{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.907000, -2.126000, -2.940020 ], "estimate": [ 1.907000, -2.126000, -2.940020 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.930000, 0.940000, 0.950000, 0.980000, 1.000000, 0.990000, 0.960000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.150000, 1.180000, 1.210000, 1.250000, 1.260000, 1.310000, 1.340000, 1.380000, 1.410000, 1.450000, 1.500000, 1.550000, 1.590000, 1.660000, 1.700000, 1.760000, 1.820000, 1.890000, 1.970000, 2.060000, 2.160000, 2.260000, 2.280000, 2.230000, 2.250000, 2.170000, 1.980000, 2.220000, 2.210000, 2.170000, 2.170000, 2.160000, 2.150000, 2.160000, 2.780000, 2.900000, 2.900000, 2.900000, 2.890000, 1.160000, null, 2.890000, 2.890000, 2.890000, 2.900000, 2.910000, 2.920000, 2.910000, 2.920000, 2.930000, 2.940000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054182, 534350 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.906000, -2.126000, -2.884710 ], "estimate": [ 1.906000, -2.126000, -2.884710 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 1.000000, 1.000000, 0.980000, 0.960000, 0.940000, 0.930000, 0.930000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.810000, 0.810000, 0.810000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.020000, 1.020000, 1.040000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.430000, 1.480000, 1.530000, 1.570000, 1.620000, 1.690000, 1.740000, 1.790000, 1.870000, 1.950000, 2.030000, 2.110000, 2.210000, 2.280000, 2.220000, 2.250000, 2.230000, 1.780000, null, 2.180000, 2.200000, 2.170000, 2.160000, 2.130000, 2.140000, 2.630000, 2.900000, 2.890000, 2.890000, 2.890000, 1.140000, 1.140000, 2.930000, 2.890000, 2.890000, 2.890000, 2.890000, 2.900000, 2.910000, 2.910000, 2.920000, 2.920000, 2.940000, 2.960000, 2.960000, 2.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054182, 598988 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.907000, -2.126000, -2.804818 ], "estimate": [ 1.907000, -2.126000, -2.804818 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.980000, 1.000000, 1.000000, 0.990000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.260000, 1.270000, 1.320000, 1.350000, 1.380000, 1.410000, 1.460000, 1.520000, 1.550000, 1.610000, 1.660000, 1.720000, 1.780000, 1.840000, 1.930000, 2.000000, 2.080000, 2.190000, 2.290000, 2.230000, 2.210000, 2.230000, 1.780000, 1.770000, 1.800000, 2.190000, 2.170000, 2.160000, 2.150000, 2.130000, 2.140000, 2.840000, 2.890000, 2.880000, 2.880000, 1.120000, 1.140000, null, 2.870000, 2.880000, 2.880000, 2.880000, 2.890000, 2.900000, 2.900000, 2.900000, 2.920000, 2.920000, 2.950000, 2.950000, 2.960000, 2.970000, 2.990000, 2.990000, 3.000000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054183, 165490 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.907000, -2.126000, -2.675762 ], "estimate": [ 1.907000, -2.126000, -2.675762 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.980000, 1.000000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.220000, 1.250000, 1.270000, 1.300000, 1.340000, 1.380000, 1.410000, 1.440000, 1.490000, 1.540000, 1.580000, 1.640000, 1.700000, 1.750000, 1.820000, 1.880000, 1.970000, 2.050000, 2.130000, 2.240000, 2.250000, 2.250000, 2.230000, 1.820000, 1.980000, 2.200000, 2.180000, 2.160000, 2.150000, 2.140000, 2.120000, 2.130000, 2.710000, 2.880000, 2.880000, 2.870000, 1.170000, null, null, 2.870000, 2.880000, 2.870000, 2.870000, 2.880000, 2.880000, 2.890000, 2.890000, 2.900000, 2.900000, 2.920000, 2.940000, 2.940000, 2.950000, 2.960000, 2.980000, 2.990000, 3.000000, 3.020000, 3.040000, 1.450000, 1.440000, 1.440000, 1.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054183, 177649 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.907000, -2.126000, -2.577433 ], "estimate": [ 1.907000, -2.126000, -2.577433 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.930000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.390000, 1.430000, 1.460000, 1.510000, 1.560000, 1.610000, 1.660000, 1.730000, 1.780000, 1.850000, 1.920000, 2.000000, 2.090000, 2.180000, 2.270000, 2.220000, 2.210000, 2.220000, 1.760000, 1.740000, 2.180000, 2.160000, 2.160000, 2.140000, 2.120000, 2.120000, 2.120000, 2.770000, 2.870000, 2.870000, 2.860000, 1.130000, 1.130000, 2.890000, 2.860000, 2.860000, 2.860000, 2.860000, 2.870000, 2.870000, 2.870000, 2.880000, 2.890000, 2.900000, 2.910000, 2.930000, 2.930000, 2.940000, 2.950000, 2.960000, 2.980000, 2.980000, 3.000000, 3.030000, 3.050000, 1.410000, 1.430000, 1.650000, 1.630000, 1.620000, 1.610000, 1.550000, 1.540000, 1.560000, 1.510000 ], "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": [ 976054183, 171201 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.906000, -2.127000, -2.503687 ], "estimate": [ 1.906000, -2.127000, -2.503687 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.940000, 0.930000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.430000, 1.470000, 1.510000, 1.550000, 1.610000, 1.660000, 1.720000, 1.790000, 1.840000, 1.910000, 1.990000, 2.070000, 2.170000, 2.280000, 2.220000, 2.210000, 2.210000, 1.760000, 1.730000, 2.170000, 2.170000, 2.160000, 2.140000, 2.120000, 2.110000, 2.110000, 2.750000, 2.860000, 2.850000, 2.860000, 1.110000, 1.100000, null, 2.850000, 2.850000, 2.850000, 2.850000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.890000, 2.900000, 2.920000, 2.930000, 2.930000, 2.950000, 2.950000, 2.970000, 2.980000, 3.000000, 3.020000, 3.040000, 1.420000, 1.410000, null, 1.630000, 1.620000, 1.600000, 1.560000, 1.540000, 1.550000, 1.510000, 1.520000, 1.520000, 1.550000, 3.100000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054183, 505120 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.904000, -2.128000, -2.423795 ], "estimate": [ 1.904000, -2.128000, -2.423795 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.940000, 0.940000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.960000, 0.940000, 0.930000, 0.930000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.020000, 1.050000, 1.060000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.190000, 1.230000, 1.250000, 1.280000, 1.320000, 1.350000, 1.380000, 1.410000, 1.450000, 1.500000, 1.540000, 1.580000, 1.640000, 1.690000, 1.750000, 1.820000, 1.880000, 1.960000, 2.040000, 2.120000, 2.230000, 2.240000, 2.230000, 2.210000, 2.090000, 1.770000, 1.780000, 2.160000, 2.160000, 2.130000, 2.110000, 2.100000, 2.100000, 2.560000, 2.850000, 2.850000, 2.860000, 2.850000, 1.120000, null, 2.840000, 2.850000, 2.840000, 2.850000, 2.850000, 2.850000, 2.860000, 2.860000, 2.870000, 2.890000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.950000, 2.950000, 2.980000, 2.980000, 3.000000, 3.020000, 1.410000, 1.420000, 1.650000, 1.620000, 1.640000, 1.600000, 1.560000, 1.500000, 1.490000, 1.510000, 1.530000, 1.530000, 1.530000, 3.130000, 3.060000, 1.740000, 1.780000, 1.780000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054183, 589123 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.902000, -2.131000, -2.325467 ], "estimate": [ 1.902000, -2.131000, -2.325467 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.030000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.900000, 0.900000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.210000, 1.240000, 1.260000, 1.290000, 1.330000, 1.360000, 1.380000, 1.420000, 1.470000, 1.520000, 1.550000, 1.600000, 1.660000, 1.710000, 1.770000, 1.830000, 1.900000, 1.990000, 2.060000, 2.150000, 2.250000, 2.190000, 2.190000, 2.200000, 1.750000, 1.740000, 2.170000, 2.160000, 2.140000, 2.120000, 2.100000, 2.090000, 2.110000, 2.610000, 2.860000, 2.850000, 2.830000, 1.090000, 1.090000, 2.870000, 2.850000, 2.840000, 2.850000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.860000, 2.880000, 2.880000, 2.900000, 2.900000, 2.910000, 2.930000, 2.930000, 2.950000, 2.960000, 2.980000, 2.990000, 3.020000, 1.410000, 1.400000, null, 1.630000, 1.630000, 1.590000, 1.560000, 1.490000, 1.500000, 1.490000, 1.520000, 1.530000, 1.530000, 3.110000, 1.540000, 1.680000, 1.750000, 1.770000, 2.760000, 2.700000, 2.640000, 1.910000, 1.690000, 1.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054184, 197003 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.900000, -2.133000, -2.233284 ], "estimate": [ 1.900000, -2.133000, -2.233284 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.810000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.100000, 1.120000, 1.140000, 1.150000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.320000, 1.350000, 1.380000, 1.410000, 1.450000, 1.500000, 1.540000, 1.580000, 1.630000, 1.690000, 1.740000, 1.810000, 1.890000, 1.950000, 2.040000, 2.130000, 2.220000, 2.220000, 2.200000, 2.180000, 2.070000, 1.740000, 2.160000, 2.160000, 2.140000, 2.120000, 2.100000, 2.080000, 2.080000, 2.460000, 2.780000, 2.850000, 2.850000, 1.110000, 1.100000, null, 2.840000, 2.840000, 2.840000, 2.840000, 2.840000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.890000, 2.900000, 2.900000, 2.910000, 2.920000, 2.930000, 2.950000, 2.960000, 2.980000, 2.990000, 1.410000, 1.400000, 1.390000, 1.620000, 1.630000, 1.600000, 1.570000, 1.540000, 1.500000, 1.510000, 1.490000, 1.510000, 1.480000, 1.520000, 3.070000, 1.620000, 1.670000, 1.770000, 1.760000, 2.720000, 2.670000, 2.620000, 1.710000, 1.670000, 1.580000, 1.550000, 1.500000, 1.500000, 1.490000, 1.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054184, 198163 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.899000, -2.135000, -2.147247 ], "estimate": [ 1.899000, -2.135000, -2.147247 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.940000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.180000, 1.190000, 1.220000, 1.240000, 1.270000, 1.300000, 1.340000, 1.360000, 1.390000, 1.430000, 1.470000, 1.520000, 1.550000, 1.610000, 1.660000, 1.720000, 1.770000, 1.840000, 1.920000, 1.990000, 2.080000, 2.160000, 2.230000, 2.180000, 2.190000, 2.180000, 1.680000, 1.740000, 2.140000, 2.140000, 2.120000, 2.110000, 2.080000, 2.090000, 2.100000, 2.570000, 2.850000, 2.850000, 2.840000, 1.040000, 1.110000, 2.840000, 2.820000, 2.840000, 2.840000, 2.840000, 2.840000, 2.850000, 2.840000, 2.840000, 2.850000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 2.930000, 2.940000, 2.950000, 2.980000, 2.990000, 1.390000, 1.390000, 3.120000, 1.650000, 1.620000, 1.560000, 1.550000, 1.480000, 1.500000, 1.490000, 1.500000, 1.460000, 1.470000, 3.120000, 3.040000, 2.970000, 2.890000, 1.750000, 1.760000, 2.710000, 2.650000, 2.580000, 1.680000, 1.650000, 1.550000, 1.530000, 1.500000, 1.480000, 1.470000, 1.480000, 1.460000, 1.410000, 1.420000, 1.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054184, 199113 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.897000, -2.137000, -2.042773 ], "estimate": [ 1.897000, -2.137000, -2.042773 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.170000, 1.190000, 1.220000, 1.230000, 1.270000, 1.290000, 1.330000, 1.360000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.580000, 1.630000, 1.690000, 1.740000, 1.810000, 1.890000, 1.960000, 2.030000, 2.120000, 2.210000, 2.200000, 2.190000, 2.170000, 1.730000, 1.730000, 1.720000, 2.140000, 2.120000, 2.100000, 2.090000, 2.070000, 2.070000, 2.390000, 2.710000, 2.840000, 2.820000, 1.050000, 1.060000, null, 2.830000, 2.830000, 2.820000, 2.820000, 2.830000, 2.830000, 2.840000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.900000, 2.910000, 2.940000, 2.940000, 2.950000, 2.980000, 2.990000, 1.370000, 1.380000, 1.750000, 1.630000, 1.580000, 1.520000, 1.540000, 1.510000, 1.490000, 1.490000, 1.480000, 1.480000, 1.500000, 3.080000, 1.680000, 1.620000, 1.740000, 1.740000, 2.730000, 2.680000, 2.620000, 1.870000, 1.670000, 1.580000, 1.530000, 1.500000, 1.480000, 1.460000, 1.440000, 1.430000, 1.440000, 1.400000, 1.440000, 1.480000, 1.510000, 1.540000, 1.590000, 1.620000, 1.660000, 1.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054184, 389160 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.897000, -2.139000, -1.962881 ], "estimate": [ 1.897000, -2.139000, -1.962881 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 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, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.180000, 1.190000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.390000, 1.420000, 1.460000, 1.510000, 1.560000, 1.580000, 1.640000, 1.690000, 1.740000, 1.810000, 1.890000, 1.960000, 2.030000, 2.120000, 2.210000, 2.200000, 2.190000, 2.170000, 1.780000, 1.730000, 1.740000, 2.140000, 2.120000, 2.110000, 2.090000, 2.070000, 2.070000, 2.370000, 2.680000, 2.830000, 2.820000, 1.050000, 1.040000, null, 2.830000, 2.820000, 2.830000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.830000, 2.840000, 2.850000, 2.850000, 2.870000, 2.880000, 2.890000, 2.890000, 2.900000, 2.920000, 2.940000, 2.950000, 2.950000, 2.980000, 1.380000, 1.370000, 1.730000, 1.620000, 1.590000, 1.550000, 1.530000, 1.500000, 1.480000, 1.470000, 1.480000, 1.450000, 1.470000, 3.100000, 3.020000, 1.710000, 1.740000, 1.730000, 2.740000, 2.680000, 2.630000, 2.570000, 1.670000, 1.630000, 1.530000, 1.510000, 1.470000, 1.460000, 1.450000, 1.450000, 1.450000, 1.440000, 1.400000, 1.450000, 1.490000, 1.520000, 1.570000, 1.600000, 1.640000, 1.680000, 1.730000, 1.780000, 1.830000, 1.890000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054184, 715806 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.896000, -2.141000, -1.870698 ], "estimate": [ 1.896000, -2.141000, -1.870698 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.940000, 0.940000, 0.940000, 0.960000, 0.980000, 0.990000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.470000, 1.520000, 1.550000, 1.600000, 1.650000, 1.710000, 1.760000, 1.820000, 1.890000, 1.970000, 2.050000, 2.140000, 2.220000, 2.190000, 2.190000, 2.170000, 1.700000, 1.690000, 1.740000, 2.130000, 2.110000, 2.100000, 2.080000, 2.070000, 2.070000, 2.420000, 2.690000, 2.840000, 1.130000, 1.100000, 1.080000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.900000, 2.920000, 2.930000, 2.940000, 2.960000, 1.380000, 1.370000, 1.360000, 3.080000, 1.600000, 1.570000, 1.530000, 1.520000, 1.510000, 1.470000, 1.470000, 1.470000, 1.460000, 1.470000, 3.090000, 1.530000, 1.630000, 1.720000, 1.720000, 2.730000, 2.670000, 2.620000, 2.570000, 1.650000, 1.620000, 1.530000, 1.490000, 1.470000, 1.450000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.440000, 1.480000, 1.510000, 1.550000, 1.600000, 1.620000, 1.670000, 1.720000, 1.770000, 1.830000, 1.880000, 1.710000, 1.710000, 1.740000, 1.820000, 1.880000, 4.280000 ], "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": [ 976054184, 799026 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.895000, -2.143000, -1.790806 ], "estimate": [ 1.895000, -2.143000, -1.790806 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.140000, 1.160000, 1.180000, 1.210000, 1.220000, 1.250000, 1.270000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.690000, 1.740000, 1.810000, 1.880000, 1.950000, 2.020000, 2.100000, 2.200000, 2.200000, 2.190000, 2.170000, 1.950000, 1.720000, 1.730000, 2.130000, 2.130000, 2.110000, 2.080000, 2.070000, 2.060000, 2.260000, 2.580000, 2.830000, 2.810000, 1.030000, 1.090000, 2.840000, 2.810000, 2.810000, 2.820000, 2.810000, 2.820000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 2.930000, 2.950000, 2.960000, 1.360000, 1.350000, 1.720000, 1.610000, 1.580000, 1.540000, 1.520000, 1.480000, 1.490000, 1.460000, 1.460000, 1.420000, 1.430000, 1.480000, 3.050000, 1.670000, 2.910000, 1.710000, 1.700000, 2.700000, 2.640000, 2.590000, 1.670000, 1.630000, 1.530000, 1.490000, 1.460000, 1.460000, 1.440000, 1.440000, 1.440000, 1.430000, 1.390000, 1.420000, 1.450000, 1.500000, 1.520000, 1.570000, 1.590000, 1.640000, 1.680000, 1.740000, 1.790000, 1.850000, 1.890000, 1.670000, 1.660000, 1.780000, 1.860000, 1.910000, 4.260000, 4.230000, 4.200000, 4.180000, 4.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054185, 186275 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.895000, -2.145000, -1.704769 ], "estimate": [ 1.895000, -2.145000, -1.704769 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.110000, 1.130000, 1.140000, 1.170000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.360000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.650000, 1.700000, 1.750000, 1.810000, 1.880000, 1.950000, 2.010000, 2.100000, 2.200000, 2.200000, 2.190000, 2.170000, 1.750000, 1.720000, 1.730000, 2.140000, 2.120000, 2.100000, 2.090000, 2.070000, 2.070000, 2.240000, 2.560000, 2.820000, 2.830000, 1.060000, 1.090000, 2.800000, 2.810000, 2.820000, 2.820000, 2.820000, 2.820000, 2.810000, 2.820000, 2.820000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.890000, 2.900000, 2.900000, 2.920000, 2.950000, 2.960000, 1.350000, 1.350000, 3.040000, 1.620000, 1.580000, 1.520000, 1.530000, 1.480000, 1.480000, 1.450000, 1.450000, 1.420000, 1.420000, 1.450000, 3.040000, 1.500000, 2.900000, 1.690000, 1.710000, 2.700000, 2.640000, 2.580000, 1.680000, 1.620000, 1.530000, 1.490000, 1.470000, 1.450000, 1.430000, 1.400000, 1.440000, 1.420000, 1.370000, 1.380000, 1.430000, 1.480000, 1.520000, 1.550000, 1.580000, 1.630000, 1.670000, 1.710000, 1.770000, 1.830000, 1.880000, 1.690000, 1.660000, 1.750000, 1.810000, 1.890000, 4.250000, 4.230000, 4.200000, 4.180000, 4.160000, 4.150000, 4.130000, 4.110000, 4.100000, 4.080000 ], "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": [ 976054185, 187502 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.895000, -2.147000, -1.606440 ], "estimate": [ 1.895000, -2.147000, -1.606440 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.830000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.200000, 1.230000, 1.250000, 1.270000, 1.300000, 1.320000, 1.360000, 1.380000, 1.420000, 1.460000, 1.500000, 1.530000, 1.570000, 1.620000, 1.670000, 1.730000, 1.780000, 1.840000, 1.910000, 1.980000, 2.060000, 2.130000, 2.230000, 2.180000, 2.180000, 2.160000, 1.730000, 1.720000, 2.080000, 2.120000, 2.110000, 2.100000, 2.080000, 2.070000, 2.070000, 2.400000, 2.670000, 2.810000, 1.030000, 1.050000, 2.860000, 2.820000, 2.810000, 2.810000, 2.810000, 2.810000, 2.820000, 2.820000, 2.810000, 2.830000, 2.820000, 2.830000, 2.840000, 2.840000, 2.850000, 2.850000, 2.860000, 2.880000, 2.880000, 2.900000, 2.910000, 2.930000, 2.940000, 2.960000, 1.350000, 1.340000, 1.710000, 1.590000, 1.540000, 1.510000, 1.500000, 1.490000, 1.450000, 1.440000, 1.450000, 1.440000, 1.440000, 3.100000, 1.510000, 1.600000, 2.930000, 1.680000, 1.690000, 2.670000, 2.610000, 2.570000, 1.640000, 1.610000, 1.510000, 1.490000, 1.440000, 1.450000, 1.430000, 1.420000, 1.440000, 1.410000, 1.410000, 1.410000, 1.440000, 1.480000, 1.510000, 1.550000, 1.590000, 1.620000, 1.660000, 1.730000, 1.770000, 1.830000, 1.870000, 1.660000, 1.670000, 1.760000, 1.840000, 1.890000, 4.240000, 4.210000, 4.190000, 4.170000, 4.150000, 4.130000, 4.110000, 4.090000, 4.070000, 4.070000, 4.060000, 4.050000, 4.040000, 4.040000, 3.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054185, 408311 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.895000, -2.149000, -1.526548 ], "estimate": [ 1.895000, -2.149000, -1.526548 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.300000, 1.320000, 1.350000, 1.380000, 1.410000, 1.450000, 1.480000, 1.520000, 1.550000, 1.600000, 1.660000, 1.710000, 1.750000, 1.810000, 1.890000, 1.950000, 2.020000, 2.100000, 2.180000, 2.210000, 2.180000, 2.170000, 1.710000, 1.710000, 1.740000, 2.130000, 2.110000, 2.110000, 2.090000, 2.070000, 2.060000, 2.240000, 2.520000, 2.790000, 1.090000, 1.060000, null, 2.820000, 2.800000, 2.800000, 2.810000, 2.800000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.850000, 2.850000, 2.870000, 2.880000, 2.890000, 2.910000, 2.910000, 2.930000, 2.940000, 1.340000, 1.340000, 1.680000, 1.600000, 1.560000, 1.520000, 1.500000, 1.490000, 1.470000, 1.460000, 1.470000, 1.430000, 1.410000, 1.450000, 1.680000, 1.640000, 2.910000, 1.680000, 1.690000, 2.710000, 2.650000, 2.590000, 1.920000, 1.620000, 1.530000, 1.500000, 1.470000, 1.450000, 1.430000, 1.410000, 1.410000, 1.410000, 1.390000, 1.360000, 1.430000, 1.440000, 1.480000, 1.510000, 1.550000, 1.600000, 1.620000, 1.670000, 1.730000, 1.770000, 1.840000, 1.810000, 1.660000, 1.700000, 1.780000, 1.820000, 4.250000, 4.230000, 4.200000, 4.170000, 4.150000, 4.140000, 4.120000, 4.100000, 4.080000, 4.060000, 4.050000, 4.050000, 4.050000, 4.040000, 4.020000, 3.690000, 3.720000, 4.010000, 4.000000, 4.000000, 4.000000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054185, 763401 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.895000, -2.151000, -1.440511 ], "estimate": [ 1.895000, -2.151000, -1.440511 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.370000, 1.390000, 1.430000, 1.450000, 1.500000, 1.540000, 1.570000, 1.620000, 1.670000, 1.730000, 1.780000, 1.840000, 1.900000, 1.970000, 2.050000, 2.120000, 2.220000, 2.200000, 2.200000, 2.170000, 1.700000, 1.740000, 2.150000, 2.130000, 2.120000, 2.100000, 2.090000, 2.070000, 2.070000, 2.350000, 2.590000, 2.830000, 1.080000, 1.070000, 2.810000, 2.800000, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.840000, 2.830000, 2.850000, 2.850000, 2.860000, 2.880000, 2.880000, 2.900000, 2.910000, 2.940000, 1.340000, 1.330000, 1.340000, 1.680000, 1.580000, 1.550000, 1.500000, 1.500000, 1.470000, 1.470000, 1.460000, 1.450000, 1.390000, 1.400000, 1.650000, 1.670000, 1.510000, 2.890000, 1.670000, 1.680000, 2.690000, 2.630000, 2.570000, 1.680000, 1.620000, 1.490000, 1.480000, 1.450000, 1.450000, 1.420000, 1.390000, 1.420000, 1.400000, 1.350000, 1.350000, 1.420000, 1.440000, 1.480000, 1.520000, 1.550000, 1.590000, 1.620000, 1.680000, 1.730000, 1.770000, 1.830000, 1.740000, 1.670000, 1.700000, 1.770000, 1.810000, 4.250000, 4.210000, 4.190000, 4.170000, 4.150000, 4.140000, 4.100000, 4.090000, 4.070000, 4.050000, 4.050000, 4.040000, 4.040000, 4.020000, 4.020000, 3.680000, 3.720000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 3.870000, 3.890000, 4.000000 ], "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": [ 976054185, 789441 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.895000, -2.153000, -1.336037 ], "estimate": [ 1.895000, -2.153000, -1.336037 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.120000, 1.130000, 1.160000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.740000, 1.800000, 1.850000, 1.910000, 1.990000, 2.060000, 2.130000, 2.230000, 2.200000, 2.190000, 2.170000, 1.730000, 1.720000, 2.120000, 2.130000, 2.120000, 2.110000, 2.100000, 2.070000, 2.070000, 2.370000, 2.610000, 1.080000, 1.050000, null, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.800000, 2.810000, 2.810000, 2.820000, 2.820000, 2.830000, 2.830000, 2.830000, 2.830000, 2.850000, 2.850000, 2.860000, 2.870000, 2.880000, 2.900000, 2.910000, 2.930000, 1.320000, 1.320000, 1.370000, 1.690000, 1.580000, 1.520000, 1.500000, 1.490000, 1.480000, 1.460000, 1.460000, 1.430000, 1.420000, 1.440000, 1.660000, 1.480000, 1.470000, 1.680000, 1.660000, 1.650000, 2.670000, 2.620000, 2.560000, 1.620000, 1.590000, 1.470000, 1.460000, 1.430000, 1.430000, 1.410000, 1.410000, 1.410000, 1.380000, 1.360000, 1.360000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.590000, 1.620000, 1.670000, 1.720000, 1.760000, 1.820000, 1.660000, 1.660000, 1.690000, 1.770000, 1.810000, 4.230000, 4.200000, 4.180000, 4.160000, 4.140000, 4.120000, 4.100000, 4.070000, 4.060000, 4.050000, 4.040000, 4.030000, 4.020000, 4.000000, 3.990000, 3.680000, 3.680000, 3.990000, 3.980000, 3.980000, 3.980000, 3.980000, 3.960000, 3.910000, 3.990000, 3.990000, 4.000000, 4.010000, 4.020000, 4.030000, 4.