.270000, 39.870000, 45.620000, 50.000000, 23.370000, 16.920000, 12.820000, 10.370000, 9.170000, 8.220000, 50.000000, 50.000000, 5.520000, 5.520000, 5.720000, 5.720000, 4.470000, 5.020000, 5.020000, 5.070000, 3.170000, 3.170000, 3.170000, 3.220000, 5.220000, 5.270000, 5.320000, 5.370000, 2.250000, 2.170000, 2.120000, 2.070000, 2.070000, 2.120000, 2.120000, 2.020000, 1.970000, 2.070000, 2.020000, 1.920000, 1.920000, 1.920000, 1.820000, 1.820000, 1.770000, 1.770000, 1.720000, 1.670000, 1.570000, 1.520000, 1.370000, 1.270000, 1.320000, 1.370000, 1.470000, 1.470000, 3.270000, 3.320000, 3.470000, 3.520000, 3.570000, 3.670000, 3.720000, 3.870000, 3.920000, 4.170000, 4.320000, 4.520000, 4.670000, 4.870000, 1.620000, 5.320000, 3.570000, 3.620000, 3.620000, 3.520000, 1.570000, 1.620000, 1.670000, 1.520000, 1.470000, 1.470000, 1.470000, 1.370000, 1.370000, 1.170000, 1.170000, 1.270000, 1.120000, 1.120000, 1.120000, 1.080000, 1.080000, 1.070000 ], "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": [ 829, 490000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.652300, 26.675200, -1.112823 ], "estimate": [ -11.652300, 26.675200, -1.112823 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.830000, 0.800000, 0.830000, 0.780000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.900000, 0.900000, 0.900000, 0.950000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.150000, 1.150000, 1.150000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.350000, 1.350000, 1.400000, 1.450000, 1.500000, 1.500000, 1.500000, 1.600000, 1.600000, 1.700000, 1.750000, 1.850000, 1.900000, 1.950000, 2.020000, 2.070000, 2.200000, 2.570000, 2.720000, 2.820000, 2.970000, 3.100000, 3.150000, 3.220000, 3.520000, 3.820000, 4.070000, 4.520000, 4.970000, 5.470000, 6.270000, 7.120000, 8.370000, 10.520000, 13.170000, 21.320000, 29.370000, 39.820000, 50.000000, 31.570000, 19.570000, 16.820000, 12.770000, 10.270000, 9.070000, 8.170000, 7.120000, 17.320000, 5.470000, 5.470000, 5.620000, 5.670000, 4.370000, 4.970000, 4.920000, 4.970000, 3.270000, 3.020000, 3.070000, 3.070000, 5.170000, 5.220000, 5.220000, 5.320000, 2.470000, 2.200000, 2.100000, 2.070000, 2.020000, 1.970000, 2.000000, 2.020000, 1.970000, 1.970000, 2.020000, 1.970000, 1.920000, 1.870000, 1.820000, 1.770000, 1.770000, 1.720000, 1.670000, 1.670000, 1.670000, 1.620000, 1.520000, 1.420000, 1.370000, 1.270000, 1.300000, 1.350000, 1.320000, 1.420000, 3.270000, 3.370000, 3.520000, 3.620000, 3.670000, 3.720000, 3.820000, 3.970000, 4.170000, 4.370000, 4.520000, 4.720000, 4.970000, 5.120000, 5.370000, 5.670000, 1.470000, 3.520000, 1.620000, 1.520000, 1.520000, 1.520000, 1.470000, 1.470000, 1.420000, 1.370000, 1.320000, 1.320000, 1.120000, 1.170000, 1.170000, 1.120000, 1.070000, 1.070000 ], "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": [ 829, 730000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.612200, 26.589600, -1.153389 ], "estimate": [ -11.612200, 26.589600, -1.153389 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.800000, 0.830000, 0.780000, 0.880000, 0.750000, 0.830000, 0.800000, 0.750000, 0.800000, 0.800000, 0.750000, 0.800000, 0.750000, 0.850000, 0.800000, 0.850000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.150000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.350000, 1.400000, 1.450000, 1.500000, 1.500000, 1.500000, 1.600000, 1.600000, 1.700000, 1.750000, 1.850000, 1.900000, 1.950000, 2.050000, 2.070000, 2.420000, 2.570000, 2.670000, 2.820000, 2.970000, 3.000000, 2.970000, 3.220000, 3.470000, 3.770000, 4.020000, 4.520000, 4.920000, 5.470000, 6.170000, 7.120000, 9.020000, 10.420000, 13.120000, 21.170000, 29.220000, 