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054185, 972138 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.896000, -2.156000, -1.237709 ], "estimate": [ 1.896000, -2.156000, -1.237709 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 0.910000, 0.920000, 0.920000, 0.940000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.230000, 1.250000, 1.260000, 1.300000, 1.330000, 1.360000, 1.380000, 1.420000, 1.440000, 1.480000, 1.520000, 1.550000, 1.590000, 1.650000, 1.690000, 1.740000, 1.800000, 1.860000, 1.920000, 1.990000, 2.060000, 2.130000, 2.220000, 2.200000, 2.200000, 2.170000, 1.740000, 1.740000, 2.140000, 2.140000, 2.120000, 2.120000, 2.100000, 2.080000, 2.080000, 2.360000, 2.600000, 1.040000, 1.050000, null, 2.820000, 2.810000, 2.810000, 2.810000, 2.800000, 2.800000, 2.800000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.840000, 2.820000, 2.850000, 2.860000, 2.860000, 2.870000, 2.890000, 2.890000, 2.910000, 2.930000, 1.330000, 1.320000, 1.470000, 1.690000, 1.560000, 1.520000, 1.490000, 1.490000, 1.480000, 1.450000, 1.460000, 1.420000, 1.430000, 1.430000, 1.670000, 1.470000, 1.460000, 1.680000, 1.650000, 1.650000, 2.670000, 2.610000, 2.560000, 1.610000, 1.590000, 1.470000, 1.450000, 1.430000, 1.420000, 1.400000, 1.400000, 1.410000, 1.380000, 1.330000, 1.360000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.580000, 1.600000, 1.660000, 1.700000, 1.750000, 1.800000, 1.740000, 1.670000, 1.670000, 1.750000, 1.830000, 4.230000, 4.200000, 4.180000, 4.150000, 4.140000, 4.110000, 4.090000, 4.070000, 4.060000, 4.050000, 4.030000, 4.020000, 4.000000, 4.000000, 3.990000, 3.770000, 3.690000, 3.980000, 3.980000, 3.980000, 3.970000, 3.970000, 3.980000, 3.980000, 3.980000, 3.990000, 3.990000, 4.000000, 4.010000, 4.010000, 4.030000, 4.040000, 4.050000, 4.060000, 4.070000, 4.090000, 4.120000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054186, 357224 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.897000, -2.159000, -1.163962 ], "estimate": [ 1.897000, -2.159000, -1.163962 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.600000, 1.650000, 1.690000, 1.740000, 1.800000, 1.860000, 1.910000, 1.990000, 2.050000, 2.130000, 2.210000, 2.220000, 2.210000, 2.180000, 1.680000, 1.740000, 2.140000, 2.140000, 2.110000, 2.120000, 2.110000, 2.090000, 2.090000, 2.340000, 2.570000, 1.030000, 1.040000, null, 2.810000, 2.810000, 2.800000, 2.800000, 2.810000, 2.800000, 2.800000, 2.800000, 2.810000, 2.810000, 2.810000, 2.810000, 2.830000, 2.830000, 2.830000, 2.850000, 2.850000, 2.860000, 2.870000, 2.870000, 2.890000, 2.900000, 2.920000, 1.320000, 1.330000, 1.470000, 1.670000, 1.570000, 1.530000, 1.490000, 1.490000, 1.470000, 1.450000, 1.450000, 1.430000, 1.380000, 1.420000, 1.640000, 1.510000, 1.450000, 2.910000, 1.660000, 1.660000, 2.680000, 2.620000, 2.570000, 1.730000, 1.580000, 1.470000, 1.460000, 1.430000, 1.420000, 1.390000, 1.370000, 1.400000, 1.380000, 1.320000, 1.310000, 1.390000, 1.430000, 1.430000, 1.480000, 1.520000, 1.550000, 1.600000, 1.640000, 1.670000, 1.740000, 1.780000, 1.830000, 1.620000, 1.630000, 1.720000, 1.780000, 1.850000, 4.210000, 4.180000, 4.160000, 4.140000, 4.120000, 4.090000, 4.070000, 4.050000, 4.050000, 4.030000, 4.010000, 4.000000, 3.990000, 3.980000, 3.970000, 3.680000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.890000, 3.970000, 3.980000, 3.980000, 3.980000, 3.990000, 4.000000, 4.000000, 4.020000, 4.040000, 4.050000, 4.060000, 4.080000, 4.100000, 4.120000, 2.540000, 2.410000, 2.280000, 2.180000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054186, 379402 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.899000, -2.162000, -1.084071 ], "estimate": [ 1.899000, -2.162000, -1.084071 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.060000, 1.080000, 1.090000, 1.100000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.550000, 1.600000, 1.650000, 1.690000, 1.740000, 1.800000, 1.840000, 1.910000, 1.980000, 2.040000, 2.130000, 2.200000, 2.220000, 2.210000, 2.180000, 1.700000, 1.740000, 2.070000, 2.150000, 2.120000, 2.110000, 2.110000, 2.090000, 2.100000, 2.320000, 2.540000, 1.050000, 1.070000, 2.850000, 2.810000, 2.810000, 2.800000, 2.810000, 2.800000, 2.800000, 2.800000, 2.800000, 2.810000, 2.810000, 2.810000, 2.820000, 2.820000, 2.830000, 2.830000, 2.850000, 2.850000, 2.850000, 2.860000, 2.870000, 2.890000, 2.900000, 2.920000, 1.320000, 1.320000, 1.500000, 1.680000, 1.560000, 1.520000, 1.490000, 1.480000, 1.470000, 1.440000, 1.460000, 1.420000, 1.410000, 1.420000, 1.650000, 1.480000, 1.460000, 2.900000, 1.650000, 1.650000, 2.680000, 2.620000, 2.570000, 1.680000, 1.580000, 1.480000, 1.460000, 1.430000, 1.410000, 1.390000, 1.370000, 1.370000, 1.360000, 1.330000, 1.320000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.530000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.830000, 1.640000, 1.610000, 1.700000, 1.770000, 1.830000, 4.210000, 4.180000, 4.160000, 4.140000, 4.110000, 4.090000, 4.070000, 4.050000, 4.040000, 4.020000, 4.010000, 4.000000, 3.980000, 3.970000, 3.970000, 3.660000, 3.690000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.880000, 3.850000, 3.970000, 3.970000, 3.980000, 3.990000, 3.980000, 4.000000, 4.010000, 4.020000, 4.040000, 4.050000, 4.070000, 4.090000, 4.110000, 2.560000, 2.430000, 2.280000, 2.180000, 2.090000, 2.010000, 1.920000, 1.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054186, 628980 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.900000, -2.164000, -0.973451 ], "estimate": [ 1.900000, -2.164000, -0.973451 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.830000, 1.880000, 1.950000, 2.010000, 2.090000, 2.170000, 2.250000, 2.180000, 2.190000, 1.730000, 1.730000, 1.750000, 2.150000, 2.140000, 2.130000, 2.110000, 2.110000, 2.080000, 2.070000, 2.450000, 1.050000, 1.050000, 2.860000, 2.810000, 2.820000, 2.800000, 2.800000, 2.810000, 2.810000, 2.810000, 2.810000, 2.800000, 2.800000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.850000, 2.850000, 2.850000, 2.850000, 2.870000, 2.880000, 2.890000, 2.910000, 1.320000, 1.330000, 1.320000, 1.670000, 1.580000, 1.520000, 1.490000, 1.480000, 1.450000, 1.450000, 1.440000, 1.430000, 1.380000, 1.380000, 1.600000, 1.560000, 1.550000, 2.920000, 1.650000, 1.640000, 2.700000, 2.640000, 2.580000, 1.890000, 1.580000, 1.540000, 1.460000, 1.420000, 1.420000, 1.380000, 1.370000, 1.370000, 1.360000, 1.340000, 1.340000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.730000, 1.780000, 1.630000, 1.630000, 1.650000, 1.720000, 1.800000, 4.210000, 4.180000, 4.150000, 4.140000, 4.110000, 4.090000, 4.070000, 4.050000, 4.040000, 4.020000, 4.010000, 3.990000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.960000, 3.960000, 3.970000, 3.970000, 3.970000, 3.990000, 4.000000, 4.020000, 4.030000, 4.050000, 4.060000, 4.080000, 2.690000, 2.500000, 2.340000, 2.220000, 2.130000, 2.040000, 1.960000, 1.890000, 1.810000, 1.740000, 1.680000, 1.630000, 1.570000, 1.540000, 1.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054187, 822630 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.903000, -2.168000, -0.868977 ], "estimate": [ 1.903000, -2.168000, -0.868977 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.220000, 1.240000, 1.250000, 1.270000, 1.300000, 1.320000, 1.350000, 1.380000, 1.390000, 1.420000, 1.450000, 1.490000, 1.530000, 1.560000, 1.600000, 1.650000, 1.700000, 1.730000, 1.790000, 1.840000, 1.890000, 1.960000, 2.020000, 2.100000, 2.180000, 2.240000, 2.200000, 2.180000, 1.740000, 1.740000, 1.760000, 2.150000, 2.150000, 2.140000, 2.120000, 2.110000, 2.080000, 2.160000, 2.460000, 1.070000, 1.080000, 2.820000, 2.820000, 2.810000, 2.820000, 2.810000, 2.810000, 2.800000, 2.810000, 2.810000, 2.800000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.850000, 2.850000, 2.840000, 2.860000, 2.870000, 2.880000, 2.900000, 2.910000, 1.320000, 1.320000, 1.640000, 1.650000, 1.550000, 1.520000, 1.480000, 1.470000, 1.470000, 1.440000, 1.430000, 1.420000, 1.410000, 1.420000, 1.630000, 1.450000, 1.440000, 2.910000, 1.640000, 1.650000, 2.690000, 2.630000, 2.570000, 1.670000, 1.570000, 1.470000, 1.460000, 1.410000, 1.400000, 1.380000, 1.340000, 1.360000, 1.350000, 1.320000, 1.320000, 1.360000, 1.400000, 1.420000, 1.440000, 1.490000, 1.530000, 1.560000, 1.600000, 1.640000, 1.670000, 1.740000, 1.780000, 1.620000, 1.630000, 1.650000, 1.720000, 1.760000, 4.200000, 4.170000, 4.150000, 4.130000, 4.110000, 4.070000, 4.060000, 4.050000, 4.030000, 4.010000, 4.000000, 3.980000, 3.970000, 3.970000, 3.960000, 3.950000, 3.940000, 3.950000, 3.940000, 3.940000, 3.940000, 3.940000, 3.940000, 3.940000, 3.940000, 3.950000, 3.950000, 3.950000, 3.970000, 3.970000, 3.980000, 3.990000, 4.000000, 4.020000, 4.040000, 4.050000, 4.070000, 4.090000, 2.510000, 2.340000, 2.230000, 2.130000, 2.050000, 1.960000, 1.890000, 1.810000, 1.740000, 1.680000, 1.630000, 1.570000, 1.530000, 1.480000, 1.450000, 1.410000, 1.380000, 1.350000, 1.310000, 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": [ 976054187, 834540 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.902000, -2.167000, -0.789086 ], "estimate": [ 1.902000, -2.167000, -0.789086 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.230000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.590000, 1.640000, 1.680000, 1.730000, 1.780000, 1.820000, 1.880000, 1.940000, 2.000000, 2.070000, 2.150000, 2.220000, 2.240000, 2.220000, 2.200000, 1.760000, 1.750000, 2.170000, 2.150000, 2.140000, 2.140000, 2.130000, 2.120000, 2.120000, 2.410000, 1.070000, 1.090000, 2.860000, 2.820000, 2.820000, 2.810000, 2.820000, 2.810000, 2.810000, 2.810000, 2.800000, 2.800000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.840000, 2.850000, 2.850000, 2.850000, 2.860000, 2.880000, 2.890000, 2.910000, 1.320000, 1.300000, 1.400000, 1.660000, 1.580000, 1.520000, 1.490000, 1.480000, 1.450000, 1.440000, 1.440000, 1.440000, 1.380000, 1.390000, 1.620000, 1.630000, 1.440000, 2.940000, 1.650000, 1.650000, 2.720000, 2.650000, 2.600000, 2.550000, 1.590000, 1.550000, 1.460000, 1.430000, 1.410000, 1.380000, 1.360000, 1.360000, 1.350000, 1.340000, 1.320000, 1.350000, 1.370000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.580000, 1.610000, 1.670000, 1.710000, 1.760000, 1.800000, 1.580000, 1.620000, 1.690000, 1.760000, 1.820000, 4.180000, 4.150000, 4.140000, 4.110000, 4.090000, 4.060000, 4.050000, 4.030000, 4.010000, 4.000000, 3.980000, 3.970000, 3.970000, 3.950000, 3.950000, 3.720000, 3.630000, 3.940000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.940000, 3.940000, 3.940000, 3.950000, 3.950000, 3.950000, 3.960000, 3.970000, 3.980000, 4.000000, 4.020000, 4.030000, 4.050000, 4.070000, 2.630000, 2.470000, 2.310000, 2.200000, 2.110000, 2.020000, 1.930000, 1.860000, 1.790000, 1.730000, 1.660000, 1.610000, 1.560000, 1.520000, 1.470000, 1.430000, 1.390000, 1.360000, 1.330000, 1.290000, 1.270000, 1.230000, 1.200000, 1.180000, 1.160000, 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": [ 976054187, 174608 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.902000, -2.167000, -0.709194 ], "estimate": [ 1.902000, -2.167000, -0.709194 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.330000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.580000, 1.630000, 1.670000, 1.720000, 1.770000, 1.810000, 1.880000, 1.930000, 1.990000, 2.070000, 2.130000, 2.220000, 2.240000, 2.240000, 2.210000, 1.770000, 1.760000, 2.170000, 2.170000, 2.150000, 2.140000, 2.140000, 2.120000, 2.120000, 2.380000, 1.090000, 1.060000, 2.850000, 2.830000, 2.830000, 2.820000, 2.820000, 2.820000, 2.810000, 2.810000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 1.320000, 1.330000, 1.690000, 1.680000, 1.570000, 1.530000, 1.500000, 1.470000, 1.450000, 1.430000, 1.430000, 1.420000, 1.370000, 1.400000, 3.230000, 3.130000, 1.440000, 2.960000, 1.660000, 1.640000, 2.740000, 2.660000, 2.600000, 2.550000, 1.580000, 1.550000, 1.460000, 1.430000, 1.420000, 1.380000, 1.370000, 1.360000, 1.360000, 1.340000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.460000, 1.500000, 1.530000, 1.580000, 1.610000, 1.660000, 1.710000, 1.760000, 1.780000, 1.580000, 1.620000, 1.680000, 1.750000, 1.830000, 4.180000, 4.150000, 4.140000, 4.110000, 4.090000, 4.060000, 4.050000, 4.030000, 4.010000, 3.990000, 3.980000, 3.970000, 3.970000, 3.960000, 3.950000, 3.940000, 3.670000, 3.930000, 3.930000, 3.930000, 3.920000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.940000, 3.950000, 3.950000, 3.960000, 3.970000, 3.980000, 3.990000, 4.010000, 4.030000, 4.040000, 4.050000, 2.580000, 2.470000, 2.330000, 2.210000, 2.120000, 2.020000, 1.940000, 1.870000, 1.800000, 1.730000, 1.660000, 1.610000, 1.560000, 1.520000, 1.470000, 1.430000, 1.390000, 1.360000, 1.330000, 1.290000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.070000, 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": [ 976054187, 508401 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.902000, -2.167000, -0.610865 ], "estimate": [ 1.902000, -2.167000, -0.610865 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.520000, 1.560000, 1.590000, 1.620000, 1.660000, 1.720000, 1.760000, 1.820000, 1.880000, 1.930000, 2.000000, 2.060000, 2.130000, 2.220000, 2.270000, 2.260000, 2.230000, 1.770000, 1.780000, 2.170000, 2.180000, 2.170000, 2.150000, 2.140000, 2.130000, 2.130000, 2.370000, 1.080000, 1.060000, 2.880000, 2.840000, 2.830000, 2.830000, 2.830000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.840000, 2.840000, 2.840000, 2.840000, 2.860000, 2.870000, 2.870000, 2.890000, 2.900000, 2.900000, 1.330000, 1.330000, 1.660000, 1.690000, 1.580000, 1.520000, 1.480000, 1.470000, 1.470000, 1.420000, 1.420000, 1.410000, 1.420000, 1.420000, 3.210000, 1.450000, 1.480000, 2.950000, 1.660000, 1.640000, 2.730000, 2.660000, 2.600000, 1.800000, 1.580000, 1.460000, 1.450000, 1.400000, 1.400000, 1.380000, 1.340000, 1.380000, 1.350000, 1.320000, 1.320000, 1.360000, 1.380000, 1.420000, 1.440000, 1.470000, 1.500000, 1.540000, 1.590000, 1.620000, 1.670000, 1.710000, 1.770000, 1.620000, 1.610000, 1.640000, 1.700000, 1.770000, 1.810000, 4.180000, 4.160000, 4.130000, 4.100000, 4.080000, 4.060000, 4.040000, 4.020000, 4.000000, 3.990000, 3.970000, 3.970000, 3.960000, 3.960000, 3.950000, 3.810000, 3.670000, 3.930000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.940000, 3.930000, 3.940000, 3.950000, 3.960000, 3.970000, 3.980000, 4.000000, 4.020000, 4.040000, 4.050000, 2.620000, 2.450000, 2.300000, 2.190000, 2.090000, 2.000000, 1.930000, 1.850000, 1.770000, 1.710000, 1.650000, 1.590000, 1.550000, 1.500000, 1.450000, 1.420000, 1.380000, 1.340000, 1.320000, 1.280000, 1.250000, 1.220000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.080000, 1.050000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054187, 579460 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.903000, -2.167000, -0.518682 ], "estimate": [ 1.903000, -2.167000, -0.518682 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.690000, 1.740000, 1.780000, 1.840000, 1.890000, 1.960000, 2.030000, 2.090000, 2.170000, 2.250000, 2.270000, 2.250000, 2.210000, 1.780000, 1.790000, 2.200000, 2.190000, 2.170000, 2.150000, 2.160000, 2.140000, 2.120000, 2.460000, 1.090000, null, 2.840000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.820000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.840000, 2.840000, 2.850000, 2.860000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 1.330000, 1.340000, 1.640000, 1.610000, 1.570000, 1.510000, 1.470000, 1.440000, 1.440000, 1.420000, 1.420000, 1.390000, 1.400000, 1.450000, 3.190000, 1.450000, 1.460000, 2.940000, 1.660000, 1.660000, 2.720000, 2.650000, 2.580000, 1.610000, 1.560000, 1.460000, 1.440000, 1.410000, 1.390000, 1.370000, 1.370000, 1.360000, 1.340000, 1.340000, 1.350000, 1.380000, 1.410000, 1.430000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.650000, 1.690000, 1.750000, 1.790000, 1.590000, 1.570000, 1.660000, 1.740000, 1.770000, 4.200000, 4.170000, 4.150000, 4.120000, 4.090000, 4.070000, 4.050000, 4.040000, 4.020000, 4.000000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.940000, 3.610000, 3.620000, 3.920000, 3.920000, 3.910000, 3.910000, 3.910000, 3.920000, 3.880000, 3.920000, 3.920000, 3.940000, 3.940000, 3.940000, 3.950000, 3.960000, 3.970000, 3.980000, 4.000000, 4.020000, 4.040000, 4.050000, 2.520000, 2.380000, 2.250000, 2.150000, 2.060000, 1.980000, 1.900000, 1.810000, 1.740000, 1.680000, 1.620000, 1.570000, 1.530000, 1.470000, 1.430000, 1.390000, 1.360000, 1.320000, 1.290000, 1.270000, 1.230000, 1.200000, 1.180000, 1.140000, 1.140000, 1.110000, 1.090000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.980000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054188, 184689 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.903000, -2.167000, -0.438791 ], "estimate": [ 1.903000, -2.167000, -0.438791 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.940000, 2.010000, 2.080000, 2.150000, 2.250000, 2.280000, 2.230000, 2.250000, 1.770000, 1.790000, 2.110000, 2.210000, 2.190000, 2.160000, 2.160000, 2.160000, 2.150000, 2.400000, 1.100000, 1.110000, 2.880000, 2.840000, 2.840000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.820000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.880000, 2.860000, 2.870000, 2.880000, 2.890000, 2.900000, 2.900000, 1.390000, 1.330000, 1.340000, 1.700000, 1.690000, 1.550000, 1.520000, 1.490000, 1.450000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.430000, 3.210000, 1.460000, 1.470000, 2.960000, 1.650000, 1.660000, 2.730000, 2.670000, 2.610000, 1.610000, 1.570000, 1.470000, 1.450000, 1.410000, 1.400000, 1.370000, 1.380000, 1.360000, 1.340000, 1.340000, 1.350000, 1.380000, 1.410000, 1.440000, 1.450000, 1.490000, 1.530000, 1.570000, 1.610000, 1.630000, 1.690000, 1.730000, 1.780000, 1.600000, 1.570000, 1.660000, 1.740000, 1.780000, 4.200000, 4.170000, 4.160000, 4.130000, 4.100000, 4.070000, 4.050000, 4.040000, 4.020000, 4.010000, 3.980000, 3.980000, 3.970000, 3.960000, 3.940000, 3.940000, 3.800000, 3.620000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.930000, 3.930000, 3.940000, 3.940000, 3.960000, 3.960000, 3.980000, 3.990000, 4.010000, 4.030000, 4.040000, 2.630000, 2.410000, 2.290000, 2.170000, 2.080000, 1.990000, 1.910000, 1.830000, 1.760000, 1.690000, 1.630000, 1.580000, 1.530000, 1.480000, 1.440000, 1.410000, 1.360000, 1.330000, 1.300000, 1.270000, 1.230000, 1.200000, 1.180000, 1.150000, 1.120000, 1.110000, 1.090000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.830000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054188, 297600 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.904000, -2.168000, -0.340462 ], "estimate": [ 1.904000, -2.168000, -0.340462 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.280000, 2.250000, 2.260000, 1.810000, 1.800000, 2.140000, 2.210000, 2.200000, 2.170000, 2.170000, 2.160000, 2.170000, 2.400000, 1.130000, 1.130000, 2.870000, 2.850000, 2.850000, 2.840000, 