39.770000, 50.000000, 31.370000, 19.570000, 16.720000, 12.620000, 10.170000, 9.020000, 8.070000, 50.000000, 50.000000, 5.370000, 5.320000, 5.470000, 5.520000, 4.270000, 4.820000, 4.870000, 4.870000, 4.820000, 2.970000, 2.920000, 2.970000, 3.020000, 5.070000, 5.120000, 5.170000, 5.270000, 5.220000, 2.120000, 2.050000, 2.000000, 1.950000, 1.870000, 1.870000, 1.900000, 1.920000, 1.870000, 1.820000, 1.970000, 1.870000, 1.820000, 1.770000, 1.770000, 1.720000, 1.720000, 1.670000, 1.620000, 1.670000, 1.620000, 1.570000, 1.570000, 1.520000, 1.420000, 1.370000, 1.320000, 1.220000, 1.220000, 1.270000, 1.270000, 1.320000, 1.670000, 3.570000, 3.570000, 3.720000, 3.820000, 4.020000, 4.220000, 4.420000, 4.620000, 4.820000, 3.670000, 3.570000, 3.570000, 5.820000, 3.520000, 1.520000, 1.470000, 1.470000, 1.420000, 1.420000, 1.370000, 1.370000, 1.320000, 1.320000, 1.270000, 1.270000, 1.170000 ], "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": [ 830, 80000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.569000, 26.486900, -1.190169 ], "estimate": [ -11.569000, 26.486900, -1.190169 ], "true_pose": [ null, null, null ], "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, 0.830000, 0.800000, 0.780000, 0.750000, 0.830000, 0.750000, 0.830000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.800000, 0.800000, 0.850000, 0.850000, 0.800000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.900000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.000000, 1.000000, 1.000000, 1.050000, 1.050000, 1.100000, 1.100000, 1.150000, 1.200000, 1.200000, 1.200000, 1.250000, 1.250000, 1.250000, 1.300000, 1.400000, 1.400000, 1.450000, 1.450000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.750000, 1.800000, 1.850000, 1.950000, 2.070000, 2.420000, 2.470000, 2.570000, 2.720000, 2.820000, 2.900000, 2.900000, 3.070000, 3.320000, 3.570000, 3.870000, 4.220000, 4.620000, 5.120000, 5.670000, 6.520000, 7.570000, 8.920000, 11.070000, 16.570000, 21.070000, 37.570000, 45.320000, 45.420000, 25.020000, 19.320000, 16.620000, 12.520000, 9.220000, 7.970000, 8.020000, 6.870000, 16.920000, 5.270000, 5.220000, 5.370000, 5.470000, 4.220000, 4.770000, 4.720000, 4.770000, 4.820000, 3.120000, 2.870000, 2.870000, 2.920000, 3.570000, 5.020000, 5.070000, 5.220000, 5.120000, 4.920000, 2.020000, 2.000000, 1.950000, 1.900000, 1.870000, 1.820000, 1.870000, 1.870000, 1.770000, 1.770000, 1.820000, 1.870000, 1.770000, 1.720000, 1.720000, 1.720000, 1.670000, 1.670000, 1.620000, 1.620000, 1.570000, 1.520000, 1.520000, 1.520000, 1.470000, 1.470000, 1.320000, 1.320000, 1.270000, 1.170000, 1.170000, 1.170000, 1.220000, 1.320000, 3.570000, 3.670000, 3.870000, 4.070000, 4.270000, 4.470000, 4.720000, 3.670000, 1.570000, 3.520000, 3.570000, 3.520000, 1.470000, 1.370000, 1.420000, 1.420000, 1.320000, 1.370000, 1.370000, 1.220000, 1.170000, 1.170000 ], "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": [ 830, 320000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.546300, 26.428600, -1.207620 ], "estimate": [ -11.546300, 26.428600, -1.207620 ], "true_pose": [ null, null, null ], "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": [ 0.800000, 0.750000, 0.830000, 0.780000, 0.750000, 0.780000, 0.780000, 0.830000, 0.780000, 0.800000, 0.800000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.750000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.850000, 0.800000, 0.850000, 0.850000, 0.850000, 0.900000, 0.850000, 0.850000, 0.850000, 0.850000, 0.900000, 0.950000, 0.900000, 0.900000, 0.950000, 0.950000, 0.950000, 0.950000, 1.000000, 1.050000, 1.050000, 1.050000, 1.050000, 1.100000, 1.100000, 1.100000, 1.100000, 1.200000, 