2.840000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.840000, 2.850000, 2.870000, 2.870000, 2.880000, 2.880000, 2.890000, 2.900000, 2.910000, 1.350000, 1.340000, 1.380000, 1.670000, 1.600000, 1.560000, 1.510000, 1.500000, 1.450000, 1.460000, 1.430000, 1.430000, 1.390000, 1.390000, 1.490000, 3.210000, 1.470000, 1.480000, 3.020000, 1.650000, 1.670000, 2.720000, 2.650000, 2.600000, 1.600000, 1.520000, 1.460000, 1.420000, 1.420000, 1.390000, 1.360000, 1.370000, 1.350000, 1.310000, 1.310000, 1.360000, 1.380000, 1.430000, 1.440000, 1.460000, 1.510000, 1.540000, 1.570000, 1.620000, 1.650000, 1.690000, 1.740000, 1.760000, 1.580000, 1.610000, 1.670000, 1.750000, 1.800000, 4.200000, 4.170000, 4.150000, 4.120000, 4.090000, 4.070000, 4.050000, 4.040000, 4.020000, 4.000000, 3.990000, 3.980000, 3.960000, 3.950000, 3.940000, 3.930000, 3.610000, 3.610000, 3.920000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.920000, 3.930000, 3.930000, 3.940000, 3.950000, 3.970000, 3.970000, 3.980000, 4.000000, 4.010000, 4.040000, 2.550000, 2.390000, 2.260000, 2.150000, 2.050000, 1.960000, 1.890000, 1.810000, 1.740000, 1.670000, 1.610000, 1.560000, 1.520000, 1.460000, 1.420000, 1.390000, 1.350000, 1.320000, 1.280000, 1.250000, 1.220000, 1.180000, 1.160000, 1.150000, 1.120000, 1.100000, 1.080000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.950000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054188, 173997 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.906000, -2.168000, -0.248279 ], "estimate": [ 1.906000, -2.168000, -0.248279 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.220000, 2.200000, 2.180000, 2.180000, 2.170000, 2.170000, 2.360000, 1.130000, 1.130000, 2.880000, 2.870000, 2.860000, 2.860000, 2.850000, 2.840000, 2.850000, 2.840000, 2.840000, 2.840000, 2.840000, 2.830000, 2.840000, 2.850000, 2.850000, 2.860000, 2.880000, 2.870000, 2.880000, 2.880000, 2.900000, 2.900000, 2.930000, 1.350000, 1.360000, 1.490000, 1.710000, 1.590000, 1.560000, 1.520000, 1.520000, 1.470000, 1.450000, 1.430000, 1.440000, 1.390000, 1.430000, 1.540000, 3.220000, 1.470000, 3.050000, 3.020000, 1.660000, 2.810000, 2.730000, 2.660000, 2.600000, 1.610000, 1.510000, 1.460000, 1.420000, 1.410000, 1.390000, 1.340000, 1.390000, 1.360000, 1.310000, 1.330000, 1.370000, 1.400000, 1.440000, 1.440000, 1.480000, 1.510000, 1.540000, 1.580000, 1.620000, 1.660000, 1.710000, 1.760000, 1.670000, 1.610000, 1.620000, 1.690000, 1.750000, 1.810000, 4.190000, 4.170000, 4.150000, 4.120000, 4.090000, 4.070000, 4.050000, 4.030000, 4.020000, 4.000000, 3.980000, 3.970000, 3.960000, 3.950000, 3.940000, 3.930000, 3.640000, 3.600000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.940000, 3.940000, 3.950000, 3.960000, 3.970000, 3.990000, 4.010000, 4.020000, 2.590000, 2.400000, 2.260000, 2.150000, 2.060000, 1.970000, 1.890000, 1.820000, 1.740000, 1.660000, 1.610000, 1.560000, 1.510000, 1.450000, 1.420000, 1.380000, 1.340000, 1.310000, 1.280000, 1.240000, 1.210000, 1.180000, 1.150000, 1.140000, 1.120000, 1.090000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054188, 614923 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.908000, -2.169000, -0.168387 ], "estimate": [ 1.908000, -2.169000, -0.168387 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.170000, 2.170000, 2.360000, 1.140000, 1.150000, 1.150000, 2.880000, 2.870000, 2.870000, 2.860000, 2.850000, 2.860000, 2.850000, 2.850000, 2.850000, 2.840000, 2.850000, 2.850000, 2.860000, 2.860000, 2.860000, 2.890000, 2.880000, 2.890000, 2.890000, 2.900000, 2.910000, 2.930000, 1.360000, 1.350000, 1.570000, 1.700000, 1.600000, 1.560000, 1.510000, 1.520000, 1.490000, 1.440000, 1.440000, 1.450000, 1.440000, 1.440000, 3.250000, 1.470000, 1.480000, 3.030000, 1.690000, 1.680000, 2.800000, 2.720000, 2.650000, 1.830000, 1.590000, 1.480000, 1.450000, 1.410000, 1.410000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.350000, 1.380000, 1.410000, 1.440000, 1.460000, 1.490000, 1.530000, 1.560000, 1.590000, 1.630000, 1.670000, 1.720000, 1.770000, 1.620000, 1.610000, 1.650000, 1.700000, 1.770000, 1.810000, 4.200000, 4.170000, 4.160000, 4.130000, 4.100000, 4.070000, 4.060000, 4.030000, 4.010000, 3.990000, 3.980000, 3.980000, 3.960000, 3.950000, 3.940000, 3.930000, 3.610000, 3.600000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.930000, 3.930000, 3.940000, 3.940000, 3.950000, 3.960000, 3.980000, 3.990000, 4.010000, 4.030000, 2.530000, 2.380000, 2.240000, 2.130000, 2.040000, 1.950000, 1.870000, 1.790000, 1.730000, 1.670000, 1.610000, 1.550000, 1.510000, 1.450000, 1.410000, 1.370000, 1.330000, 1.300000, 1.270000, 1.230000, 1.190000, 1.180000, 1.150000, 1.130000, 1.110000, 1.080000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.780000, 0.780000, 0.760000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054188, 659639 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.912000, -2.169000, -0.076205 ], "estimate": [ 1.912000, -2.169000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.890000, 2.890000, 2.880000, 2.870000, 2.870000, 2.880000, 2.870000, 2.870000, 2.860000, 2.860000, 2.860000, 2.860000, 2.860000, 2.870000, 2.870000, 2.880000, 2.900000, 2.890000, 2.910000, 2.910000, 2.910000, 2.930000, 1.360000, 1.370000, 1.410000, 1.710000, 3.030000, 1.580000, 1.530000, 1.520000, 1.470000, 1.460000, 1.450000, 1.450000, 1.400000, 1.430000, 3.250000, 3.270000, 1.470000, 3.080000, 3.070000, 1.680000, 2.830000, 2.750000, 2.690000, 2.630000, 1.600000, 1.540000, 1.470000, 1.440000, 1.410000, 1.390000, 1.370000, 1.400000, 1.360000, 1.320000, 1.350000, 1.380000, 1.410000, 1.430000, 1.450000, 1.490000, 1.520000, 1.550000, 1.580000, 1.620000, 1.670000, 1.710000, 1.750000, 1.670000, 1.610000, 1.620000, 1.670000, 1.750000, 1.800000, 4.200000, 4.180000, 4.170000, 4.130000, 4.100000, 4.080000, 4.060000, 4.040000, 4.020000, 4.000000, 3.990000, 3.970000, 3.960000, 3.960000, 3.940000, 3.930000, 3.930000, 3.880000, 3.920000, 3.910000, 3.910000, 3.900000, 3.910000, 3.910000, 3.810000, 3.900000, 3.910000, 3.910000, 3.920000, 3.930000, 3.930000, 3.930000, 3.950000, 3.960000, 3.960000, 3.980000, 3.990000, 4.010000, 4.030000, 2.420000, 2.300000, 2.170000, 2.070000, 1.980000, 1.900000, 1.820000, 1.740000, 1.680000, 1.620000, 1.560000, 1.520000, 1.460000, 1.420000, 1.380000, 1.330000, 1.290000, 1.270000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.100000, 1.080000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054188, 859262 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.915000, -2.169000, 0.009833 ], "estimate": [ 1.915000, -2.169000, 0.009833 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.880000, 2.880000, 2.870000, 2.880000, 2.870000, 2.870000, 2.870000, 2.880000, 2.880000, 2.890000, 2.890000, 2.900000, 2.900000, 2.910000, 2.910000, 2.920000, 2.940000, 1.420000, 1.370000, 1.370000, 1.720000, 3.040000, 1.610000, 1.540000, 1.510000, 1.480000, 1.480000, 1.450000, 1.450000, 1.410000, 1.410000, 1.500000, 3.260000, 1.490000, 1.480000, 3.020000, 1.690000, 1.680000, 2.780000, 2.710000, 2.650000, 1.610000, 1.580000, 1.480000, 1.440000, 1.420000, 1.390000, 1.360000, 1.380000, 1.380000, 1.320000, 1.330000, 1.380000, 1.400000, 1.430000, 1.450000, 1.480000, 1.520000, 1.540000, 1.580000, 1.620000, 1.670000, 1.710000, 1.750000, 1.780000, 1.590000, 1.610000, 1.670000, 1.740000, 1.780000, 4.220000, 4.180000, 4.170000, 4.150000, 4.120000, 4.090000, 4.060000, 4.050000, 4.020000, 4.000000, 3.990000, 3.970000, 3.970000, 3.950000, 3.940000, 3.940000, 3.930000, 3.600000, 3.730000, 3.910000, 3.910000, 3.900000, 3.900000, 3.900000, 3.900000, 3.780000, 3.910000, 3.910000, 3.920000, 3.920000, 3.930000, 3.930000, 3.940000, 3.950000, 3.960000, 3.970000, 3.980000, 4.000000, 4.020000, 2.450000, 2.330000, 2.200000, 2.090000, 2.000000, 1.910000, 1.820000, 1.740000, 1.690000, 1.630000, 1.560000, 1.510000, 1.460000, 1.420000, 1.380000, 1.340000, 1.300000, 1.270000, 1.230000, 1.200000, 1.170000, 1.150000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.940000, 0.920000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054189, 241060 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.923000, -2.169000, 0.089725 ], "estimate": [ 1.923000, -2.169000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.890000, 2.900000, 2.890000, 2.890000, 2.900000, 2.900000, 2.920000, 2.920000, 2.920000, 2.930000, 2.940000, 2.950000, 1.390000, 1.390000, 1.540000, 1.650000, null, 1.600000, 1.550000, 1.520000, 1.480000, 1.460000, 1.460000, 1.460000, 1.460000, 1.450000, 1.570000, 3.280000, 3.200000, 3.100000, 3.080000, null, 2.850000, 2.770000, 2.700000, 1.950000, 1.600000, 1.490000, 1.460000, 1.420000, 1.410000, 1.390000, 1.380000, 1.390000, 1.360000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.470000, 1.510000, 1.540000, 1.570000, 1.600000, 1.630000, 1.680000, 1.720000, 1.770000, 1.620000, 1.620000, 1.640000, 1.700000, 1.750000, 1.820000, 4.210000, 4.180000, 4.170000, 4.140000, 4.110000, 4.080000, 4.060000, 4.040000, 4.020000, 4.000000, 3.980000, 3.980000, 3.960000, 3.950000, 3.940000, 3.930000, 3.930000, 3.800000, 3.910000, 3.910000, 3.900000, 3.890000, 3.900000, 3.890000, 3.790000, 3.880000, 3.900000, 3.910000, 3.910000, 3.920000, 3.930000, 3.930000, 3.930000, 3.950000, 3.960000, 3.970000, 3.980000, 4.000000, 4.010000, 2.420000, 2.290000, 2.160000, 2.060000, 1.970000, 1.880000, 1.790000, 1.730000, 1.670000, 1.590000, 1.550000, 1.500000, 1.440000, 1.400000, 1.360000, 1.310000, 1.280000, 1.250000, 1.210000, 1.180000, 1.150000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 1.020000, 1.000000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.680000, 0.690000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054189, 242236 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.953000, -2.165000, 0.188053 ], "estimate": [ 1.953000, -2.165000, 0.188053 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.920000, 2.930000, 2.930000, 2.940000, 2.950000, 2.960000, 1.390000, 1.390000, 1.590000, 1.710000, 1.610000, 1.560000, 1.540000, 1.480000, 1.500000, 1.480000, 1.480000, 1.440000, 1.460000, 1.470000, 3.230000, 1.490000, 1.500000, 3.080000, 1.670000, 1.680000, 2.830000, 2.760000, 2.690000, 1.620000, 1.590000, 1.470000, 1.440000, 1.400000, 1.380000, 1.350000, 1.360000, 1.360000, 1.320000, 1.330000, 1.370000, 1.390000, 1.430000, 1.440000, 1.480000, 1.500000, 1.530000, 1.570000, 1.610000, 1.630000, 1.680000, 1.720000, 1.760000, 1.570000, 1.580000, 1.640000, 1.700000, 1.760000, 1.810000, 4.200000, 4.170000, 4.160000, 4.130000, 4.090000, 4.070000, 4.050000, 4.030000, 4.000000, 3.980000, 3.970000, 3.950000, 3.940000, 3.930000, 3.930000, 3.920000, 3.910000, 3.780000, 3.750000, 3.890000, 3.880000, 3.880000, 3.880000, 3.880000, 3.740000, 3.740000, 3.880000, 3.880000, 3.890000, 3.900000, 3.910000, 3.910000, 3.930000, 3.930000, 3.940000, 3.950000, 3.960000, 3.970000, 3.990000, 2.410000, 2.270000, 2.150000, 2.040000, 1.950000, 1.860000, 1.790000, 1.720000, 1.650000, 1.580000, 1.540000, 1.480000, 1.420000, 1.380000, 1.340000, 1.290000, 1.270000, 1.230000, 1.190000, 1.160000, 1.140000, 1.120000, 1.090000, 1.070000, 1.040000, 1.030000, 1.000000, 0.980000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.870000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.810000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000 ], "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": [ 976054189, 479809 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.008000, -2.151000, 0.274090 ], "estimate": [ 2.008000, -2.151000, 0.274090 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.580000, 1.560000, 1.520000, 1.470000, 1.470000, 1.460000, 1.470000, 1.470000, 1.480000, 1.580000, 3.230000, 3.260000, 3.230000, 3.140000, 1.680000, 1.690000, 2.860000, 2.780000, 2.710000, 1.590000, 1.490000, 1.470000, 1.400000, 1.370000, 1.350000, 1.350000, 1.360000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.470000, 1.490000, 1.530000, 1.560000, 1.590000, 1.620000, 1.660000, 1.690000, 1.740000, 1.540000, 1.550000, 1.620000, 1.670000, 1.740000, 1.780000, 4.200000, 4.160000, 4.140000, 4.120000, 4.080000, 4.060000, 4.040000, 4.000000, 3.980000, 3.970000, 3.950000, 3.930000, 3.920000, 3.900000, 3.900000, 3.890000, 3.870000, 3.860000, 3.730000, 3.830000, 3.840000, 3.840000, 3.830000, 3.830000, 3.830000, 3.760000, 3.720000, 3.830000, 3.840000, 3.840000, 3.850000, 3.850000, 3.860000, 3.870000, 3.880000, 3.900000, 3.910000, 3.930000, 3.930000, 3.950000, 2.390000, 2.250000, 2.130000, 2.020000, 1.930000, 1.840000, 1.760000, 1.690000, 1.620000, 1.570000, 1.520000, 1.450000, 1.410000, 1.360000, 1.320000, 1.280000, 1.240000, 1.200000, 1.180000, 1.140000, 1.120000, 1.090000, 1.060000, 1.030000, 1.020000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000 ], "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": [ 976054189, 921947 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.082000, -2.130000, 0.274090 ], "estimate": [ 2.082000, -2.130000, 0.274090 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.460000, 1.450000, 1.410000, 1.470000, 3.160000, 1.480000, 1.470000, 3.240000, 3.240000, 1.660000, 1.650000, 2.940000, 2.840000, 2.770000, 1.570000, 1.450000, 1.430000, 1.370000, 1.330000, 1.330000, 1.350000, 1.320000, 1.260000, 1.300000, 1.330000, 1.330000, 1.360000, 1.390000, 1.410000, 1.420000, 1.450000, 1.480000, 1.520000, 1.540000, 1.570000, 1.610000, 1.640000, 1.680000, 1.530000, 1.500000, 1.570000, 1.600000, 1.660000, 1.670000, 4.210000, 4.170000, 4.150000, 4.110000, 4.070000, 4.050000, 4.030000, 4.000000, 3.970000, 3.940000, 3.920000, 3.910000, 3.890000, 3.870000, 3.850000, 3.850000, 3.830000, 3.820000, 3.810000, 3.800000, 3.490000, 3.780000, 3.780000, 3.770000, 3.760000, 3.760000, 3.760000, 3.760000, 3.760000, 3.770000, 3.770000, 3.770000, 3.780000, 3.790000, 3.790000, 3.810000, 3.810000, 3.820000, 3.840000, 3.850000, 3.870000, 3.880000, 2.610000, 2.250000, 2.130000, 2.020000, 1.920000, 1.820000, 1.740000, 1.670000, 1.610000, 1.560000, 1.490000, 1.440000, 1.390000, 1.340000, 1.300000, 1.270000, 1.220000, 1.180000, 1.150000, 1.130000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054189, 949552 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.145000, -2.113000, 0.267945 ], "estimate": [ 2.145000, -2.113000, 0.267945 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.450000, 1.460000, 1.440000, 1.520000, 1.550000, 1.470000, 1.460000, 3.190000, 3.220000, 3.250000, 1.650000, 3.070000, 2.970000, 2.870000, 1.570000, 1.460000, 1.420000, 1.350000, 1.310000, 1.290000, 1.310000, 1.270000, 1.230000, 1.270000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.510000, 1.550000, 1.580000, 1.610000, 1.630000, 1.470000, 1.470000, 1.520000, 1.560000, 1.600000, 1.610000, 4.200000, 4.160000, 4.130000, 4.090000, 4.050000, 4.020000, 3.990000, 3.970000, 3.940000, 3.920000, 3.900000, 3.870000, 3.850000, 3.820000, 3.810000, 3.790000, 3.770000, 3.770000, 3.750000, 3.740000, 3.730000, 3.430000, 3.570000, 3.710000, 3.700000, 3.690000, 3.690000, 3.680000, 3.680000, 3.560000, 3.680000, 3.690000, 3.690000, 3.690000, 3.700000, 3.710000, 3.710000, 3.730000, 3.730000, 3.740000, 3.760000, 3.770000, 3.790000, 3.810000, 2.270000, 2.180000, 2.060000, 1.960000, 1.870000, 1.770000, 1.700000, 1.630000, 1.560000, 1.510000, 1.450000, 1.400000, 1.350000, 1.300000, 1.260000, 1.230000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054189, 999269 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.196000, -2.099000, 0.261799 ], "estimate": [ 2.196000, -2.099000, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.450000, 1.480000, 1.530000, 3.110000, 1.450000, 3.150000, 3.160000, 3.190000, 1.630000, 1.640000, 3.080000, 2.970000, 2.880000, 1.530000, 1.410000, 1.340000, 1.300000, 1.280000, 1.310000, 1.270000, 1.200000, 1.240000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.480000, 1.520000, 1.540000, 1.570000, 1.610000, 1.420000, 1.440000, 1.480000, 1.530000, 1.570000, 1.560000, 1.610000, 4.160000, 4.120000, 4.070000, 4.040000, 4.000000, 3.980000, 3.950000, 3.920000, 3.900000, 3.870000, 3.840000, 3.810000, 3.800000, 3.780000, 3.770000, 3.750000, 3.740000, 3.720000, 3.710000, 3.700000, 3.680000, 3.350000, 3.490000, 3.660000, 3.650000, 3.650000, 3.650000, 3.650000, 3.640000, 3.480000, 3.640000, 3.640000, 3.640000, 3.650000, 3.650000, 3.660000, 3.660000, 3.670000, 3.670000, 3.690000, 3.700000, 3.710000, 3.730000, 3.740000, 3.760000, 2.160000, 2.050000, 1.940000, 1.840000, 1.750000, 1.680000, 1.610000, 1.540000, 1.480000, 1.430000, 1.380000, 1.330000, 1.280000, 1.240000, 1.200000, 1.170000, 1.140000, 1.100000, 1.070000, 1.050000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.610000, 0.610000, 0.620000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054190, 382568 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.240000, -2.087000, 0.274090 ], "estimate": [ 2.240000, -2.087000, 0.274090 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.440000, 1.450000, 3.140000, 3.160000, 3.180000, 1.630000, 3.250000, 3.160000, 3.030000, 1.550000, 1.460000, 1.390000, 1.310000, 1.270000, 1.270000, 1.280000, 1.250000, 1.210000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.490000, 1.520000, 1.550000, 1.570000, 1.410000, 1.420000, 1.450000, 1.500000, 1.520000, 1.570000, 1.600000, 4.160000, 4.130000, 4.080000, 4.050000, 4.010000, 3.970000, 3.940000, 3.920000, 3.890000, 3.860000, 3.830000, 3.800000, 3.780000, 3.760000, 3.750000, 3.740000, 3.720000, 3.690000, 3.670000, 3.670000, 3.660000, 3.650000, 3.340000, 3.340000, 3.620000, 3.610000, 3.610000, 3.600000, 3.600000, 3.600000, 3.580000, 3.600000, 3.600000, 3.600000, 3.600000, 3.610000, 3.610000, 3.620000, 3.630000, 3.630000, 3.640000, 3.660000, 3.660000, 3.670000, 3.690000, 3.710000, 2.160000, 2.050000, 1.940000, 1.830000, 1.740000, 1.660000, 1.600000, 1.530000, 1.480000, 1.420000, 1.370000, 1.320000, 1.270000, 1.230000, 1.180000, 1.150000, 1.130000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.940000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.600000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000 ], "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": [ 976054190, 383764 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.295000, -2.072000, 0.261799 ], "estimate": [ 2.295000, -2.072000, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.100000, 3.120000, 3.140000, 3.160000, 1.630000, 3.210000, 3.220000, 3.120000, 1.540000, 1.410000, 1.350000, 1.290000, 1.250000, 1.270000, 1.250000, 1.190000, 1.210000, 1.240000, 1.260000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.510000, 1.550000, 1.350000, 1.390000, 1.420000, 1.450000, 1.480000, 1.490000, 1.560000, 4.180000, 4.150000, 4.090000, 4.050000, 4.020000, 3.980000, 3.940000, 3.920000, 3.890000, 3.860000, 3.830000, 3.800000, 3.770000, 3.750000, 3.730000, 3.720000, 3.690000, 3.670000, 3.660000, 3.650000, 3.630000, 3.620000, 3.610000, 3.590000, 3.290000, 3.580000, 3.570000, 3.570000, 3.560000, 3.560000, 3.550000, 3.550000, 3.460000, 3.550000, 3.550000, 3.560000, 3.560000, 3.570000, 3.570000, 3.580000, 3.580000, 3.590000, 3.600000, 3.620000, 3.630000, 3.640000, 3.660000, 3.670000, 2.080000, 1.970000, 1.860000, 1.770000, 1.680000, 1.610000, 1.550000, 1.480000, 1.430000, 1.380000, 1.330000, 1.270000, 1.230000, 1.190000, 1.150000, 1.130000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.590000, 0.600000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000 ], "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": [ 976054190, 619441 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.359000, -2.056000, 0.218781 ], "estimate": [ 2.359000, -2.056000, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.100000, 3.110000, 3.120000, 1.610000, 1.620000, 3.180000, 3.200000, 3.190000, 1.410000, 1.340000, 1.290000, 1.230000, 1.270000, 1.230000, 1.160000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.280000, 1.280000, 1.290000, 1.300000, 1.330000, 1.340000, 1.350000, 1.380000, 1.400000, 1.420000, 1.430000, 1.470000, 1.480000, 1.380000, 1.310000, 1.360000, 1.390000, 1.420000, 1.460000, 1.470000, 1.520000, 4.190000, 4.150000, 4.110000, 4.050000, 4.010000, 3.970000, 3.930000, 3.900000, 3.870000, 3.840000, 3.800000, 3.780000, 3.750000, 3.720000, 3.700000, 3.670000, 3.660000, 3.640000, 3.630000, 3.600000, 3.590000, 3.580000, 3.560000, 3.550000, 3.540000, 3.220000, 3.510000, 3.510000, 3.500000, 3.490000, 3.490000, 3.480000, 3.480000, 3.480000, 3.480000, 3.480000, 3.480000, 3.480000, 3.480000, 3.490000, 3.500000, 3.510000, 3.520000, 3.530000, 3.530000, 3.550000, 3.570000, 3.580000, 3.590000, 3.610000, 2.010000, 1.910000, 1.810000, 1.720000, 1.640000, 1.570000, 1.500000, 1.440000, 1.390000, 1.340000, 1.280000, 1.240000, 1.190000, 1.160000, 1.130000, 1.090000, 1.060000, 1.020000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.820000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054191, 122499 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.422000, -2.044000, 0.151180 ], "estimate": [ 2.422000, -2.044000, 0.151180 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 3.080000, 3.090000, 3.100000, 3.110000, 1.600000, 3.140000, 3.160000, 3.170000, 1.420000, 1.330000, 1.260000, 1.220000, 1.240000, 1.200000, 1.140000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.430000, 1.450000, 1.290000, 1.300000, 1.330000, 1.370000, 1.390000, 1.420000, 1.420000, 1.480000, 4.200000, 4.150000, 4.100000, 4.050000, 4.010000, 3.970000, 3.930000, 3.890000, 3.860000, 3.820000, 3.790000, 3.760000, 3.730000, 3.700000, 3.670000, 3.650000, 3.630000, 3.610000, 3.590000, 3.580000, 3.560000, 3.530000, 3.520000, 3.500000, 3.480000, 3.480000, 3.180000, 3.340000, 3.460000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.420000, 3.330000, 3.420000, 3.420000, 3.430000, 3.430000, 3.430000, 3.440000, 3.440000, 3.450000, 3.460000, 3.470000, 3.480000, 3.490000, 3.500000, 3.520000, 3.530000, 3.560000, 1.950000, 1.840000, 1.740000, 1.660000, 1.580000, 1.530000, 1.450000, 1.400000, 1.360000, 1.290000, 1.250000, 1.200000, 1.160000, 1.140000, 1.100000, 1.060000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000 ], "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": [ 976054191, 238499 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.478000, -2.037000, 0.095870 ], "estimate": [ 2.478000, -2.037000, 0.095870 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.530000, 3.040000, 3.050000, 3.060000, 3.070000, 3.080000, 1.590000, 3.100000, 3.120000, 3.130000, 1.360000, 1.300000, 1.220000, 1.210000, 1.220000, 1.120000, 1.150000, 1.160000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.270000, 1.240000, 1.270000, 1.310000, 1.320000, 1.350000, 1.380000, 1.360000, 1.430000, 4.180000, 4.140000, 4.090000, 4.040000, 3.990000, 3.940000, 3.910000, 3.870000, 3.840000, 3.800000, 3.760000, 3.730000, 3.700000, 3.660000, 3.640000, 3.620000, 3.590000, 3.580000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.460000, 3.450000, 3.430000, 3.420000, 3.120000, 3.230000, 3.390000, 3.380000, 3.370000, 3.370000, 3.360000, 3.360000, 3.360000, 3.310000, 3.360000, 3.350000, 3.360000, 3.360000, 3.360000, 3.370000, 3.370000, 3.380000, 3.400000, 3.410000, 3.420000, 3.430000, 3.440000, 3.460000, 3.470000, 3.480000, 1.960000, 1.860000, 1.770000, 1.680000, 1.600000, 1.540000, 1.470000, 1.400000, 1.360000, 1.310000, 1.260000, 1.210000, 1.170000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.940000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000 ], "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": [ 976054191, 239446 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.530000, -2.034000, 0.046706 ], "estimate": [ 2.530000, -2.034000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.540000, 1.430000, 1.430000, 3.030000, 3.040000, 3.020000, 3.050000, 1.570000, 1.570000, 3.090000, 3.100000, 1.340000, 1.280000, 1.200000, 1.190000, 1.190000, 1.090000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.170000, 1.180000, 1.200000, 1.200000, 1.200000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.330000, 1.340000, 1.360000, 1.350000, 1.200000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 4.180000, 4.140000, 4.080000, 4.030000, 3.980000, 3.930000, 3.900000, 3.860000, 3.810000, 3.780000, 3.740000, 3.710000, 3.670000, 3.650000, 3.620000, 3.580000, 3.560000, 3.540000, 3.520000, 3.500000, 3.470000, 3.470000, 3.440000, 3.430000, 3.410000, 3.400000, 3.390000, 3.370000, 3.060000, 3.190000, 3.340000, 3.330000, 3.320000, 3.320000, 3.310000, 3.310000, 3.310000, 3.200000, 3.300000, 3.310000, 3.310000, 3.310000, 3.310000, 3.320000, 3.320000, 3.330000, 3.340000, 3.350000, 3.360000, 3.370000, 3.380000, 3.400000, 3.420000, 3.430000, 3.450000, 1.860000, 1.770000, 1.690000, 1.600000, 1.530000, 1.470000, 1.410000, 1.370000, 1.310000, 1.260000, 1.210000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.800000, 0.790000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000 ], "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": [ 976054191, 558984 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.586000, -2.032000, 0.046706 ], "estimate": [ 2.586000, -2.032000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.520000, 1.420000, 1.550000, 3.020000, 3.030000, 3.030000, 3.020000, 1.570000, 1.580000, 3.060000, 3.070000, 1.310000, 1.230000, 1.170000, 1.200000, 1.090000, 1.080000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.170000, 1.170000, 1.180000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.300000, 1.170000, 1.190000, 1.210000, 1.220000, 1.250000, 1.270000, 1.290000, 1.320000, 1.330000, 4.240000, 4.170000, 4.110000, 4.060000, 4.010000, 3.970000, 3.910000, 3.870000, 3.830000, 3.790000, 3.750000, 3.720000, 3.680000, 3.650000, 3.620000, 3.580000, 3.560000, 3.540000, 3.510000, 3.480000, 3.460000, 3.440000, 3.420000, 3.400000, 3.380000, 3.370000, 3.350000, 3.340000, 3.320000, 3.310000, 2.990000, 3.080000, 3.290000, 3.280000, 3.270000, 3.270000, 3.260000, 3.260000, 3.260000, 3.130000, 3.260000, 3.260000, 3.260000, 3.260000, 3.270000, 3.270000, 3.270000, 3.280000, 3.290000, 3.300000, 3.300000, 3.310000, 3.320000, 3.340000, 3.350000, 3.370000, 3.380000, 1.880000, 1.780000, 1.690000, 1.600000, 1.530000, 1.470000, 1.400000, 1.360000, 1.310000, 1.260000, 1.210000, 1.170000, 1.130000, 1.110000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000 ], "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": [ 976054191, 574439 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.646000, -2.029000, 0.052852 ], "estimate": [ 2.646000, -2.029000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.020000, 3.020000, 3.020000, 3.020000, 3.010000, 1.540000, 1.570000, 3.050000, 1.310000, 1.230000, 1.190000, 1.190000, 1.050000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.250000, 1.260000, 1.260000, 1.280000, 1.280000, 1.150000, 1.130000, 1.160000, 1.180000, 1.190000, 1.220000, 1.240000, 1.270000, 1.270000, 1.300000, 4.260000, 4.190000, 4.140000, 4.070000, 4.030000, 3.970000, 3.920000, 3.880000, 3.830000, 3.800000, 3.750000, 3.710000, 3.670000, 3.640000, 3.600000, 3.570000, 3.540000, 3.520000, 3.490000, 3.470000, 3.440000, 3.410000, 3.390000, 3.370000, 3.350000, 3.330000, 3.310000, 3.310000, 3.290000, 3.280000, 3.270000, 3.070000, 2.930000, 3.240000, 3.230000, 3.220000, 3.210000, 3.210000, 3.210000, 3.210000, 3.200000, 3.070000, 3.210000, 3.210000, 3.210000, 3.200000, 3.210000, 3.220000, 3.220000, 3.230000, 3.240000, 3.250000, 3.260000, 3.270000, 3.280000, 3.300000, 3.310000, 3.320000, 3.330000, 1.860000, 1.730000, 1.650000, 1.560000, 1.510000, 1.440000, 1.380000, 1.330000, 1.280000, 1.230000, 1.190000, 1.140000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000 ], "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": [ 976054192, 589879 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.707000, -2.026000, 0.046706 ], "estimate": [ 2.707000, -2.026000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.020000, 3.020000, 3.010000, 1.530000, 1.570000, 3.030000, 1.250000, 1.170000, 1.210000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.080000, 1.100000, 1.130000, 1.150000, 1.160000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.240000, 4.260000, 4.190000, 4.140000, 4.060000, 4.020000, 3.960000, 3.910000, 3.860000, 3.810000, 3.770000, 3.730000, 3.690000, 3.650000, 3.610000, 3.570000, 3.540000, 3.500000, 3.480000, 3.460000, 3.430000, 3.410000, 3.370000, 3.350000, 3.330000, 3.310000, 3.300000, 3.280000, 3.260000, 3.250000, 3.230000, 3.220000, 3.200000, 3.150000, 2.870000, 3.170000, 3.160000, 3.170000, 3.150000, 3.160000, 3.150000, 3.150000, 3.140000, 3.140000, 3.140000, 3.140000, 3.150000, 3.150000, 3.150000, 3.160000, 3.160000, 3.160000, 3.170000, 3.170000, 3.180000, 3.200000, 3.210000, 3.220000, 3.240000, 3.250000, 3.270000, 3.290000, 1.750000, 1.660000, 1.580000, 1.530000, 1.450000, 1.400000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.130000, 1.090000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.820000, 0.810000, 0.800000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.570000, 0.550000, 0.550000 ], "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": [ 976054192, 602149 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.764000, -2.023000, 0.046706 ], "estimate": [ 2.764000, -2.023000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.020000, 1.560000, 1.550000, 3.010000, 1.230000, 1.180000, 1.150000, 1.050000, 1.050000, 1.050000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.150000, 1.140000, 1.160000, 1.170000, 1.170000, 1.180000, 1.200000, 1.210000, 1.210000, 1.230000, 1.050000, 1.060000, 1.100000, 1.110000, 1.140000, 1.140000, 1.150000, 1.190000, 1.170000, 1.170000, 1.230000, 4.350000, 4.280000, 4.210000, 4.150000, 4.080000, 4.030000, 3.970000, 3.910000, 3.860000, 3.810000, 3.760000, 3.730000, 3.680000, 3.640000, 3.600000, 3.560000, 3.520000, 3.490000, 3.460000, 3.440000, 3.410000, 3.380000, 3.350000, 3.320000, 3.310000, 3.290000, 3.260000, 3.250000, 3.230000, 3.210000, 3.190000, 3.170000, 3.170000, 3.160000, 3.130000, 2.820000, 3.090000, 3.120000, 3.110000, 3.110000, 3.100000, 3.090000, 3.090000, 3.080000, 2.930000, 3.080000, 3.080000, 3.090000, 3.090000, 3.090000, 3.100000, 3.100000, 3.110000, 3.110000, 3.120000, 3.130000, 3.140000, 3.150000, 3.160000, 3.170000, 3.190000, 3.210000, 3.220000, 3.240000, 1.670000, 1.600000, 1.530000, 1.470000, 1.400000, 1.350000, 1.300000, 1.250000, 1.200000, 1.170000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.950000, 0.940000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "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": [ 976054192, 175140 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.819000, -2.021000, 0.046706 ], "estimate": [ 2.819000, -2.021000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.550000, 1.220000, 1.220000, 1.080000, 1.050000, 1.060000, 1.050000, 1.040000, 1.050000, 1.040000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.100000, 1.120000, 1.120000, 1.120000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.180000, 1.180000, 1.050000, 1.010000, 1.060000, 1.070000, 1.090000, 1.090000, 1.100000, 1.130000, 1.150000, 1.130000, 1.160000, 1.200000, 4.420000, 4.340000, 4.270000, 4.190000, 4.140000, 4.060000, 4.010000, 3.950000, 3.900000, 3.840000, 3.790000, 3.740000, 3.690000, 3.650000, 3.610000, 3.570000, 3.530000, 3.490000, 3.460000, 3.430000, 3.400000, 3.370000, 3.340000, 3.310000, 3.300000, 3.270000, 3.240000, 3.220000, 3.200000, 3.180000, 3.170000, 3.150000, 3.140000, 3.120000, 3.110000, 3.090000, 2.790000, 2.770000, 3.070000, 3.060000, 3.050000, 3.050000, 3.050000, 3.040000, 3.040000, 3.040000, 2.910000, 3.040000, 3.030000, 3.040000, 3.040000, 3.040000, 3.050000, 3.050000, 3.050000, 3.070000, 3.070000, 3.080000, 3.080000, 3.090000, 3.100000, 3.120000, 3.130000, 3.150000, 3.170000, 3.170000, 1.670000, 1.590000, 1.530000, 1.460000, 1.400000, 1.350000, 1.300000, 1.250000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.550000 ], "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": [ 976054192, 775177 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.875000, -2.018000, 0.052852 ], "estimate": [ 2.875000, -2.018000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.050000, 1.060000, 1.050000, 1.050000, 1.060000, 1.050000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.070000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.150000, 1.170000, 1.010000, 1.030000, 1.040000, 1.060000, 1.060000, 1.080000, 1.090000, 1.110000, 1.110000, 1.100000, 1.140000, 1.140000, 4.510000, 4.430000, 4.340000, 4.270000, 4.190000, 4.140000, 4.060000, 4.000000, 3.940000, 3.890000, 3.820000, 3.770000, 3.720000, 3.670000, 3.640000, 3.590000, 3.550000, 3.510000, 3.470000, 3.430000, 3.410000, 3.370000, 3.340000, 3.310000, 3.290000, 3.260000, 3.240000, 3.210000, 3.190000, 3.170000, 3.150000, 3.130000, 3.110000, 3.090000, 3.080000, 3.070000, 3.050000, 3.040000, 2.710000, 2.810000, 3.020000, 3.020000, 3.000000, 3.000000, 2.990000, 2.990000, 2.980000, 2.980000, 2.970000, 2.980000, 2.980000, 2.980000, 2.980000, 2.990000, 2.990000, 3.000000, 3.000000, 3.010000, 3.020000, 3.030000, 3.040000, 3.050000, 3.060000, 3.070000, 3.070000, 3.090000, 3.110000, 3.120000, 3.150000, 1.580000, 1.520000, 1.450000, 1.400000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.130000, 1.090000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.550000 ], "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": [ 976054192, 799484 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.936000, -2.015000, 0.046706 ], "estimate": [ 2.936000, -2.015000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.060000, 1.050000, 1.040000, 1.050000, 1.060000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.070000, 0.990000, 1.010000, 1.020000, 1.020000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.070000, 1.120000, 1.110000, 4.580000, 4.490000, 4.400000, 4.320000, 4.250000, 4.160000, 4.100000, 4.030000, 3.960000, 3.910000, 3.850000, 3.790000, 3.730000, 3.680000, 3.640000, 3.600000, 3.550000, 3.500000, 3.470000, 3.430000, 3.390000, 3.360000, 3.320000, 3.300000, 3.270000, 3.240000, 3.220000, 3.190000, 3.170000, 3.140000, 3.120000, 3.100000, 3.070000, 3.060000, 3.040000, 3.030000, 3.010000, 3.000000, 2.990000, 2.970000, 2.660000, 2.890000, 2.950000, 2.940000, 2.930000, 2.930000, 2.920000, 2.920000, 2.920000, 2.920000, 2.780000, 2.920000, 2.920000, 2.920000, 2.920000, 2.920000, 2.930000, 2.930000, 2.940000, 2.950000, 2.950000, 2.970000, 2.980000, 2.990000, 2.990000, 3.010000, 3.020000, 3.030000, 3.050000, 3.070000, 3.080000, 1.560000, 1.500000, 1.430000, 1.380000, 1.330000, 1.270000, 1.230000, 1.180000, 1.140000, 1.120000, 1.080000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000 ], "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": [ 976054192, 800542 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.995000, -2.012000, 0.052852 ], "estimate": [ 2.995000, -2.012000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.060000, 1.060000, 1.040000, 1.050000, 1.050000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.050000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.080000, 1.100000, 1.110000, 0.940000, 0.960000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 4.750000, 4.650000, 4.550000, 4.460000, 4.360000, 4.290000, 4.210000, 4.130000, 4.060000, 3.990000, 3.930000, 3.870000, 3.800000, 3.750000, 3.700000, 3.640000, 3.600000, 3.560000, 3.510000, 3.470000, 3.420000, 3.380000, 3.350000, 3.320000, 3.290000, 3.260000, 3.220000, 3.190000, 3.170000, 3.140000, 3.120000, 3.090000, 3.070000, 3.050000, 3.030000, 3.020000, 2.990000, 2.980000, 2.960000, 2.950000, 2.940000, 2.930000, 2.620000, 2.700000, 2.910000, 2.900000, 2.890000, 2.880000, 2.880000, 2.870000, 2.870000, 2.860000, 2.720000, 2.860000, 2.860000, 2.860000, 2.870000, 2.870000, 2.870000, 2.880000, 2.890000, 2.890000, 2.900000, 2.910000, 2.920000, 2.920000, 2.930000, 2.940000, 2.960000, 2.960000, 2.980000, 3.000000, 3.020000, 3.040000, 3.050000, 1.460000, 1.400000, 1.360000, 1.310000, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.060000, 1.020000, 1.000000, 0.990000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.560000, 0.560000, 0.540000, 0.550000 ], "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": [ 976054193, 939599 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.052000, -2.009000, 0.058997 ], "estimate": [ 3.052000, -2.009000, 0.058997 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.090000, 1.090000, 0.930000, 0.960000, 0.950000, 0.970000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.010000, 1.040000, 1.050000, 4.980000, 4.890000, 4.770000, 4.640000, 4.550000, 4.450000, 4.360000, 4.290000, 4.190000, 4.130000, 4.050000, 3.980000, 3.900000, 3.850000, 3.790000, 3.720000, 3.660000, 3.620000, 3.570000, 3.530000, 3.480000, 3.440000, 3.400000, 3.350000, 3.310000, 3.290000, 3.250000, 3.220000, 3.180000, 3.160000, 3.130000, 3.100000, 3.070000, 3.050000, 3.030000, 3.010000, 2.990000, 2.970000, 2.940000, 2.930000, 2.910000, 2.910000, 2.890000, 2.890000, 2.700000, 2.550000, 2.740000, 2.840000, 2.830000, 2.830000, 2.820000, 2.820000, 2.810000, 2.810000, 2.810000, 2.700000, 2.800000, 2.800000, 2.810000, 2.810000, 2.810000, 2.810000, 2.820000, 2.830000, 2.830000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.950000, 2.970000, 2.990000, 1.600000, 1.390000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000 ], "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": [ 976054193, 368203 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.109000, -2.006000, 0.065142 ], "estimate": [ 3.109000, -2.006000, 0.065142 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.050000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 0.980000, 1.020000, 1.030000, 5.450000, 5.310000, 4.950000, 4.830000, 4.710000, 4.590000, 4.490000, 4.400000, 4.310000, 4.220000, 4.130000, 4.060000, 3.990000, 3.920000, 3.860000, 3.790000, 3.720000, 3.670000, 3.620000, 3.560000, 3.520000, 3.470000, 3.430000, 3.380000, 3.340000, 3.300000, 3.260000, 3.240000, 3.200000, 3.170000, 3.130000, 3.100000, 3.070000, 3.050000, 3.030000, 3.000000, 2.980000, 2.960000, 2.930000, 2.910000, 2.900000, 2.880000, 2.870000, 2.850000, 2.840000, 2.830000, 2.590000, 2.500000, 2.680000, 2.790000, 2.780000, 2.770000, 2.760000, 2.760000, 2.760000, 2.760000, 2.750000, 2.620000, 2.750000, 2.750000, 2.750000, 2.750000, 2.760000, 2.760000, 2.760000, 2.760000, 2.770000, 2.780000, 2.780000, 2.800000, 2.810000, 2.820000, 2.830000, 2.840000, 2.850000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 2.950000, 1.490000, 1.350000, 1.290000, 1.240000, 1.190000, 1.150000, 1.130000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000 ], "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": [ 976054193, 380877 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.166000, -2.002000, 0.071288 ], "estimate": [ 3.166000, -2.002000, 0.071288 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.060000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.970000, 0.990000, 0.990000, 0.960000, 1.000000, 1.020000, 5.880000, 5.680000, 5.510000, 5.360000, 4.990000, 4.870000, 4.740000, 4.620000, 4.510000, 4.410000, 4.320000, 4.230000, 4.140000, 4.060000, 3.990000, 3.910000, 3.850000, 3.780000, 3.720000, 3.650000, 3.610000, 3.550000, 3.500000, 3.450000, 3.410000, 3.360000, 3.310000, 3.280000, 3.240000, 3.210000, 3.170000, 3.130000, 3.100000, 3.070000, 3.040000, 3.020000, 2.990000, 2.960000, 2.930000, 2.910000, 2.900000, 2.880000, 2.860000, 2.830000, 2.820000, 2.810000, 2.790000, 2.790000, 2.770000, 2.440000, 2.460000, 2.710000, 2.730000, 2.720000, 2.720000, 2.710000, 2.700000, 2.700000, 2.690000, 2.690000, 2.570000, 2.690000, 2.690000, 2.690000, 2.690000, 2.690000, 2.690000, 2.700000, 2.710000, 2.710000, 2.720000, 2.730000, 2.730000, 2.750000, 2.760000, 2.760000, 2.780000, 2.790000, 2.800000, 2.820000, 2.820000, 2.850000, 2.860000, 2.890000, 2.910000, 1.370000, 1.280000, 1.230000, 1.180000, 1.140000, 1.110000, 1.080000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054193, 847151 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.223000, -1.998000, 0.058997 ], "estimate": [ 3.223000, -1.998000, 0.058997 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.060000, 1.070000, 0.920000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.950000, 0.980000, 0.980000, 1.000000, 6.360000, 6.120000, 5.910000, 5.720000, 5.540000, 5.380000, 5.220000, 4.890000, 4.740000, 4.630000, 4.510000, 4.400000, 4.300000, 4.220000, 4.120000, 4.040000, 3.970000, 3.890000, 3.820000, 3.760000, 3.700000, 3.640000, 3.570000, 3.520000, 3.460000, 3.430000, 3.370000, 3.330000, 3.290000, 3.240000, 3.200000, 3.170000, 3.140000, 3.100000, 3.070000, 3.040000, 3.010000, 2.980000, 2.940000, 2.920000, 2.900000, 2.880000, 2.860000, 2.830000, 2.820000, 2.800000, 2.780000, 2.760000, 2.760000, 2.730000, 2.730000, 2.680000, 2.400000, 2.550000, 2.690000, 2.690000, 2.670000, 2.670000, 2.660000, 2.650000, 2.650000, 2.650000, 2.640000, 2.630000, 2.640000, 2.640000, 2.640000, 2.640000, 2.640000, 2.650000, 2.650000, 2.660000, 2.670000, 2.670000, 2.680000, 2.690000, 2.690000, 2.700000, 2.710000, 2.730000, 2.740000, 2.760000, 2.770000, 2.780000, 2.800000, 2.810000, 2.830000, 2.850000, 2.870000, 1.260000, 1.210000, 1.170000, 1.130000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.880000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054193, 869616 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.282000, -1.995000, 0.058997 ], "estimate": [ 3.282000, -1.995000, 0.058997 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 6.960000, 6.590000, 6.620000, 6.380000, 6.150000, 5.940000, 5.720000, 5.540000, 5.370000, 5.220000, 4.880000, 4.730000, 4.610000, 4.480000, 4.380000, 4.290000, 4.190000, 4.100000, 4.010000, 3.940000, 3.860000, 3.790000, 3.710000, 3.650000, 3.600000, 3.540000, 3.470000, 3.430000, 3.380000, 3.330000, 3.290000, 3.240000, 3.200000, 3.160000, 3.120000, 3.090000, 3.060000, 3.020000, 2.990000, 2.960000, 2.930000, 2.910000, 2.880000, 2.850000, 2.820000, 2.810000, 2.780000, 2.760000, 2.750000, 2.730000, 2.710000, 2.700000, 2.690000, 2.690000, 2.670000, 2.350000, 2.420000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.590000, 2.590000, 2.590000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.580000, 2.590000, 2.590000, 2.590000, 2.590000, 2.600000, 2.610000, 2.610000, 2.630000, 2.630000, 2.640000, 2.660000, 2.670000, 2.690000, 2.690000, 2.710000, 2.730000, 2.740000, 2.760000, 2.770000, 2.790000, 2.820000, 1.340000, 