1.200000, 1.200000, 1.250000, 1.250000, 1.300000, 1.350000, 1.350000, 1.350000, 1.400000, 1.500000, 1.500000, 1.550000, 1.650000, 1.650000, 1.700000, 1.750000, 1.800000, 1.900000, 1.970000, 2.270000, 2.370000, 2.470000, 2.570000, 2.770000, 2.900000, 2.850000, 2.970000, 3.120000, 3.370000, 3.620000, 3.920000, 4.320000, 4.770000, 5.220000, 5.920000, 6.720000, 7.920000, 9.370000, 11.920000, 16.520000, 22.970000, 39.520000, 45.320000, 50.000000, 23.020000, 16.520000, 12.520000, 12.520000, 8.870000, 7.920000, 7.970000, 50.000000, 17.070000, 5.220000, 5.220000, 5.270000, 5.370000, 4.220000, 4.720000, 4.670000, 4.770000, 4.770000, 4.770000, 2.820000, 2.850000, 2.870000, 3.970000, 5.020000, 5.020000, 5.170000, 5.070000, 4.920000, 2.070000, 1.970000, 1.950000, 1.900000, 1.770000, 1.770000, 1.770000, 1.800000, 1.820000, 1.720000, 1.720000, 1.820000, 1.820000, 1.770000, 1.720000, 1.720000, 1.670000, 1.670000, 1.670000, 1.570000, 1.570000, 1.570000, 1.520000, 1.470000, 1.470000, 1.470000, 1.470000, 1.370000, 1.320000, 1.270000, 1.270000, 1.120000, 1.120000, 1.120000, 1.200000, 1.270000, 3.720000, 3.970000, 4.170000, 4.370000, 4.570000, 4.820000, 3.570000, 3.620000, 1.520000, 1.520000, 1.420000, 1.470000, 1.420000, 1.420000, 1.370000, 1.270000, 1.270000, 1.270000, 1.170000 ], "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": [ 830, 480998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.517800, 26.353300, -1.205093 ], "estimate": [ -11.517800, 26.353300, -1.205093 ], "true_pose": [ null, null, null ], "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": [ 0.770000, 0.770000, 0.820000, 0.740000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.790000, 0.740000, 0.740000, 0.790000, 0.740000, 0.740000, 0.740000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.840000, 0.790000, 0.840000, 0.790000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.890000, 0.890000, 0.890000, 0.890000, 0.940000, 0.940000, 0.940000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.040000, 1.040000, 1.040000, 1.040000, 1.140000, 1.090000, 1.140000, 1.140000, 1.240000, 1.190000, 1.190000, 1.290000, 1.290000, 1.340000, 1.390000, 1.390000, 1.440000, 1.440000, 1.540000, 1.590000, 1.590000, 1.690000, 1.740000, 1.790000, 1.810000, 2.110000, 2.260000, 2.310000, 2.460000, 2.510000, 2.660000, 2.690000, 2.710000, 2.910000, 3.060000, 3.210000, 3.510000, 3.860000, 4.160000, 4.610000, 5.110000, 5.660000, 6.460000, 7.510000, 8.810000, 11.110000, 16.410000, 20.960000, 39.410000, 45.160000, 45.360000, 23.860000, 19.160000, 16.460000, 12.410000, 9.910000, 8.160000, 7.810000, 50.000000, 16.710000, 5.310000, 5.060000, 5.110000, 5.210000, 50.000000, 4.110000, 4.610000, 4.660000, 4.660000, 4.660000, 4.710000, 2.710000, 2.710000, 2.710000, 2.960000, 3.510000, 4.910000, 5.010000, 4.910000, 4.760000, 4.610000, 2.110000, 1.890000, 1.840000, 1.790000, 1.710000, 1.660000, 1.710000, 1.710000, 1.710000, 1.710000, 1.660000, 1.610000, 1.710000, 1.710000, 1.660000, 1.660000, 1.610000, 1.610000, 1.610000, 1.560000, 1.560000, 1.510000, 1.460000, 1.460000, 1.410000, 1.460000, 1.460000, 1.410000, 1.410000, 1.410000, 1.260000, 1.260000, 1.210000, 1.210000, 1.190000, 1.090000, 1.090000, 1.110000, 1.110000, 1.410000, 4.660000, 4.960000, 3.460000, 1.510000, 1.560000, 1.410000, 1.410000, 1.360000, 1.310000, 1.210000, 1.260000, 1.310000, 1.210000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 830, 799998 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -11.480500, 26.258202, -1.187232 ], "estimate": [ -11.480500, 26.258202, -1.187232 ], "true_pose": [ null, null, null ], "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, 0.0