1.180000, 1.140000, 1.110000, 1.070000, 1.030000, 1.010000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.850000, 0.840000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054194, 944000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.339000, -1.992000, 0.052852 ], "estimate": [ 3.339000, -1.992000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 0.910000, 0.920000, 0.920000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.970000, 6.830000, 6.900000, 6.970000, 6.610000, 6.600000, 6.390000, 6.150000, 5.930000, 5.710000, 5.520000, 5.350000, 5.190000, 4.850000, 4.700000, 4.570000, 4.450000, 4.350000, 4.250000, 4.150000, 4.060000, 3.980000, 3.890000, 3.820000, 3.750000, 3.680000, 3.630000, 3.560000, 3.490000, 3.440000, 3.390000, 3.340000, 3.300000, 3.250000, 3.200000, 3.160000, 3.110000, 3.080000, 3.040000, 3.010000, 2.980000, 2.950000, 2.910000, 2.890000, 2.860000, 2.820000, 2.810000, 2.780000, 2.750000, 2.740000, 2.710000, 2.700000, 2.680000, 2.670000, 2.660000, 2.650000, 2.630000, 2.620000, 2.290000, 2.360000, 2.580000, 2.580000, 2.570000, 2.560000, 2.560000, 2.540000, 2.540000, 2.540000, 2.530000, 2.530000, 2.390000, 2.530000, 2.530000, 2.530000, 2.530000, 2.530000, 2.540000, 2.530000, 2.540000, 2.550000, 2.550000, 2.570000, 2.570000, 2.590000, 2.590000, 2.590000, 2.600000, 2.620000, 2.640000, 2.650000, 2.670000, 2.680000, 2.690000, 2.720000, 2.720000, 2.750000, 2.760000, 2.790000, 1.140000, 1.110000, 1.070000, 1.040000, 1.010000, 0.980000, 0.940000, 0.930000, 0.900000, 0.880000, 0.860000, 0.830000, 0.820000, 0.800000, 0.790000, 0.760000, 0.750000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054194, 425654 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.397000, -1.988000, 0.052852 ], "estimate": [ 3.397000, -1.988000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.910000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.940000, 0.960000, 6.720000, 6.690000, 6.750000, 6.830000, 6.900000, 6.940000, 6.540000, 6.590000, 6.350000, 6.100000, 5.870000, 5.650000, 5.470000, 5.300000, 4.920000, 4.770000, 4.630000, 4.510000, 4.390000, 4.280000, 4.190000, 4.100000, 4.000000, 3.910000, 3.840000, 3.760000, 3.700000, 3.630000, 3.560000, 3.490000, 3.440000, 3.380000, 3.330000, 3.290000, 3.230000, 3.190000, 3.140000, 3.090000, 3.060000, 3.030000, 2.990000, 2.950000, 2.910000, 2.890000, 2.860000, 2.820000, 2.800000, 2.770000, 2.750000, 2.720000, 2.700000, 2.680000, 2.670000, 2.650000, 2.620000, 2.610000, 2.600000, 2.590000, 2.580000, 2.560000, 2.250000, 2.320000, 2.530000, 2.520000, 2.510000, 2.500000, 2.490000, 2.490000, 2.480000, 2.480000, 2.470000, 2.470000, 2.460000, 2.470000, 2.470000, 2.470000, 2.470000, 2.470000, 2.470000, 2.480000, 2.480000, 2.490000, 2.490000, 2.500000, 2.500000, 2.510000, 2.520000, 2.530000, 2.540000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.620000, 2.640000, 2.660000, 2.680000, 2.690000, 2.710000, 2.740000, 1.110000, 1.080000, 1.040000, 1.010000, 0.980000, 0.940000, 0.930000, 0.900000, 0.880000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000 ], "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": [ 976054194, 449573 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.456000, -1.985000, 0.046706 ], "estimate": [ 3.456000, -1.985000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.920000, 0.910000, 0.920000, 0.950000, 9.430000, 9.470000, 6.800000, 6.690000, 6.720000, 6.790000, 6.860000, 6.940000, 6.690000, 6.550000, 6.430000, 6.160000, 5.930000, 5.720000, 5.510000, 5.330000, 5.170000, 4.800000, 4.650000, 4.520000, 4.390000, 4.280000, 4.180000, 4.090000, 3.990000, 3.890000, 3.810000, 3.750000, 3.670000, 3.600000, 3.530000, 3.470000, 3.410000, 3.350000, 3.300000, 3.260000, 3.210000, 3.160000, 3.110000, 3.060000, 3.030000, 2.990000, 2.950000, 2.910000, 2.890000, 2.850000, 2.820000, 2.790000, 2.760000, 2.730000, 2.710000, 2.680000, 2.670000, 2.640000, 2.620000, 2.590000, 2.580000, 2.570000, 2.550000, 2.550000, 2.530000, 2.520000, 2.180000, 2.220000, 2.380000, 2.470000, 2.460000, 2.460000, 2.450000, 2.450000, 2.440000, 2.430000, 2.430000, 2.430000, 2.420000, 2.330000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.430000, 2.430000, 2.430000, 2.440000, 2.440000, 2.450000, 2.460000, 2.460000, 2.470000, 2.480000, 2.490000, 2.500000, 2.520000, 2.530000, 2.540000, 2.560000, 2.580000, 2.590000, 2.600000, 2.630000, 2.630000, 2.670000, 2.680000, 2.700000, 1.060000, 1.020000, 0.990000, 0.950000, 0.940000, 0.910000, 0.880000, 0.860000, 0.840000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000 ], "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": [ 976054194, 575245 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.514000, -1.983000, 0.046706 ], "estimate": [ 3.514000, -1.983000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 9.330000, 9.350000, 9.370000, 9.420000, 9.450000, 6.880000, 6.650000, 6.690000, 6.750000, 6.820000, 6.900000, 6.830000, 6.560000, 6.510000, 6.230000, 5.990000, 5.760000, 5.540000, 5.350000, 5.170000, 4.790000, 4.640000, 4.510000, 4.380000, 4.280000, 4.160000, 4.060000, 3.960000, 3.880000, 3.790000, 3.710000, 3.630000, 3.570000, 3.500000, 3.440000, 3.380000, 3.310000, 3.270000, 3.210000, 3.160000, 3.110000, 3.060000, 3.020000, 2.990000, 2.950000, 2.910000, 2.870000, 2.840000, 2.810000, 2.770000, 2.750000, 2.720000, 2.680000, 2.670000, 2.640000, 2.610000, 2.580000, 2.570000, 2.550000, 2.530000, 2.520000, 2.510000, 2.490000, 2.480000, 2.460000, 2.130000, 2.130000, 2.270000, 2.420000, 2.410000, 2.400000, 2.400000, 2.390000, 2.380000, 2.380000, 2.370000, 2.360000, 2.360000, 2.270000, 2.360000, 2.360000, 2.360000, 2.360000, 2.360000, 2.360000, 2.360000, 2.370000, 2.370000, 2.380000, 2.380000, 2.390000, 2.390000, 2.400000, 2.410000, 2.420000, 2.430000, 2.440000, 2.460000, 2.470000, 2.480000, 2.490000, 2.510000, 2.530000, 2.540000, 2.570000, 2.580000, 2.590000, 2.610000, 2.640000, 2.520000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.510000 ], "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": [ 976054195, 295884 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.572000, -1.980000, 0.046706 ], "estimate": [ 3.572000, -1.980000, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.320000, 9.340000, 9.370000, 9.390000, 9.420000, 9.470000, 6.680000, 6.670000, 6.730000, 6.800000, 6.860000, 6.900000, 6.520000, 6.550000, 6.280000, 6.010000, 5.780000, 5.550000, 5.360000, 5.170000, 4.770000, 4.620000, 4.510000, 4.370000, 4.250000, 4.130000, 4.030000, 3.940000, 3.850000, 3.760000, 3.690000, 3.610000, 3.540000, 3.460000, 3.410000, 3.340000, 3.290000, 3.230000, 3.180000, 3.130000, 3.070000, 3.030000, 2.990000, 2.950000, 2.910000, 2.870000, 2.830000, 2.800000, 2.760000, 2.740000, 2.700000, 2.680000, 2.650000, 2.620000, 2.590000, 2.580000, 2.550000, 2.530000, 2.510000, 2.490000, 2.470000, 2.460000, 2.450000, 2.440000, 2.420000, 2.120000, 2.080000, 2.200000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.330000, 2.320000, 2.320000, 2.320000, 2.310000, 2.310000, 2.220000, 2.300000, 2.300000, 2.300000, 2.300000, 2.310000, 2.310000, 2.310000, 2.310000, 2.310000, 2.320000, 2.330000, 2.330000, 2.340000, 2.350000, 2.360000, 2.370000, 2.380000, 2.390000, 2.410000, 2.420000, 2.440000, 2.450000, 2.460000, 2.480000, 2.490000, 2.520000, 2.530000, 2.550000, 2.570000, 2.580000, 2.610000, 2.640000, 0.940000, 0.920000, 0.890000, 0.870000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.740000, 0.710000, 0.700000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000 ], "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": [ 976054195, 834601 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.629000, -1.977000, 0.058997 ], "estimate": [ 3.629000, -1.977000, 0.058997 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.340000, 9.360000, 9.390000, 9.430000, 6.880000, 6.650000, 6.670000, 6.730000, 6.800000, 6.870000, 6.830000, 6.530000, 6.490000, 6.190000, 5.940000, 5.700000, 5.470000, 5.290000, 5.120000, 4.730000, 4.550000, 4.420000, 4.290000, 4.170000, 4.060000, 3.960000, 3.870000, 3.780000, 3.690000, 3.620000, 3.540000, 3.450000, 3.400000, 3.340000, 3.280000, 3.220000, 3.160000, 3.110000, 3.060000, 3.020000, 2.970000, 2.910000, 2.890000, 2.840000, 2.810000, 2.770000, 2.740000, 2.700000, 2.680000, 2.650000, 2.610000, 2.580000, 2.560000, 2.530000, 2.510000, 2.490000, 2.470000, 2.450000, 2.430000, 2.420000, 2.410000, 2.390000, 2.380000, 2.370000, 2.030000, 2.070000, 2.190000, 2.320000, 2.310000, 2.290000, 2.290000, 2.290000, 2.280000, 2.270000, 2.270000, 2.260000, 2.260000, 2.250000, 2.180000, 2.250000, 2.250000, 2.240000, 2.260000, 2.260000, 2.250000, 2.260000, 2.260000, 2.260000, 2.270000, 2.270000, 2.280000, 2.290000, 2.290000, 2.300000, 2.310000, 2.320000, 2.330000, 2.340000, 2.350000, 2.370000, 2.380000, 2.400000, 2.420000, 2.430000, 2.450000, 2.460000, 2.480000, 2.500000, 2.520000, 2.550000, 2.360000, 2.580000, 0.920000, 0.880000, 0.860000, 0.830000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.470000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000 ], "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": [ 976054195, 889495 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.685000, -1.974000, 0.071288 ], "estimate": [ 3.685000, -1.974000, 0.071288 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.360000, 9.390000, 9.420000, 6.830000, 6.660000, 6.680000, 6.740000, 6.810000, 6.870000, 6.770000, 6.530000, 6.430000, 6.160000, 5.890000, 5.640000, 5.420000, 5.240000, 4.780000, 4.660000, 4.490000, 4.360000, 4.230000, 4.120000, 4.000000, 3.900000, 3.810000, 3.720000, 3.630000, 3.560000, 3.480000, 3.420000, 3.340000, 3.290000, 3.230000, 3.160000, 3.100000, 3.060000, 3.020000, 2.960000, 2.910000, 2.870000, 2.830000, 2.790000, 2.750000, 2.720000, 2.680000, 2.660000, 2.620000, 2.590000, 2.570000, 2.540000, 2.510000, 2.480000, 2.460000, 2.450000, 2.420000, 2.400000, 2.380000, 2.380000, 2.360000, 2.340000, 2.330000, 2.310000, 1.980000, 2.050000, 2.180000, 2.280000, 2.260000, 2.250000, 2.240000, 2.230000, 2.220000, 2.210000, 2.210000, 2.210000, 2.200000, 2.200000, 2.180000, 2.190000, 2.190000, 2.200000, 2.200000, 2.190000, 2.200000, 2.200000, 2.210000, 2.200000, 2.210000, 2.220000, 2.220000, 2.230000, 2.230000, 2.250000, 2.260000, 2.270000, 2.280000, 2.290000, 2.290000, 2.310000, 2.320000, 2.340000, 2.350000, 2.370000, 2.390000, 2.410000, 2.430000, 2.450000, 2.460000, 2.480000, 2.500000, 2.510000, 2.550000, 2.580000, 0.840000, 0.820000, 0.800000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054195, 890606 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.744000, -1.969000, 0.071288 ], "estimate": [ 3.744000, -1.969000, 0.071288 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.380000, 9.420000, 9.440000, 6.630000, 6.660000, 6.710000, 6.780000, 6.850000, 6.860000, 6.510000, 6.520000, 6.200000, 5.940000, 5.680000, 5.450000, 5.240000, 4.830000, 4.660000, 4.490000, 4.360000, 4.220000, 4.100000, 3.990000, 3.870000, 3.790000, 3.700000, 3.610000, 3.530000, 3.440000, 3.390000, 3.310000, 3.250000, 3.190000, 3.130000, 3.070000, 3.030000, 2.970000, 2.920000, 2.880000, 2.820000, 2.800000, 2.750000, 2.710000, 2.680000, 2.650000, 2.610000, 2.580000, 2.550000, 2.520000, 2.490000, 2.470000, 2.450000, 2.430000, 2.400000, 2.380000, 2.360000, 2.340000, 2.330000, 2.310000, 2.300000, 2.290000, 2.270000, 1.940000, 2.010000, 2.130000, 2.220000, 2.210000, 2.200000, 2.190000, 2.180000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 2.150000, 2.040000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.150000, 2.160000, 2.150000, 2.160000, 2.160000, 2.160000, 2.170000, 2.170000, 2.180000, 2.180000, 2.190000, 2.200000, 2.210000, 2.220000, 2.230000, 2.250000, 2.260000, 2.280000, 2.290000, 2.300000, 2.310000, 2.330000, 2.350000, 2.370000, 2.390000, 2.410000, 2.430000, 2.450000, 2.310000, 2.500000, 2.520000, 2.560000, 0.810000, 0.780000, 0.760000, 0.740000, 0.720000, 0.700000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000 ], "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": [ 976054195, 891525 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.804000, -1.965000, 0.077434 ], "estimate": [ 3.804000, -1.965000, 0.077434 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.400000, 9.440000, 6.670000, 6.640000, 6.700000, 6.760000, 6.830000, 6.890000, 6.480000, 6.510000, 6.230000, 5.960000, 5.690000, 5.440000, 5.240000, 4.800000, 4.630000, 4.480000, 4.330000, 4.190000, 4.080000, 3.950000, 3.850000, 3.750000, 3.660000, 3.580000, 3.490000, 3.410000, 3.340000, 3.270000, 3.220000, 3.150000, 3.090000, 3.020000, 2.980000, 2.930000, 2.880000, 2.830000, 2.780000, 2.750000, 2.710000, 2.680000, 2.630000, 2.590000, 2.570000, 2.530000, 2.510000, 2.480000, 2.450000, 2.430000, 2.400000, 2.370000, 2.350000, 2.330000, 2.310000, 2.290000, 2.280000, 2.270000, 2.260000, 2.230000, 1.970000, 1.880000, 1.970000, 2.080000, 2.180000, 2.160000, 2.150000, 2.140000, 2.140000, 2.120000, 2.120000, 2.110000, 2.110000, 2.110000, 2.100000, 2.090000, 2.090000, 2.090000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.110000, 2.110000, 2.110000, 2.110000, 2.120000, 2.130000, 2.130000, 2.140000, 2.150000, 2.160000, 2.180000, 2.180000, 2.190000, 2.200000, 2.220000, 2.240000, 2.260000, 2.270000, 2.290000, 2.300000, 2.320000, 2.340000, 2.360000, 2.380000, 2.400000, 2.210000, 2.450000, 2.470000, 2.500000, 2.530000, 0.830000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.590000, 0.580000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 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": [ 976054195, 892433 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.861000, -1.960000, 0.089725 ], "estimate": [ 3.861000, -1.960000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.440000, 6.630000, 6.650000, 6.710000, 6.770000, 6.830000, 6.860000, 6.500000, 6.490000, 6.160000, 5.880000, 5.620000, 5.380000, 5.170000, 4.680000, 4.560000, 4.410000, 4.270000, 4.120000, 4.000000, 3.890000, 3.780000, 3.680000, 3.610000, 3.520000, 3.430000, 3.340000, 3.280000, 3.210000, 3.150000, 3.090000, 3.020000, 2.970000, 2.910000, 2.870000, 2.820000, 2.770000, 2.720000, 2.690000, 2.660000, 2.610000, 2.580000, 2.550000, 2.510000, 2.480000, 2.450000, 2.420000, 2.400000, 2.370000, 2.350000, 2.320000, 2.300000, 2.280000, 2.270000, 2.250000, 2.220000, 2.220000, 2.200000, 2.180000, 1.840000, 1.870000, 1.970000, 2.090000, 2.120000, 2.110000, 2.100000, 2.090000, 2.090000, 2.070000, 2.070000, 2.060000, 2.060000, 2.050000, 2.050000, 2.030000, 2.040000, 2.040000, 2.040000, 2.050000, 2.050000, 2.050000, 2.050000, 2.050000, 2.050000, 2.050000, 2.050000, 2.060000, 2.060000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.180000, 2.200000, 2.220000, 2.240000, 2.260000, 2.290000, 2.300000, 2.310000, 2.330000, 2.360000, 2.370000, 2.410000, 2.440000, 2.460000, 2.490000, 2.520000, 0.690000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.460000, 0.440000, 0.440000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054195, 969238 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.917000, -1.955000, 0.089725 ], "estimate": [ 3.917000, -1.955000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.680000, 6.640000, 6.710000, 6.750000, 6.820000, 6.880000, 6.470000, 6.490000, 6.210000, 5.910000, 5.640000, 5.390000, 5.180000, 4.680000, 4.550000, 4.390000, 4.250000, 4.100000, 3.980000, 3.860000, 3.750000, 3.660000, 3.560000, 3.470000, 3.390000, 3.310000, 3.240000, 3.170000, 3.110000, 3.050000, 2.990000, 2.920000, 2.870000, 2.820000, 2.770000, 2.730000, 2.680000, 2.650000, 2.600000, 2.570000, 2.530000, 2.500000, 2.460000, 2.440000, 2.410000, 2.380000, 2.350000, 2.320000, 2.300000, 2.280000, 2.260000, 2.230000, 2.210000, 2.190000, 2.170000, 2.160000, 2.150000, 2.130000, 1.800000, 1.840000, 1.930000, 2.050000, 2.070000, 2.060000, 2.050000, 2.040000, 2.040000, 2.030000, 2.020000, 2.020000, 2.010000, 2.000000, 1.990000, 1.940000, 1.990000, 1.980000, 1.980000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 2.010000, 2.020000, 2.010000, 2.020000, 2.030000, 2.030000, 2.040000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.150000, 2.170000, 2.180000, 2.190000, 2.220000, 2.240000, 2.270000, 2.290000, 2.290000, 2.090000, 2.350000, 2.370000, 2.400000, 2.430000, 2.460000, 2.490000, 2.530000, 0.730000, 0.650000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054196, 327888 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.972000, -1.951000, 0.089725 ], "estimate": [ 3.972000, -1.951000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.620000, 6.650000, 6.710000, 6.770000, 6.830000, 6.830000, 6.480000, 6.450000, 6.120000, 5.830000, 5.540000, 5.310000, 5.100000, 4.650000, 4.470000, 4.310000, 4.160000, 4.020000, 3.900000, 3.790000, 3.680000, 3.580000, 3.490000, 3.400000, 3.320000, 3.240000, 3.170000, 3.100000, 3.050000, 2.980000, 2.920000, 2.860000, 2.800000, 2.760000, 2.710000, 2.670000, 2.620000, 2.580000, 2.550000, 2.510000, 2.470000, 2.450000, 2.410000, 2.380000, 2.350000, 2.320000, 2.290000, 2.280000, 2.250000, 2.220000, 2.200000, 2.170000, 2.160000, 2.140000, 2.120000, 2.100000, 2.100000, 1.750000, 1.760000, 1.850000, 1.940000, 2.040000, 2.030000, 2.020000, 2.000000, 1.990000, 1.980000, 1.970000, 1.970000, 1.960000, 1.950000, 1.950000, 1.950000, 1.770000, 1.940000, 1.930000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.950000, 1.960000, 1.960000, 1.960000, 1.970000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.040000, 2.060000, 2.080000, 2.090000, 2.110000, 2.130000, 2.140000, 2.170000, 2.180000, 2.200000, 2.220000, 2.240000, 2.240000, 2.280000, 2.310000, 2.340000, 2.370000, 2.400000, 2.430000, 2.460000, 2.500000, 2.540000, 2.570000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054196, 349645 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.031000, -1.946000, 0.083579 ], "estimate": [ 4.031000, -1.946000, 0.083579 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.640000, 6.670000, 6.730000, 6.780000, 6.850000, 6.700000, 6.460000, 6.330000, 6.010000, 5.710000, 5.430000, 5.200000, 4.660000, 4.530000, 4.370000, 4.210000, 4.070000, 3.930000, 3.810000, 3.690000, 3.600000, 3.490000, 3.410000, 3.310000, 3.240000, 3.170000, 3.090000, 3.020000, 2.960000, 2.900000, 2.850000, 2.790000, 2.730000, 2.690000, 2.640000, 2.590000, 2.550000, 2.520000, 2.480000, 2.450000, 2.410000, 2.380000, 2.340000, 2.310000, 2.280000, 2.260000, 2.230000, 2.200000, 2.180000, 2.160000, 2.140000, 2.110000, 2.100000, 2.080000, 2.060000, 2.050000, 1.710000, 1.700000, 1.770000, 1.870000, 1.970000, 1.970000, 1.960000, 1.950000, 1.940000, 1.930000, 1.930000, 1.920000, 1.910000, 1.910000, 1.900000, 1.890000, 1.860000, 1.880000, 1.890000, 1.890000, 1.880000, 1.880000, 1.880000, 1.880000, 1.880000, 1.880000, 1.880000, 1.880000, 1.890000, 1.890000, 1.900000, 1.900000, 1.900000, 1.900000, 1.910000, 1.920000, 1.930000, 1.930000, 1.940000, 1.950000, 1.960000, 1.970000, 1.990000, 2.000000, 2.020000, 2.030000, 2.040000, 2.060000, 2.080000, 2.090000, 2.110000, 2.130000, 2.160000, 2.170000, 2.180000, 2.010000, 2.240000, 2.270000, 2.290000, 2.320000, 2.350000, 2.380000, 2.420000, 2.450000, 2.490000, 2.530000, 2.580000, 2.610000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054196, 511777 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.092000, -1.941000, 0.052852 ], "estimate": [ 4.092000, -1.941000, 0.052852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.640000, 6.660000, 6.720000, 6.770000, 6.830000, 6.760000, 6.430000, 6.370000, 6.030000, 5.740000, 5.440000, 5.190000, 4.640000, 4.510000, 4.340000, 4.180000, 4.040000, 3.900000, 3.780000, 3.660000, 3.550000, 3.450000, 3.360000, 3.270000, 3.200000, 3.120000, 3.040000, 2.990000, 2.920000, 2.860000, 2.800000, 2.730000, 2.690000, 2.650000, 2.590000, 2.550000, 2.500000, 2.470000, 2.430000, 2.400000, 2.360000, 2.330000, 2.290000, 2.270000, 2.230000, 2.200000, 2.170000, 2.160000, 2.130000, 2.110000, 2.090000, 2.070000, 2.050000, 2.030000, 2.020000, 2.000000, 1.650000, 1.680000, 1.760000, 1.840000, 1.930000, 1.930000, 1.910000, 1.900000, 1.890000, 1.880000, 1.870000, 1.860000, 1.850000, 1.850000, 1.850000, 1.840000, 1.840000, 1.830000, 1.830000, 1.830000, 1.830000, 1.830000, 1.830000, 1.830000, 1.830000, 1.830000, 1.820000, 1.830000, 1.840000, 1.840000, 1.840000, 1.840000, 1.850000, 1.860000, 1.860000, 1.850000, 1.860000, 1.870000, 1.880000, 1.890000, 1.900000, 1.910000, 1.930000, 1.930000, 1.940000, 1.960000, 1.970000, 1.990000, 2.010000, 2.030000, 2.040000, 2.050000, 2.070000, 2.100000, 2.110000, 2.130000, 2.160000, 2.170000, 2.210000, 2.240000, 2.280000, 2.300000, 2.330000, 2.360000, 2.400000, 2.440000, 2.470000, 2.510000, 2.560000, 2.590000, 2.640000, 2.690000, 0.520000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054196, 950595 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.150000, -1.940000, -0.002458 ], "estimate": [ 4.150000, -1.940000, -0.002458 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.390000, 9.410000, 6.660000, 6.640000, 6.700000, 6.750000, 6.810000, 6.870000, 6.450000, 6.470000, 6.130000, 5.810000, 5.490000, 5.230000, 4.700000, 4.520000, 4.340000, 4.170000, 4.020000, 3.870000, 3.740000, 3.630000, 3.520000, 3.420000, 3.320000, 3.230000, 3.160000, 3.080000, 3.010000, 2.930000, 2.880000, 2.800000, 2.750000, 2.690000, 2.640000, 2.590000, 2.550000, 2.490000, 2.450000, 2.420000, 2.380000, 2.350000, 2.310000, 2.280000, 2.250000, 2.210000, 2.180000, 2.160000, 2.130000, 2.100000, 2.080000, 2.050000, 2.030000, 2.020000, 2.000000, 1.980000, 1.970000, 1.940000, 1.600000, 1.650000, 1.720000, 1.790000, 1.880000, 1.860000, 1.850000, 1.850000, 1.840000, 1.820000, 1.810000, 1.800000, 1.790000, 1.790000, 1.780000, 1.780000, 1.770000, 1.600000, 1.780000, 1.780000, 1.770000, 1.770000, 1.770000, 1.770000, 1.760000, 1.760000, 1.770000, 1.770000, 1.770000, 1.770000, 1.780000, 1.780000, 1.780000, 1.780000, 1.790000, 1.790000, 1.800000, 1.800000, 1.800000, 1.820000, 1.830000, 1.840000, 1.850000, 1.850000, 1.870000, 1.880000, 1.890000, 1.910000, 1.930000, 1.930000, 1.950000, 1.970000, 1.990000, 2.010000, 2.030000, 2.040000, 2.060000, 2.090000, 2.090000, 2.140000, 2.170000, 2.190000, 2.220000, 2.260000, 2.290000, 2.320000, 2.360000, 2.400000, 2.440000, 2.480000, 2.520000, 2.570000, 2.610000, 2.670000, 2.720000, 2.770000, 2.830000, 2.890000, 0.470000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000 ], "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": [ 976054196, 951856 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.204000, -1.941000, -0.057768 ], "estimate": [ 4.204000, -1.941000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.340000, 9.350000, 9.370000, 9.390000, 6.810000, 6.600000, 6.670000, 6.720000, 6.770000, 6.830000, 6.680000, 6.440000, 6.270000, 5.930000, 5.610000, 5.300000, 5.070000, 4.570000, 4.370000, 4.190000, 4.020000, 3.880000, 3.740000, 3.620000, 3.510000, 3.410000, 3.310000, 3.220000, 3.130000, 3.060000, 2.990000, 2.910000, 2.850000, 2.790000, 2.720000, 2.660000, 2.610000, 2.560000, 2.510000, 2.460000, 2.420000, 2.390000, 2.350000, 2.310000, 2.280000, 2.240000, 2.200000, 2.170000, 2.150000, 2.110000, 2.090000, 2.060000, 2.040000, 2.020000, 2.000000, 1.970000, 1.950000, 1.930000, 1.930000, 1.910000, 1.550000, 1.580000, 1.650000, 1.730000, 1.800000, 1.820000, 1.810000, 1.800000, 1.780000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.730000, 1.730000, 1.710000, 1.720000, 1.720000, 1.720000, 1.710000, 1.710000, 1.710000, 1.710000, 1.710000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.730000, 1.730000, 1.730000, 1.740000, 1.750000, 1.750000, 1.760000, 1.770000, 1.770000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.830000, 1.840000, 1.850000, 1.860000, 1.880000, 1.900000, 1.920000, 1.930000, 1.950000, 1.970000, 1.980000, 2.010000, 2.030000, 2.050000, 1.860000, 2.100000, 2.130000, 2.170000, 2.190000, 2.230000, 2.270000, 2.290000, 2.330000, 2.380000, 2.410000, 2.450000, 2.490000, 2.540000, 2.590000, 2.650000, 2.700000, 2.750000, 2.810000, 2.890000, 2.950000, 3.030000, 3.100000, 3.180000, 0.450000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.410000, 0.400000, 0.410000, 0.410000 ], "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": [ 976054197, 149201 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.263000, -1.946000, -0.094641 ], "estimate": [ 4.263000, -1.946000, -0.094641 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.300000, 9.320000, 9.340000, 9.340000, 9.360000, 9.370000, 9.390000, 6.600000, 6.640000, 6.700000, 6.740000, 6.800000, 6.760000, 6.410000, 6.320000, 5.970000, 5.640000, 5.320000, 5.060000, 4.550000, 4.350000, 4.170000, 3.990000, 3.850000, 3.710000, 3.580000, 3.470000, 3.370000, 3.260000, 3.170000, 3.100000, 3.020000, 2.940000, 2.870000, 2.800000, 2.730000, 2.670000, 2.620000, 2.570000, 2.510000, 2.460000, 2.420000, 2.370000, 2.330000, 2.300000, 2.270000, 2.220000, 2.180000, 2.160000, 2.120000, 2.090000, 2.070000, 2.040000, 2.020000, 1.990000, 1.970000, 1.940000, 1.920000, 1.910000, 1.890000, 1.880000, 1.770000, 1.500000, 1.550000, 1.600000, 1.680000, 1.750000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.690000, 1.700000, 1.690000, 1.690000, 1.590000, 1.670000, 1.670000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.650000, 1.660000, 1.660000, 1.660000, 1.670000, 1.670000, 1.670000, 1.670000, 1.680000, 1.680000, 1.690000, 1.700000, 1.700000, 1.700000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.770000, 1.770000, 1.780000, 1.790000, 1.810000, 1.830000, 1.850000, 1.860000, 1.880000, 1.890000, 1.910000, 1.930000, 1.960000, 1.980000, 2.000000, 2.030000, 1.810000, 2.080000, 2.110000, 2.140000, 2.170000, 2.200000, 2.240000, 2.280000, 2.310000, 2.360000, 2.390000, 2.440000, 2.480000, 2.530000, 2.580000, 2.630000, 2.690000, 2.740000, 2.810000, 2.890000, 2.950000, 2.730000, 3.120000, 3.210000, 3.290000, 3.400000, 3.510000, 3.610000, 3.730000, 0.450000, 0.440000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054197, 601089 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.293000, -1.949000, -0.088496 ], "estimate": [ 4.293000, -1.949000, -0.088496 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.330000, 9.320000, 9.330000, 9.340000, 9.350000, 9.370000, 6.760000, 6.610000, 6.630000, 6.690000, 6.730000, 6.790000, 6.510000, 6.410000, 6.170000, 5.820000, 5.460000, 5.180000, 4.560000, 4.420000, 4.220000, 4.040000, 3.870000, 3.730000, 3.600000, 3.490000, 3.380000, 3.260000, 3.180000, 3.080000, 3.000000, 2.920000, 2.850000, 2.790000, 2.710000, 2.660000, 2.590000, 2.540000, 2.490000, 2.440000, 2.390000, 2.340000, 2.310000, 2.270000, 2.230000, 2.190000, 2.160000, 2.120000, 2.090000, 2.060000, 2.030000, 2.010000, 1.980000, 1.950000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000, 1.840000, 1.800000, 1.450000, 1.470000, 1.530000, 1.580000, 1.650000, 1.720000, 1.720000, 1.710000, 1.690000, 1.690000, 1.680000, 1.660000, 1.650000, 1.650000, 1.640000, 1.640000, 1.640000, 1.630000, 1.620000, 1.560000, 1.610000, 1.610000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.600000, 1.610000, 1.600000, 1.610000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.650000, 1.660000, 1.680000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.770000, 1.780000, 1.790000, 1.820000, 1.830000, 1.850000, 1.860000, 1.880000, 1.910000, 1.920000, 1.950000, 1.970000, 1.990000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.190000, 2.220000, 2.270000, 2.290000, 2.340000, 2.390000, 2.440000, 2.480000, 2.540000, 2.580000, 2.650000, 2.710000, 2.770000, 2.840000, 2.910000, 2.670000, 3.080000, 3.160000, 3.260000, 3.360000, 3.470000, 3.590000, 3.720000, 3.840000, 4.010000, 4.150000, 4.380000, 4.580000, 4.620000, 0.430000, 0.430000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054197, 601920 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.352000, -1.954000, -0.082350 ], "estimate": [ 4.352000, -1.954000, -0.082350 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.320000, 9.340000, 9.340000, 9.360000, 9.370000, 6.590000, 6.610000, 6.660000, 6.710000, 6.760000, 6.770000, 6.400000, 6.290000, 5.920000, 5.570000, 5.250000, 4.640000, 4.440000, 4.240000, 4.050000, 3.870000, 3.720000, 3.570000, 3.460000, 3.340000, 3.240000, 3.130000, 3.040000, 2.970000, 2.880000, 2.810000, 2.740000, 2.680000, 2.610000, 2.560000, 2.490000, 2.440000, 2.400000, 2.350000, 2.300000, 2.260000, 2.220000, 2.180000, 2.150000, 2.110000, 2.080000, 2.040000, 2.020000, 1.990000, 1.960000, 1.930000, 1.910000, 1.880000, 1.850000, 1.840000, 1.820000, 1.790000, 1.770000, 1.440000, 1.410000, 1.440000, 1.490000, 1.550000, 1.610000, 1.680000, 1.670000, 1.660000, 1.650000, 1.630000, 1.620000, 1.610000, 1.600000, 1.590000, 1.590000, 1.580000, 1.590000, 1.590000, 1.580000, 1.400000, 1.570000, 1.570000, 1.560000, 1.560000, 1.560000, 1.550000, 1.560000, 1.550000, 1.550000, 1.560000, 1.550000, 1.560000, 1.560000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.690000, 1.690000, 1.710000, 1.730000, 1.740000, 1.760000, 1.770000, 1.790000, 1.810000, 1.830000, 1.840000, 1.870000, 1.890000, 1.920000, 1.940000, 1.750000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.170000, 2.190000, 2.240000, 2.270000, 2.320000, 2.360000, 2.420000, 2.460000, 2.510000, 2.560000, 2.630000, 2.700000, 2.760000, 2.830000, 2.900000, 2.650000, 3.080000, 3.170000, 3.270000, 3.380000, 3.490000, 3.620000, 3.750000, 3.910000, 4.080000, 4.260000, 4.470000, 4.620000, 4.590000, 4.580000, 4.550000, 4.840000, 5.170000, 5.550000, 5.990000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054197, 673118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.408000, -1.958000, -0.076205 ], "estimate": [ 4.408000, -1.958000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.330000, 9.340000, 9.350000, 6.840000, 6.600000, 6.600000, 6.670000, 6.710000, 6.770000, 6.710000, 6.360000, 6.250000, 5.870000, 5.480000, 5.180000, 4.490000, 4.370000, 4.160000, 3.970000, 3.800000, 3.650000, 3.500000, 3.390000, 3.260000, 3.160000, 3.060000, 2.980000, 2.900000, 2.810000, 2.740000, 2.670000, 2.610000, 2.560000, 2.490000, 2.430000, 2.390000, 2.330000, 2.280000, 2.240000, 2.190000, 2.170000, 2.130000, 2.090000, 2.050000, 2.020000, 1.990000, 1.960000, 1.930000, 1.910000, 1.880000, 1.850000, 1.830000, 1.800000, 1.780000, 1.760000, 1.750000, 1.680000, 1.370000, 1.380000, 1.430000, 1.480000, 1.550000, 1.590000, 1.630000, 1.610000, 1.600000, 1.590000, 1.580000, 1.580000, 1.570000, 1.560000, 1.550000, 1.550000, 1.540000, 1.540000, 1.530000, 1.530000, 1.510000, 1.520000, 1.510000, 1.510000, 1.510000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.690000, 1.710000, 1.730000, 1.750000, 1.760000, 1.770000, 1.790000, 1.820000, 1.840000, 1.860000, 1.890000, 1.680000, 1.940000, 1.980000, 2.010000, 2.030000, 2.080000, 2.110000, 2.150000, 2.190000, 2.220000, 2.270000, 2.310000, 2.370000, 2.420000, 2.460000, 2.520000, 2.580000, 2.650000, 2.720000, 2.790000, 2.860000, 2.950000, 3.030000, 3.110000, 3.230000, 3.340000, 3.460000, 3.580000, 3.720000, 3.870000, 4.060000, 3.670000, 4.470000, 4.590000, 4.560000, 4.560000, 4.540000, 4.840000, 5.190000, 5.590000, 6.060000, 6.620000, 7.300000, 11.910000, 10.910000, 10.900000, 0.460000, 0.400000, 0.390000, 0.380000, 0.390000, 0.390000, 0.400000, 0.400000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054198, 108850 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.466000, -1.963000, -0.076205 ], "estimate": [ 4.466000, -1.963000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.350000, 9.350000, 6.820000, 6.590000, 6.600000, 6.660000, 6.710000, 6.760000, 6.670000, 6.370000, 6.190000, 5.810000, 5.420000, 5.110000, 4.500000, 4.290000, 4.090000, 3.890000, 3.720000, 3.570000, 3.430000, 3.310000, 3.200000, 3.090000, 3.000000, 2.900000, 2.830000, 2.740000, 2.680000, 2.610000, 2.550000, 2.480000, 2.420000, 2.360000, 2.310000, 2.270000, 2.220000, 2.170000, 2.140000, 2.090000, 2.060000, 2.030000, 1.990000, 1.960000, 1.930000, 1.900000, 1.870000, 1.840000, 1.820000, 1.790000, 1.770000, 1.760000, 1.730000, 1.710000, 1.680000, 1.320000, 1.330000, 1.380000, 1.420000, 1.470000, 1.530000, 1.580000, 1.580000, 1.570000, 1.560000, 1.550000, 1.540000, 1.520000, 1.510000, 1.510000, 1.490000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.420000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.690000, 1.700000, 1.730000, 1.750000, 1.770000, 1.790000, 1.820000, 1.840000, 1.860000, 1.650000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 2.220000, 2.270000, 2.310000, 2.370000, 2.410000, 2.470000, 2.540000, 2.600000, 2.670000, 2.740000, 2.800000, 2.900000, 2.580000, 3.070000, 3.180000, 3.290000, 3.410000, 3.550000, 3.690000, 3.840000, 4.030000, 3.620000, 4.470000, 4.580000, 4.570000, 4.540000, 4.530000, 4.840000, 5.220000, 5.640000, 6.140000, 6.740000, 7.470000, 11.880000, 10.910000, 10.890000, 12.120000, 12.120000, 12.100000, 13.230000, 13.130000, 0.680000, 0.640000, 0.630000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054198, 161262 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.527000, -1.968000, -0.082350 ], "estimate": [ 4.527000, -1.968000, -0.082350 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.350000, 9.360000, 6.590000, 6.610000, 6.650000, 6.700000, 6.750000, 6.770000, 6.380000, 6.250000, 5.860000, 5.530000, 5.120000, 4.500000, 4.270000, 4.060000, 3.870000, 3.690000, 3.540000, 3.400000, 3.260000, 3.150000, 3.040000, 2.940000, 2.860000, 2.780000, 2.690000, 2.630000, 2.550000, 2.490000, 2.430000, 2.370000, 2.310000, 2.270000, 2.210000, 2.160000, 2.120000, 2.080000, 2.040000, 2.020000, 1.970000, 1.930000, 1.910000, 1.880000, 1.840000, 1.820000, 1.790000, 1.760000, 1.740000, 1.720000, 1.690000, 1.680000, 1.660000, 1.280000, 1.280000, 1.310000, 1.360000, 1.410000, 1.440000, 1.500000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.430000, 1.430000, 1.340000, 1.420000, 1.410000, 1.410000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.400000, 1.390000, 1.390000, 1.390000, 1.400000, 1.400000, 1.400000, 1.400000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.490000, 1.490000, 1.510000, 1.520000, 1.530000, 1.540000, 1.560000, 1.580000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.710000, 1.740000, 1.760000, 1.780000, 1.810000, 1.840000, 1.820000, 1.900000, 1.930000, 1.960000, 2.000000, 2.030000, 2.060000, 2.100000, 2.150000, 2.200000, 2.250000, 2.300000, 2.350000, 2.400000, 2.460000, 2.520000, 2.590000, 2.660000, 2.740000, 2.820000, 2.900000, 2.980000, 3.100000, 3.210000, 3.330000, 3.460000, 3.600000, 3.760000, 3.940000, 3.610000, 4.370000, 4.570000, 4.550000, 4.520000, 4.500000, 4.730000, 5.100000, 5.530000, 6.050000, 6.650000, 7.440000, 11.880000, 10.890000, 10.890000, 12.110000, 12.100000, 12.070000, 14.500000, 13.170000, 5.060000, 2.520000, 1.600000, 1.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054198, 232967 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.583000, -1.972000, -0.076205 ], "estimate": [ 4.583000, -1.972000, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.350000, 6.580000, 6.600000, 6.640000, 6.690000, 6.740000, 6.770000, 6.380000, 6.260000, 5.850000, 5.500000, 5.100000, 4.450000, 4.220000, 4.000000, 3.810000, 3.620000, 3.480000, 3.340000, 3.210000, 3.090000, 2.970000, 2.880000, 2.790000, 2.700000, 2.640000, 2.550000, 2.490000, 2.420000, 2.370000, 2.300000, 2.250000, 2.200000, 2.160000, 2.100000, 2.050000, 2.020000, 1.980000, 1.940000, 1.920000, 1.880000, 1.840000, 1.820000, 1.790000, 1.760000, 1.740000, 1.710000, 1.680000, 1.670000, 1.640000, 1.620000, 1.230000, 1.220000, 1.260000, 1.300000, 1.340000, 1.390000, 1.430000, 1.480000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.150000, 1.360000, 1.360000, 1.350000, 1.350000, 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 1.700000, 1.730000, 1.760000, 1.770000, 1.580000, 1.830000, 1.860000, 1.900000, 1.930000, 1.970000, 2.000000, 2.040000, 2.090000, 2.130000, 2.180000, 2.230000, 2.280000, 2.330000, 2.390000, 2.460000, 2.520000, 2.590000, 2.660000, 2.740000, 2.830000, 2.510000, 3.020000, 3.140000, 3.250000, 3.390000, 3.530000, 3.690000, 3.870000, 4.070000, 4.290000, 4.560000, 4.530000, 4.500000, 4.480000, 4.650000, 5.030000, 5.470000, 6.000000, 6.640000, 7.430000, 11.870000, 10.880000, 11.040000, 12.110000, 12.060000, 12.070000, 13.420000, 13.220000, 5.600000, 3.310000, 2.350000, 1.600000 ], "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": [ 976054198, 789755 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.606000, -1.974000, -0.070059 ], "estimate": [ 4.606000, -1.974000, -0.070059 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.600000, 6.620000, 6.660000, 6.710000, 6.750000, 6.450000, 6.360000, 6.070000, 5.700000, 5.250000, 4.450000, 4.300000, 4.070000, 3.850000, 3.670000, 3.500000, 3.360000, 3.230000, 3.090000, 2.970000, 2.870000, 2.780000, 2.700000, 2.630000, 2.540000, 2.460000, 2.410000, 2.340000, 2.280000, 2.230000, 2.170000, 2.120000, 2.080000, 2.030000, 2.000000, 1.950000, 1.910000, 1.880000, 1.840000, 1.820000, 1.780000, 1.760000, 1.730000, 1.700000, 1.680000, 1.660000, 1.630000, 1.610000, 1.570000, 1.190000, 1.200000, 1.240000, 1.280000, 1.310000, 1.350000, 1.400000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.340000, 1.350000, 1.350000, 1.340000, 1.330000, 1.300000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.420000, 1.440000, 1.450000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.570000, 1.590000, 1.620000, 1.640000, 1.670000, 1.680000, 1.720000, 1.750000, 1.680000, 1.800000, 1.840000, 1.860000, 1.910000, 1.940000, 1.970000, 2.020000, 2.060000, 2.100000, 2.160000, 2.200000, 2.260000, 2.310000, 2.380000, 2.440000, 2.500000, 2.570000, 2.660000, 2.740000, 2.830000, 2.660000, 3.020000, 3.150000, 3.270000, 3.400000, 3.570000, 3.730000, 3.930000, 3.580000, 4.390000, 4.520000, 4.500000, 4.480000, 4.480000, 4.820000, 5.240000, 5.760000, 6.370000, 7.150000, 11.860000, 10.870000, 10.870000, 12.100000, 12.070000, 12.070000, 13.200000, 13.130000, 6.460000, 4.340000, 3.110000, 2.410000, 1.950000 ], "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": [ 976054198, 849499 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.659000, -1.978000, -0.063913 ], "estimate": [ 4.659000, -1.978000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.620000, 6.660000, 6.710000, 6.750000, 6.340000, 6.350000, 6.010000, 5.650000, 5.190000, 4.470000, 4.230000, 3.990000, 3.780000, 3.590000, 3.430000, 3.270000, 3.150000, 3.020000, 2.910000, 2.810000, 2.720000, 2.630000, 2.550000, 2.470000, 2.400000, 2.340000, 2.270000, 2.230000, 2.160000, 2.110000, 2.060000, 2.010000, 1.980000, 1.930000, 1.900000, 1.850000, 1.830000, 1.790000, 1.760000, 1.740000, 1.710000, 1.680000, 1.650000, 1.630000, 1.600000, 1.570000, 1.200000, 1.150000, 1.180000, 1.200000, 1.240000, 1.280000, 1.320000, 1.350000, 1.390000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.330000, 1.320000, 1.320000, 1.320000, 1.300000, 1.300000, 1.290000, 1.290000, 1.220000, 1.150000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.240000, 1.240000, 1.240000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.290000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.700000, 1.730000, 1.470000, 1.790000, 1.830000, 1.860000, 1.900000, 1.930000, 1.970000, 2.020000, 2.050000, 2.110000, 2.160000, 2.210000, 2.270000, 2.340000, 2.410000, 2.460000, 2.540000, 2.620000, 2.700000, 2.790000, 2.460000, 3.000000, 3.110000, 3.250000, 3.390000, 3.560000, 3.720000, 3.930000, 3.560000, 4.410000, 4.500000, 4.480000, 4.470000, 4.440000, 4.870000, 5.330000, 5.890000, 6.580000, 7.440000, 11.080000, 10.850000, 12.090000, 12.100000, 12.060000, 12.070000, 13.240000, 13.190000, 6.240000, 4.230000, 3.220000, 2.600000, 2.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054198, 850597 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.720000, -1.982000, -0.063913 ], "estimate": [ 4.720000, -1.982000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.680000, 6.720000, 6.760000, 6.350000, 6.350000, 5.880000, 5.510000, 4.700000, 4.350000, 4.090000, 3.860000, 3.640000, 3.480000, 3.310000, 3.180000, 3.040000, 2.920000, 2.810000, 2.710000, 2.630000, 2.530000, 2.460000, 2.380000, 2.320000, 2.250000, 2.190000, 2.140000, 2.080000, 2.030000, 1.990000, 1.940000, 1.900000, 1.860000, 1.820000, 1.780000, 1.750000, 1.730000, 1.690000, 1.670000, 1.640000, 1.600000, 1.580000, 1.570000, 1.530000, 1.120000, 1.130000, 1.160000, 1.190000, 1.200000, 1.240000, 1.280000, 1.310000, 1.350000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.010000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.400000, 1.420000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.700000, 1.720000, 1.770000, 1.810000, 1.830000, 1.870000, 1.910000, 1.960000, 2.010000, 2.050000, 2.100000, 2.150000, 2.220000, 2.280000, 2.340000, 2.420000, 2.480000, 2.560000, 2.640000, 2.740000, 2.840000, 2.430000, 3.080000, 3.210000, 3.360000, 3.520000, 3.710000, 3.910000, 3.550000, 4.420000, 4.480000, 4.460000, 4.440000, 4.470000, 4.920000, 5.430000, 6.040000, 6.800000, 11.840000, 10.850000, 10.850000, 12.080000, 12.050000, 12.070000, 13.410000, 13.220000, 13.200000, 5.670000, 4.220000, 3.380000, 2.800000, 2.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054198, 999243 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.782000, -1.986000, -0.063913 ], "estimate": [ 4.782000, -1.986000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.710000, 6.760000, 6.350000, 6.310000, 5.840000, 5.360000, 4.470000, 4.270000, 4.000000, 3.770000, 3.560000, 3.390000, 3.220000, 3.090000, 2.970000, 2.840000, 2.720000, 2.630000, 2.530000, 2.460000, 2.380000, 2.300000, 2.240000, 2.170000, 2.110000, 2.060000, 2.010000, 1.960000, 1.910000, 1.860000, 1.820000, 1.790000, 1.750000, 1.720000, 1.680000, 1.660000, 1.630000, 1.590000, 1.570000, 1.540000, 1.520000, 1.080000, 1.080000, 1.100000, 1.130000, 1.150000, 1.180000, 1.200000, 1.240000, 1.280000, 1.320000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.040000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.420000, 1.430000, 1.460000, 1.480000, 1.510000, 1.530000, 1.560000, 1.570000, 1.610000, 1.640000, 1.670000, 1.670000, 1.740000, 1.770000, 1.810000, 1.850000, 1.890000, 1.940000, 1.990000, 2.020000, 2.080000, 2.150000, 2.200000, 2.260000, 2.340000, 2.410000, 2.490000, 2.570000, 2.650000, 2.760000, 2.400000, 2.990000, 3.130000, 3.280000, 3.440000, 3.620000, 3.830000, 4.080000, 3.510000, 4.460000, 4.440000, 4.420000, 4.410000, 4.850000, 5.370000, 6.010000, 6.850000, 11.820000, 10.840000, 10.840000, 12.070000, 12.040000, 12.070000, 14.450000, 13.230000, 7.360000, 5.750000, 4.460000, 3.650000, 3.090000, 2.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054199, 376003 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.843000, -1.989000, -0.063913 ], "estimate": [ 4.843000, -1.989000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.750000, 6.320000, 6.350000, 5.940000, 5.530000, 4.480000, 4.270000, 4.000000, 3.750000, 3.530000, 3.360000, 3.190000, 3.040000, 2.910000, 2.780000, 2.680000, 2.580000, 2.490000, 2.400000, 2.330000, 2.240000, 2.170000, 2.120000, 2.050000, 2.010000, 1.950000, 1.900000, 1.850000, 1.810000, 1.760000, 1.740000, 1.690000, 1.660000, 1.630000, 1.590000, 1.570000, 1.540000, 1.510000, 1.150000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.160000, 1.190000, 1.230000, 1.260000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.210000, 1.200000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.130000, 0.900000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.080000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.190000, 1.190000, 1.200000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.280000, 1.300000, 1.330000, 1.340000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.460000, 1.480000, 1.520000, 1.540000, 1.570000, 1.590000, 1.630000, 1.380000, 1.700000, 1.730000, 1.760000, 1.810000, 1.850000, 1.910000, 1.950000, 2.000000, 2.050000, 2.110000, 2.170000, 2.250000, 2.320000, 2.390000, 2.470000, 2.550000, 2.650000, 2.750000, 2.380000, 3.000000, 3.160000, 3.330000, 3.490000, 3.700000, 3.940000, 3.530000, 4.450000, 4.430000, 4.410000, 4.400000, 4.640000, 5.170000, 5.820000, 6.630000, 11.810000, 10.820000, 10.820000, 12.050000, 12.030000, 12.060000, 14.470000, null, 14.480000, 6.300000, 4.910000, 4.060000, 3.460000, 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, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054199, 429684 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.897000, -1.993000, -0.051622 ], "estimate": [ 4.897000, -1.993000, -0.051622 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.350000, 5.840000, 5.310000, 4.430000, 4.150000, 3.880000, 3.640000, 3.430000, 3.240000, 3.080000, 2.940000, 2.810000, 2.690000, 2.590000, 2.480000, 2.400000, 2.310000, 2.240000, 2.160000, 2.090000, 2.030000, 1.980000, 1.920000, 1.880000, 1.820000, 1.780000, 1.740000, 1.690000, 1.670000, 1.630000, 1.590000, 1.560000, 1.530000, 1.510000, 1.430000, 1.020000, 1.010000, 1.040000, 1.050000, 1.080000, 1.100000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.240000, 1.230000, 1.210000, 1.190000, 1.180000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 0.920000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.570000, 1.580000, 1.460000, 1.670000, 1.720000, 1.760000, 1.810000, 1.850000, 1.900000, 1.940000, 2.010000, 2.070000, 2.120000, 2.190000, 2.260000, 2.340000, 2.420000, 2.520000, 2.610000, 2.710000, 2.830000, 2.390000, 3.130000, 3.280000, 3.480000, 3.690000, 3.950000, 3.510000, 4.420000, 4.410000, 4.390000, 4.390000, 4.700000, 5.280000, 5.990000, 6.940000, 10.810000, 10.800000, 12.060000, 12.030000, 12.040000, 14.440000, 13.250000, 14.460000, 7.340000, 5.770000, 4.710000, 4.010000, 3.470000, 3.070000 ], "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": [ 976054199, 619379 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.948000, -1.995000, -0.045477 ], "estimate": [ 4.948000, -1.995000, -0.045477 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.170000, 5.680000, 4.640000, 4.280000, 3.990000, 3.720000, 3.490000, 3.300000, 3.120000, 2.960000, 2.830000, 2.690000, 2.590000, 2.480000, 2.400000, 2.300000, 2.220000, 2.140000, 2.070000, 2.010000, 1.950000, 1.890000, 1.840000, 1.790000, 1.750000, 1.710000, 1.660000, 1.620000, 1.590000, 1.560000, 1.530000, 1.490000, 1.070000, 0.990000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.090000, 1.120000, 1.140000, 1.160000, 1.190000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.150000, 1.140000, 1.120000, 1.120000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 0.960000, 0.830000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.980000, 0.990000, 0.990000, 0.990000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.510000, 1.540000, 1.570000, 1.360000, 1.640000, 1.670000, 1.720000, 1.760000, 1.820000, 1.860000, 1.910000, 1.970000, 2.030000, 2.090000, 2.160000, 2.240000, 2.310000, 2.400000, 2.480000, 2.590000, 2.700000, 2.830000, 2.320000, 3.130000, 3.310000, 3.500000, 3.730000, 4.000000, 3.660000, 4.400000, 4.380000, 4.360000, 4.370000, 4.900000, 5.580000, 6.440000, 11.780000, 10.780000, 10.930000, 12.010000, 12.030000, 12.050000, 14.450000, null, 14.460000, 6.400000, 5.310000, 4.470000, 3.860000, 3.420000, 3.050000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054200, 129539 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.982000, -1.997000, -0.039331 ], "estimate": [ 4.982000, -1.997000, -0.039331 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.820000, 5.270000, 4.350000, 4.040000, 3.750000, 3.500000, 3.300000, 3.120000, 2.960000, 2.800000, 2.670000, 2.570000, 2.460000, 2.370000, 2.270000, 2.190000, 2.110000, 2.040000, 1.980000, 1.920000, 1.860000, 1.810000, 1.750000, 1.710000, 1.660000, 1.620000, 1.580000, 1.540000, 1.530000, 1.480000, 0.980000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.160000, 1.180000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 0.760000, 1.000000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.520000, 1.550000, 1.270000, 1.610000, 1.660000, 1.700000, 1.750000, 1.790000, 1.840000, 1.900000, 1.960000, 2.010000, 2.070000, 2.150000, 2.240000, 2.320000, 2.410000, 2.490000, 2.610000, 2.730000, 2.870000, 3.030000, 3.210000, 3.400000, 3.640000, 3.900000, 4.210000, 4.380000, 4.370000, 4.370000, 4.360000, 4.740000, 5.420000, 6.300000, 11.770000, 10.760000, 10.920000, 12.000000, 12.030000, 12.030000, 14.440000, null, 14.460000, 7.290000, 5.600000, 4.740000, 4.130000, 3.640000, 3.250000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054200, 141479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.985000, -1.997000, -0.057768 ], "estimate": [ 4.985000, -1.997000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.090000, 5.610000, 4.420000, 4.160000, 3.850000, 3.580000, 3.360000, 3.170000, 2.990000, 2.840000, 2.710000, 2.580000, 2.460000, 2.370000, 2.270000, 2.200000, 2.110000, 2.040000, 1.980000, 1.910000, 1.860000, 1.800000, 1.740000, 1.710000, 1.660000, 1.610000, 1.570000, 1.550000, 1.510000, 1.460000, 0.950000, 0.960000, 0.960000, 0.970000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.770000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 0.930000, 0.940000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.310000, 1.640000, 1.680000, 1.720000, 1.760000, 1.830000, 1.880000, 1.930000, 2.000000, 2.060000, 2.140000, 2.220000, 2.300000, 2.390000, 2.480000, 2.600000, 2.730000, 2.870000, 3.020000, 3.220000, 3.410000, 3.650000, 3.920000, 4.240000, 4.370000, 4.370000, 4.370000, 4.350000, 4.840000, 5.560000, 6.510000, 10.960000, 10.750000, 12.030000, 12.000000, 12.030000, 14.420000, 14.450000, null, 14.450000, 6.430000, 5.500000, 4.670000, 4.090000 ], "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, 0, 1, 1, 1, 1, 1 ], "timestamp": [ 976054200, 189218 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.980000, -1.996000, -0.051622 ], "estimate": [ 4.980000, -1.996000, -0.051622 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.030000, 5.550000, 4.430000, 4.140000, 3.840000, 3.570000, 3.360000, 3.170000, 2.990000, 2.840000, 2.710000, 2.590000, 2.480000, 2.380000, 2.280000, 2.210000, 2.110000, 2.050000, 1.980000, 1.920000, 1.860000, 1.810000, 1.750000, 1.720000, 1.670000, 1.620000, 1.580000, 1.550000, 1.520000, 1.480000, 0.960000, 0.960000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.170000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 0.790000, 0.990000, 0.990000, 0.980000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.220000, 1.610000, 1.660000, 1.700000, 1.740000, 1.790000, 1.840000, 1.900000, 1.950000, 2.020000, 2.080000, 2.160000, 2.240000, 2.320000, 2.410000, 2.520000, 2.630000, 2.750000, 2.290000, 3.070000, 3.250000, 3.460000, 3.710000, 3.980000, 3.500000, 4.380000, 4.370000, 4.370000, 4.360000, 4.950000, 5.680000, 6.710000, 10.790000, 10.760000, 12.020000, 12.000000, 12.030000, 14.440000, null, 14.460000, 7.330000, 6.270000, 5.190000, 4.450000, 3.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054200, 557279 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.978000, -1.996000, -0.057768 ], "estimate": [ 4.978000, -1.996000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.090000, 5.590000, 4.430000, 4.180000, 3.870000, 3.600000, 3.380000, 3.200000, 3.000000, 2.850000, 2.730000, 2.610000, 2.490000, 2.400000, 2.300000, 2.220000, 2.130000, 2.060000, 1.990000, 1.930000, 1.870000, 1.820000, 1.770000, 1.720000, 1.670000, 1.630000, 1.590000, 1.560000, 1.530000, 1.490000, 1.010000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 0.790000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.380000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.030000, 2.090000, 2.170000, 2.250000, 2.340000, 2.420000, 2.530000, 2.640000, 2.770000, 2.290000, 3.080000, 3.270000, 3.490000, 3.720000, 4.010000, 3.500000, 4.370000, 4.380000, 4.350000, 4.320000, 4.990000, 5.740000, 6.750000, 10.780000, 10.760000, 12.030000, 12.000000, 12.030000, 14.440000, null, 14.460000, 7.330000, 6.310000, 5.200000, 4.440000, 3.910000 ], "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, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054200, 569589 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.978000, -1.996000, -0.057768 ], "estimate": [ 4.978000, -1.996000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.070000, 5.590000, 4.430000, 4.160000, 3.850000, 3.600000, 3.370000, 3.180000, 3.000000, 2.850000, 2.720000, 2.600000, 2.480000, 2.390000, 2.290000, 2.220000, 2.120000, 2.060000, 1.990000, 1.930000, 1.870000, 1.810000, 1.760000, 1.720000, 1.670000, 1.630000, 1.590000, 1.550000, 1.530000, 1.490000, 1.000000, 0.960000, 0.960000, 0.970000, 0.990000, 1.010000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 0.800000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.410000, 1.610000, 1.660000, 1.710000, 1.740000, 1.800000, 1.860000, 1.910000, 1.960000, 2.030000, 2.090000, 2.170000, 2.250000, 2.330000, 2.420000, 2.520000, 2.640000, 2.770000, 2.300000, 3.080000, 3.260000, 3.480000, 3.720000, 4.010000, 3.490000, 4.380000, 4.370000, 4.360000, 4.320000, 4.970000, 5.760000, 6.760000, 10.790000, 10.760000, 12.030000, 12.000000, 12.030000, 14.430000, null, 14.460000, 7.330000, 6.260000, 5.180000, 4.430000, 3.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054200, 673496 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.978000, -1.996000, -0.057768 ], "estimate": [ 4.978000, -1.996000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.060000, 5.570000, 4.430000, 4.160000, 3.850000, 3.590000, 3.370000, 3.180000, 2.990000, 2.850000, 2.720000, 2.600000, 2.480000, 2.390000, 2.290000, 2.210000, 2.130000, 2.050000, 1.990000, 1.920000, 1.870000, 1.820000, 1.760000, 1.720000, 1.670000, 1.630000, 1.580000, 1.570000, 1.530000, 1.490000, 0.990000, 0.950000, 0.960000, 0.980000, 0.990000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 0.800000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.360000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.030000, 2.090000, 2.170000, 2.250000, 2.340000, 2.420000, 2.520000, 2.650000, 2.780000, 2.350000, 3.080000, 3.270000, 3.490000, 3.730000, 4.010000, 3.490000, 4.380000, 4.380000, 4.360000, 4.350000, 5.000000, 5.760000, 6.790000, 10.780000, 10.750000, 12.020000, 12.010000, 12.030000, 14.430000, null, 14.450000, 7.320000, 6.230000, 5.170000, 4.430000, 3.890000 ], "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, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054201, 191740 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.978000, -1.996000, -0.057768 ], "estimate": [ 4.978000, -1.996000, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.060000, 5.580000, 4.420000, 4.160000, 3.860000, 3.600000, 3.370000, 3.190000, 3.000000, 2.850000, 2.720000, 2.600000, 2.480000, 2.390000, 2.290000, 2.210000, 2.120000, 2.060000, 1.990000, 1.930000, 1.880000, 1.820000, 1.760000, 1.720000, 1.670000, 1.630000, 1.590000, 1.570000, 1.530000, 1.490000, 1.000000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 0.800000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.380000, 1.620000, 1.660000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.030000, 2.090000, 2.170000, 2.250000, 2.330000, 2.420000, 2.530000, 2.650000, 2.780000, 2.320000, 3.090000, 3.270000, 3.490000, 3.730000, 4.010000, 3.490000, 4.370000, 4.380000, 4.360000, 4.340000, 4.990000, 5.760000, 6.770000, 10.790000, 10.760000, 12.040000, 12.010000, 12.040000, 14.420000, null, 14.460000, 7.330000, 6.230000, 5.140000, 4.430000, 3.890000 ], "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, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054201, 192831 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.979000, -1.996000, -0.051622 ], "estimate": [ 4.979000, -1.996000, -0.051622 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.050000, 5.570000, 4.420000, 4.160000, 3.850000, 3.600000, 3.370000, 3.180000, 2.990000, 2.850000, 2.710000, 2.600000, 2.480000, 2.390000, 2.290000, 2.220000, 2.130000, 2.060000, 1.990000, 1.920000, 1.870000, 1.820000, 1.760000, 1.720000, 1.670000, 1.630000, 1.590000, 1.570000, 1.530000, 1.490000, 0.990000, 0.950000, 0.960000, 0.970000, 1.000000, 1.010000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.010000, 0.800000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.360000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.030000, 2.090000, 2.170000, 2.250000, 2.330000, 2.420000, 2.520000, 2.640000, 2.780000, 2.350000, 3.080000, 3.270000, 3.490000, 3.730000, 4.010000, 3.490000, 4.380000, 4.380000, 4.370000, 4.360000, 5.000000, 5.760000, 6.770000, 10.790000, 10.760000, 12.030000, 12.010000, 12.040000, 14.440000, null, 14.460000, 7.320000, 6.210000, 5.170000, 4.430000, 3.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054201, 279245 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.979000, -1.996000, -0.051622 ], "estimate": [ 4.979000, -1.996000, -0.051622 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.050000, 5.570000, 4.420000, 4.160000, 3.850000, 3.590000, 3.370000, 3.180000, 2.990000, 2.840000, 2.720000, 2.600000, 2.490000, 2.390000, 2.280000, 2.210000, 2.120000, 2.060000, 1.990000, 1.930000, 1.870000, 1.820000, 1.760000, 1.720000, 1.670000, 1.630000, 1.590000, 1.560000, 1.530000, 1.490000, 0.990000, 0.950000, 0.960000, 0.980000, 1.000000, 1.010000, 1.040000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 0.800000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.920000, 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.300000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.030000, 2.100000, 2.170000, 2.250000, 2.330000, 2.420000, 2.520000, 2.640000, 2.780000, 2.360000, 3.080000, 3.270000, 3.490000, 3.730000, 4.020000, 3.490000, 4.380000, 4.380000, 4.370000, 4.370000, 5.000000, 5.780000, 6.800000, 10.800000, 10.750000, 12.030000, 12.010000, 12.030000, 14.450000, null, 14.460000, 7.310000, 6.200000, 5.160000, 4.420000, 3.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054201, 393118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.979000, -1.996000, -0.051622 ], "estimate": [ 4.979000, -1.996000, -0.051622 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 6.010000, 5.550000, 4.430000, 4.140000, 3.840000, 3.580000, 3.350000, 3.170000, 2.990000, 2.840000, 2.710000, 2.590000, 2.470000, 2.380000, 2.280000, 2.210000, 2.120000, 2.050000, 1.990000, 1.930000, 1.870000, 1.810000, 1.750000, 1.720000, 1.670000, 1.620000, 1.590000, 1.560000, 1.530000, 1.480000, 0.980000, 0.960000, 0.960000, 0.970000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 0.850000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.260000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.030000, 2.100000, 2.180000, 2.250000, 2.350000, 2.430000, 2.530000, 2.650000, 2.770000, 2.930000, 3.100000, 3.280000, 3.500000, 3.740000, 4.040000, 3.520000, 4.370000, 4.380000, 4.360000, 4.460000, 5.040000, 5.810000, null, 10.790000, 10.750000, 12.030000, 12.020000, 12.020000, 14.430000, null, 14.450000, 7.300000, 6.140000, 5.110000, 4.390000, 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, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054201, 593979 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.979000, -1.996000, -0.039331 ], "estimate": [ 4.979000, -1.996000, -0.039331 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.340000, 5.890000, 5.330000, 4.370000, 4.070000, 3.770000, 3.520000, 3.310000, 3.120000, 2.950000, 2.810000, 2.680000, 2.560000, 2.460000, 2.360000, 2.270000, 2.180000, 2.110000, 2.030000, 1.970000, 1.910000, 1.850000, 1.800000, 1.740000, 1.710000, 1.660000, 1.620000, 1.570000, 1.540000, 1.520000, 1.470000, 0.960000, 0.960000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.120000, 1.150000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 0.790000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.930000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.190000, 1.190000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.530000, 1.570000, 1.230000, 1.630000, 1.680000, 1.720000, 1.760000, 1.820000, 1.870000, 1.920000, 1.990000, 2.050000, 2.120000, 2.190000, 2.270000, 2.360000, 2.460000, 2.550000, 2.690000, 2.820000, 2.290000, 3.140000, 3.330000, 3.550000, 3.810000, 4.100000, 3.550000, 4.370000, 4.380000, 4.360000, 4.590000, 5.190000, 6.030000, 11.770000, 10.770000, 10.760000, 12.000000, 12.030000, 12.030000, 14.440000, null, 14.450000, 7.320000, 5.820000, 4.890000, 4.250000, 3.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054201, 844305 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.979000, -1.996000, -0.020895 ], "estimate": [ 4.979000, -1.996000, -0.020895 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.090000, 5.590000, 4.430000, 4.170000, 3.870000, 3.600000, 3.390000, 3.190000, 3.000000, 2.850000, 2.730000, 2.610000, 2.490000, 2.400000, 2.290000, 2.220000, 2.130000, 2.060000, 1.990000, 1.930000, 1.880000, 1.820000, 1.760000, 1.720000, 1.670000, 1.630000, 1.590000, 1.560000, 1.530000, 1.490000, 0.990000, 0.950000, 0.960000, 0.980000, 0.990000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.020000, 1.010000, 0.920000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.340000, 1.370000, 1.390000, 1.420000, 1.440000, 1.480000, 1.520000, 1.550000, 1.470000, 1.610000, 1.660000, 1.700000, 1.740000, 1.790000, 1.840000, 1.900000, 1.950000, 2.020000, 2.080000, 2.160000, 2.240000, 2.330000, 2.410000, 2.520000, 2.630000, 2.760000, 2.290000, 3.070000, 3.250000, 3.460000, 3.700000, 3.980000, 3.500000, 4.380000, 4.370000, 4.360000, 4.360000, 4.940000, 5.670000, 6.660000, 10.790000, 10.760000, 12.030000, 12.010000, 12.030000, 14.450000, null, 14.460000, 7.340000, 6.240000, 5.190000, 4.430000, 3.900000, 3.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054202, 293769 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.980000, -1.996000, 0.022124 ], "estimate": [ 4.980000, -1.996000, 0.022124 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.430000, 4.130000, 3.840000, 3.570000, 3.360000, 3.170000, 3.000000, 2.850000, 2.710000, 2.590000, 2.480000, 2.390000, 2.290000, 2.210000, 2.130000, 2.050000, 1.990000, 1.930000, 1.870000, 1.820000, 1.750000, 1.720000, 1.670000, 1.630000, 1.580000, 1.560000, 1.530000, 1.480000, 0.970000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.080000, 1.110000, 1.130000, 1.150000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 0.970000, 0.780000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.280000, 1.620000, 1.660000, 1.710000, 1.760000, 1.800000, 1.840000, 1.900000, 1.970000, 2.020000, 2.090000, 2.170000, 2.240000, 2.330000, 2.410000, 2.520000, 2.630000, 2.770000, 2.910000, 3.080000, 3.250000, 3.470000, 3.710000, 3.990000, 4.300000, 4.370000, 4.370000, 4.350000, 4.360000, 4.960000, 5.700000, 6.720000, 10.770000, 10.750000, 12.020000, 12.000000, 12.020000, 14.440000, null, 14.450000, 7.310000, 6.010000, 5.020000, 4.320000, 3.810000, 3.400000, 3.080000, 2.810000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054202, 209288 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.980000, -1.996000, 0.095870 ], "estimate": [ 4.980000, -1.996000, 0.095870 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.470000, 3.260000, 3.080000, 2.930000, 2.790000, 2.660000, 2.540000, 2.440000, 2.340000, 2.260000, 2.170000, 2.090000, 2.020000, 1.970000, 1.900000, 1.850000, 1.790000, 1.750000, 1.700000, 1.650000, 1.610000, 1.570000, 1.540000, 1.510000, 1.030000, 0.960000, 0.970000, 0.990000, 0.990000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.020000, 0.910000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.010000, 1.010000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.120000, 1.130000, 1.150000, 1.160000, 1.190000, 1.190000, 1.210000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.430000, 1.460000, 1.500000, 1.530000, 1.540000, 1.590000, 1.630000, 1.680000, 1.730000, 1.760000, 1.820000, 1.880000, 1.930000, 2.000000, 2.060000, 2.130000, 2.210000, 2.280000, 2.380000, 2.470000, 2.570000, 2.690000, 2.270000, 2.290000, 3.160000, 3.350000, 3.570000, 3.830000, 4.130000, 3.490000, 4.360000, 4.360000, 4.350000, 4.610000, 5.250000, 6.110000, 11.000000, 10.740000, 10.740000, 12.020000, 12.020000, 12.010000, 14.420000, null, 14.440000, 6.400000, 5.430000, 4.620000, 4.040000, 3.570000, 3.210000, 2.920000, 2.670000, 2.460000, 2.300000, 2.150000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054202, 449458 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.983000, -1.996000, 0.194199 ], "estimate": [ 4.983000, -1.996000, 0.194199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.590000, 2.480000, 2.380000, 2.290000, 2.200000, 2.130000, 2.060000, 1.990000, 1.930000, 1.870000, 1.820000, 1.760000, 1.720000, 1.670000, 1.620000, 1.600000, 1.570000, 1.520000, 1.040000, 0.980000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.110000, 1.120000, 1.140000, 1.170000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 0.790000, 0.790000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.280000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.570000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.980000, 2.030000, 2.100000, 2.170000, 2.260000, 2.340000, 2.430000, 2.530000, 2.660000, 2.740000, 2.340000, 3.100000, 3.270000, 3.490000, 3.730000, 4.010000, 4.320000, 4.360000, 4.350000, 4.320000, 4.360000, 5.000000, 5.770000, 6.790000, 10.740000, 10.730000, 11.980000, 11.990000, 12.010000, 14.430000, null, 14.450000, 7.300000, 5.670000, 4.780000, 4.150000, 3.670000, 3.280000, 2.960000, 2.710000, 2.500000, 2.320000, 2.170000, 2.030000, 1.910000, 1.800000, 1.640000, 1.610000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054202, 882025 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.988000, -1.995000, 0.323255 ], "estimate": [ 4.988000, -1.995000, 0.323255 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.000000, 1.940000, 1.880000, 1.830000, 1.760000, 1.730000, 1.680000, 1.640000, 1.600000, 1.570000, 1.530000, 1.010000, 1.000000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.180000, 1.170000, 1.150000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.030000, 1.040000, 1.030000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.580000, 1.610000, 1.660000, 1.700000, 1.750000, 1.790000, 1.840000, 1.900000, 1.960000, 2.020000, 2.080000, 2.150000, 2.240000, 2.330000, 2.410000, 2.510000, 2.630000, 2.620000, 2.880000, 3.070000, 3.230000, 3.440000, 3.680000, 3.960000, 4.270000, 4.350000, 4.330000, 4.330000, 4.330000, 4.880000, 5.580000, 6.530000, 10.740000, 10.740000, 11.970000, 11.980000, 12.000000, 14.410000, 14.410000, 14.430000, 7.290000, 5.740000, 4.830000, 4.200000, 3.700000, 3.320000, 2.990000, 2.730000, 2.510000, 2.330000, 2.170000, 2.040000, 1.920000, 1.810000, 1.610000, 1.600000, 1.600000, 1.610000, 1.610000, 1.610000, 1.620000, 1.660000, 4.090000, 4.090000 ], "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": [ 976054202, 883260 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.989000, -1.994000, 0.427729 ], "estimate": [ 4.989000, -1.994000, 0.427729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.620000, 1.580000, 1.560000, 1.060000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.090000, 1.110000, 1.140000, 1.160000, 1.170000, 1.200000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.050000, 1.040000, 1.040000, 1.020000, 0.820000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.200000, 1.580000, 1.620000, 1.660000, 1.690000, 1.750000, 1.790000, 1.840000, 1.900000, 1.950000, 2.020000, 2.090000, 2.160000, 2.240000, 2.330000, 2.420000, 2.510000, 2.610000, 2.750000, 2.850000, 3.050000, 3.220000, 3.410000, 3.650000, 3.910000, 4.230000, 4.340000, 4.330000, 4.320000, 4.310000, 4.800000, 5.490000, 6.380000, 10.760000, 10.740000, 11.980000, 11.980000, 11.990000, 12.000000, 14.410000, 14.420000, 7.280000, 6.260000, 5.180000, 4.410000, 3.870000, 3.450000, 3.100000, 2.830000, 2.580000, 2.380000, 2.220000, 2.070000, 1.950000, 1.830000, 1.740000, 1.590000, 1.590000, 1.600000, 1.590000, 1.600000, 1.610000, 1.640000, 5.650000, 5.750000, 5.750000, 7.930000, 3.630000, 3.630000, 7.400000, 4.530000, 7.010000 ], "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": [ 976054202, 993320 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.988000, -1.995000, 0.483038 ], "estimate": [ 4.988000, -1.995000, 0.483038 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.520000, 1.010000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.090000, 1.110000, 1.140000, 1.160000, 1.170000, 1.200000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.050000, 1.030000, 0.790000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.390000, 1.420000, 1.440000, 1.480000, 1.410000, 1.190000, 1.580000, 1.620000, 1.670000, 1.700000, 1.750000, 1.790000, 1.840000, 1.900000, 1.960000, 2.020000, 2.090000, 2.160000, 2.250000, 2.320000, 2.420000, 2.510000, 2.620000, 2.750000, 2.620000, 3.040000, 3.220000, 3.400000, 3.640000, 3.910000, 3.500000, 4.360000, 4.340000, 4.310000, 4.320000, 4.770000, 5.440000, 6.310000, 7.520000, 10.710000, 10.910000, 11.990000, 11.990000, 11.970000, 14.400000, 14.420000, 14.410000, 6.320000, 5.300000, 4.490000, 3.930000, 3.490000, 3.140000, 2.850000, 2.610000, 2.400000, 2.230000, 2.080000, 1.960000, 1.850000, 1.740000, 1.590000, 1.580000, 1.590000, 1.590000, 1.590000, 1.620000, 1.630000, 5.640000, 5.690000, 5.740000, 7.940000, 7.590000, 3.630000, 7.430000, 4.780000, 7.030000, 3.010000, 6.670000, 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": [ 976054203, 319710 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.989000, -1.994000, 0.575221 ], "estimate": [ 4.989000, -1.994000, 0.575221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.210000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 0.860000, 0.870000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.230000, 1.240000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.420000, 1.460000, 1.480000, 1.520000, 1.550000, 1.590000, 1.630000, 1.680000, 1.720000, 1.760000, 1.800000, 1.860000, 1.910000, 1.970000, 2.030000, 2.100000, 2.180000, 2.260000, 2.330000, 2.430000, 2.520000, 2.640000, 2.290000, 2.260000, 3.060000, 3.230000, 3.420000, 3.650000, 3.910000, 4.230000, 4.330000, 4.330000, 4.310000, 4.310000, 4.780000, 5.450000, 6.340000, 7.590000, 10.750000, 10.950000, 11.980000, 11.980000, 11.980000, 14.400000, 14.400000, 7.280000, 6.100000, 5.030000, 4.310000, 3.770000, 3.380000, 3.040000, 2.760000, 2.530000, 2.340000, 2.170000, 2.020000, 1.910000, 1.800000, 1.670000, 1.570000, 1.580000, 1.580000, 1.590000, 1.590000, 1.610000, 1.620000, 5.630000, 5.720000, 5.730000, 7.960000, 3.610000, 3.640000, 7.360000, 7.170000, 6.970000, 6.800000, 6.630000, 6.460000, 3.300000, 3.290000, 3.280000, 3.310000, 0.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054203, 393401 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.990000, -1.994000, 0.698132 ], "estimate": [ 4.990000, -1.994000, 0.698132 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.180000, 1.210000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 0.970000, 0.840000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.340000, 1.370000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.810000, 1.850000, 1.910000, 1.980000, 2.030000, 2.100000, 2.170000, 2.260000, 2.340000, 2.430000, 2.520000, 2.630000, 2.260000, 2.260000, 3.040000, 3.210000, 3.380000, 3.610000, 3.870000, 4.170000, 4.340000, 4.320000, 4.310000, 4.310000, 4.670000, 5.300000, 6.130000, 7.240000, 10.700000, 10.700000, 11.970000, 11.980000, 11.980000, 14.390000, 14.380000, 14.400000, 6.290000, 5.230000, 4.430000, 3.860000, 3.420000, 3.070000, 2.780000, 2.550000, 2.350000, 2.180000, 2.040000, 1.920000, 1.800000, 1.690000, 1.560000, 1.570000, 1.570000, 1.570000, 1.570000, 1.610000, 1.610000, 5.630000, 5.670000, 5.720000, 7.940000, 3.630000, 3.590000, 7.410000, 4.780000, 4.760000, 2.970000, 2.980000, 6.500000, 6.490000, 3.250000, 3.240000, 3.300000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.660000, 0.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054203, 664852 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.990000, -1.994000, 0.771878 ], "estimate": [ 4.990000, -1.994000, 0.771878 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.190000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 0.870000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.290000, 1.300000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.470000, 1.500000, 1.180000, 1.570000, 1.600000, 1.640000, 1.690000, 1.730000, 1.760000, 1.810000, 1.870000, 1.920000, 1.980000, 2.040000, 2.110000, 2.190000, 2.270000, 2.360000, 2.440000, 2.540000, 2.650000, 2.700000, 2.270000, 3.050000, 3.220000, 3.390000, 3.620000, 3.880000, 3.590000, 4.340000, 4.310000, 4.310000, 4.310000, 4.670000, 5.310000, 6.110000, 7.210000, 10.710000, 10.700000, 11.940000, 11.960000, 11.980000, 14.380000, 14.380000, 14.400000, 6.610000, 5.500000, 4.600000, 3.990000, 3.520000, 3.130000, 2.850000, 2.590000, 2.390000, 2.200000, 2.060000, 1.920000, 1.810000, 1.700000, 1.560000, 1.560000, 1.570000, 1.560000, 1.570000, 1.590000, 1.610000, 5.600000, 4.070000, 5.710000, 8.180000, 5.940000, 3.620000, 7.470000, 7.270000, 4.550000, 6.910000, 2.970000, 4.990000, 6.380000, 3.270000, 3.250000, 3.270000, 0.730000, 0.720000, 0.700000, 0.700000, 0.710000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054203, 793663 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.989000, -1.994000, 0.839479 ], "estimate": [ 4.989000, -1.994000, 0.839479 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 0.900000, 0.880000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.480000, 1.520000, 1.550000, 1.580000, 1.630000, 1.670000, 1.700000, 1.750000, 1.790000, 1.840000, 1.890000, 1.950000, 2.020000, 2.070000, 2.140000, 2.220000, 2.300000, 2.390000, 2.470000, 2.570000, 2.690000, 2.810000, 2.950000, 3.110000, 3.270000, 3.470000, 3.710000, 3.980000, 4.260000, 4.330000, 4.310000, 4.290000, 4.290000, 4.850000, 5.520000, 6.410000, 7.530000, 10.710000, 10.870000, 11.960000, 11.970000, 11.980000, 14.370000, 14.390000, 7.250000, 6.240000, 5.070000, 4.310000, 3.780000, 3.340000, 3.000000, 2.720000, 2.490000, 2.300000, 2.130000, 1.990000, 1.860000, 1.750000, 1.580000, 1.560000, 1.560000, 1.560000, 1.560000, 1.570000, 1.590000, 1.610000, 5.610000, 5.700000, 5.720000, 7.900000, 3.600000, 3.580000, 7.390000, 4.960000, 6.990000, 2.960000, 6.630000, 6.470000, 3.310000, 3.230000, 3.270000, 3.280000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.660000, 0.660000, 0.650000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000 ], "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": [ 976054204, 302302 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.990000, -1.994000, 0.962389 ], "estimate": [ 4.990000, -1.994000, 0.962389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 0.900000, 0.880000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.340000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.180000, 1.180000, 1.570000, 1.590000, 1.630000, 1.680000, 1.720000, 1.760000, 1.790000, 1.840000, 1.910000, 1.950000, 2.020000, 2.080000, 2.160000, 2.230000, 2.310000, 2.400000, 2.480000, 2.590000, 2.700000, 2.820000, 2.960000, 3.110000, 3.280000, 3.480000, 3.700000, 3.770000, 3.730000, 4.330000, 4.310000, 4.290000, 4.290000, 4.830000, 5.480000, 6.310000, 7.510000, 10.720000, 10.790000, 11.960000, 11.970000, 11.970000, 14.370000, 13.270000, 7.260000, 6.100000, 4.940000, 4.230000, 3.680000, 3.270000, 2.940000, 2.650000, 2.430000, 2.250000, 2.070000, 1.950000, 1.810000, 1.720000, 1.560000, 1.550000, 1.550000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 5.610000, 5.670000, 5.710000, 7.930000, 3.580000, 3.580000, 7.360000, 5.490000, 5.490000, 6.800000, 6.620000, 6.450000, 3.290000, 3.240000, 3.260000, 0.690000, 0.680000, 0.680000, 0.680000, 0.690000, 0.660000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000 ], "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": [ 976054204, 303403 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.990000, -1.994000, 1.060718 ], "estimate": [ 4.990000, -1.994000, 1.060718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 1.000000, 1.000000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.160000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.350000, 1.370000, 1.400000, 1.420000, 1.450000, 1.470000, 1.210000, 1.370000, 1.580000, 1.610000, 1.640000, 1.690000, 1.730000, 1.760000, 1.810000, 1.860000, 1.910000, 1.970000, 2.030000, 2.080000, 2.160000, 2.240000, 2.320000, 2.410000, 2.490000, 2.590000, 2.710000, 2.820000, 2.970000, 3.120000, 3.290000, 3.480000, 3.700000, 3.970000, 3.700000, 4.330000, 4.310000, 4.290000, 4.290000, 4.800000, 5.440000, 6.250000, 7.340000, 10.700000, 10.700000, 11.950000, 11.960000, 11.960000, 14.360000, 14.380000, 14.380000, 6.290000, 5.210000, 4.350000, 3.790000, 3.340000, 2.980000, 2.700000, 2.460000, 2.270000, 2.100000, 1.970000, 1.840000, 1.730000, 1.560000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.580000, 1.580000, 5.590000, 5.630000, 5.700000, 7.920000, 3.620000, 3.570000, 7.430000, 7.230000, 5.480000, 2.980000, 2.960000, 6.510000, 3.330000, 3.220000, 3.210000, 0.710000, 0.700000, 0.680000, 0.680000, 0.690000, 0.650000, 0.630000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.570000, 0.580000, 0.610000, 0.640000, 0.670000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054204, 393831 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.989000, -1.994000, 1.134464 ], "estimate": [ 4.989000, -1.994000, 1.134464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 1.010000, 1.010000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.460000, 1.210000, 1.570000, 1.600000, 1.630000, 1.670000, 1.720000, 1.750000, 1.790000, 1.840000, 1.900000, 1.950000, 2.000000, 2.060000, 2.130000, 2.210000, 2.280000, 2.370000, 2.450000, 2.550000, 2.650000, 2.250000, 2.800000, 3.040000, 3.200000, 3.380000, 3.570000, 3.820000, 3.460000, 4.330000, 4.320000, 4.300000, 4.300000, 4.520000, 5.070000, 5.770000, 6.690000, 10.730000, 10.710000, 11.940000, 11.940000, 11.950000, 11.980000, 14.370000, 14.370000, 7.230000, 5.870000, 4.780000, 4.090000, 3.570000, 3.180000, 2.840000, 2.570000, 2.350000, 2.180000, 2.020000, 1.890000, 1.760000, 1.650000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.570000, 1.600000, 5.550000, 4.060000, 4.020000, 5.700000, 7.890000, 3.580000, 7.570000, 7.350000, 5.500000, 6.940000, 6.780000, 6.610000, 4.920000, 3.260000, 3.240000, 3.250000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.630000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.570000, 0.590000, 0.620000, 0.640000, 0.680000, 0.700000, 0.730000, 0.770000, 0.810000, 0.850000 ], "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": [ 976054204, 901674 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.990000, -1.992000, 1.202065 ], "estimate": [ 4.990000, -1.992000, 1.202065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.430000, 1.460000, 1.480000, 1.490000, 1.550000, 1.580000, 1.610000, 1.650000, 1.690000, 1.730000, 1.760000, 1.810000, 1.860000, 1.920000, 1.970000, 2.020000, 2.090000, 2.160000, 2.240000, 2.320000, 2.400000, 2.470000, 2.580000, 2.690000, 2.800000, 2.940000, 3.100000, 3.250000, 3.440000, 3.640000, 3.890000, 4.180000, 4.320000, 4.310000, 4.290000, 4.290000, 4.670000, 5.260000, 6.010000, 6.980000, 10.710000, 10.690000, 11.930000, 11.920000, 11.970000, 14.360000, 14.360000, 14.370000, 7.230000, 5.550000, 4.590000, 3.930000, 3.440000, 3.060000, 2.750000, 2.490000, 2.300000, 2.120000, 1.970000, 1.840000, 1.720000, 1.550000, 1.530000, 1.530000, 1.540000, 1.530000, 1.540000, 1.570000, 1.560000, 5.570000, 4.010000, 4.050000, 7.920000, 5.930000, 3.580000, 7.510000, 7.290000, 5.510000, 6.940000, 2.950000, 4.940000, 4.950000, 3.240000, 3.210000, 0.720000, 0.680000, 0.660000, 0.660000, 0.670000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.540000, 0.570000, 0.590000, 0.620000, 0.640000, 0.660000, 0.690000, 0.730000, 0.770000, 0.800000, 0.850000, 0.890000, 0.950000, 1.010000, 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": [ 976054204, 902840 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.993000, -1.984000, 1.195919 ], "estimate": [ 4.993000, -1.984000, 1.195919 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.500000, 1.230000, 1.570000, 1.590000, 1.630000, 1.680000, 1.700000, 1.750000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 2.050000, 2.120000, 2.190000, 2.270000, 2.360000, 2.430000, 2.530000, 2.640000, 2.740000, 2.350000, 3.010000, 3.160000, 3.330000, 3.520000, 3.750000, 4.010000, 3.390000, 4.320000, 4.300000, 4.290000, 4.360000, 4.900000, 5.540000, 6.360000, 7.490000, 10.700000, 10.740000, 11.920000, 11.950000, 11.940000, 14.370000, 14.370000, 14.370000, 6.560000, 5.410000, 4.480000, 3.850000, 3.390000, 3.010000, 2.710000, 2.470000, 2.260000, 2.090000, 1.940000, 1.820000, 1.710000, 1.540000, 1.520000, 1.530000, 1.530000, 1.530000, 1.560000, 1.570000, 5.530000, 5.580000, 4.010000, 5.660000, 7.880000, 5.910000, 3.580000, 7.490000, 7.280000, 5.470000, 6.910000, 2.970000, 4.900000, 6.380000, 3.230000, 3.200000, 3.240000, 0.670000, 0.660000, 0.660000, 0.670000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.560000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.570000, 0.590000, 0.600000, 0.630000, 0.670000, 0.690000, 0.730000, 0.760000, 0.810000, 0.850000, 0.900000, 0.950000, 1.010000, 1.090000, 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": [ 976054204, 993170 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.003000, -1.962000, 1.183628 ], "estimate": [ 5.003000, -1.962000, 1.183628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.070000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.280000, 1.540000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.750000, 1.790000, 1.840000, 1.900000, 1.950000, 2.010000, 2.060000, 2.130000, 2.200000, 2.280000, 2.360000, 2.440000, 2.540000, 2.640000, 2.220000, 2.880000, 3.030000, 3.180000, 3.360000, 3.550000, 3.790000, 3.610000, 4.320000, 4.300000, 4.280000, 4.270000, 4.450000, 4.980000, 5.660000, 6.510000, 11.070000, 10.690000, 10.880000, 11.910000, 11.930000, 11.940000, 14.340000, 14.330000, 14.360000, 6.280000, 5.210000, 4.340000, 3.750000, 3.310000, 2.950000, 2.670000, 2.430000, 2.240000, 2.060000, 1.920000, 1.800000, 1.680000, 1.520000, 1.510000, 1.520000, 1.510000, 1.510000, 1.550000, 1.560000, 5.520000, 5.580000, 4.040000, 5.670000, 7.990000, 5.890000, 3.550000, 7.430000, 7.220000, 5.450000, 6.870000, 2.970000, 4.970000, 6.350000, 3.220000, 3.190000, 3.240000, 0.690000, 0.660000, 0.650000, 0.650000, 0.660000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.550000, 0.570000, 0.600000, 0.630000, 0.660000, 0.690000, 0.730000, 0.770000, 0.820000, 0.860000, 0.910000, 0.980000, 1.050000, 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": [ 976054205, 611387 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.025000, -1.907000, 1.195919 ], "estimate": [ 5.025000, -1.907000, 1.195919 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.290000, 1.320000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.480000, 1.520000, 1.550000, 1.580000, 1.610000, 1.660000, 1.680000, 1.720000, 1.760000, 1.820000, 1.860000, 1.910000, 1.970000, 2.030000, 2.090000, 2.160000, 2.250000, 2.310000, 2.400000, 2.490000, 2.590000, 2.160000, 2.790000, 2.960000, 3.110000, 3.270000, 3.450000, 3.670000, 3.920000, 3.300000, 4.260000, 4.230000, 4.220000, 4.220000, 4.720000, 5.330000, 6.090000, 7.120000, 10.640000, 10.620000, 11.880000, 11.860000, 11.890000, 14.290000, 14.290000, 14.300000, 7.160000, 5.560000, 4.620000, 3.950000, 3.480000, 3.090000, 2.780000, 2.530000, 2.320000, 2.140000, 1.970000, 1.840000, 1.730000, 1.630000, 1.480000, 1.460000, 1.460000, 1.470000, 1.460000, 1.480000, 1.500000, 1.490000, 5.530000, 3.960000, 5.630000, 7.830000, 3.510000, 3.550000, 7.300000, 4.860000, 6.900000, 2.900000, 2.910000, 6.390000, 6.260000, 3.180000, 3.150000, 3.200000, 3.230000, 3.260000, 3.280000, 0.640000, 0.620000, 0.620000, 0.620000, 0.630000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.550000, 0.590000, 0.620000, 0.650000, 0.700000, 0.740000, 0.790000, 0.860000, 0.940000, 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": [ 976054205, 612645 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.056000, -1.827000, 1.202065 ], "estimate": [ 5.056000, -1.827000, 1.202065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.120000, 1.380000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.580000, 1.600000, 1.640000, 1.690000, 1.720000, 1.760000, 1.810000, 1.850000, 1.910000, 1.960000, 2.020000, 2.080000, 2.160000, 2.240000, 2.310000, 2.390000, 2.480000, 2.580000, 2.090000, 2.820000, 2.950000, 3.100000, 3.270000, 3.460000, 3.670000, 3.410000, 4.200000, 4.180000, 4.160000, 4.150000, 4.230000, 4.730000, 5.340000, 6.130000, 7.190000, 10.560000, 10.540000, 11.800000, 11.800000, 11.820000, 14.230000, null, 14.230000, 7.100000, 5.720000, 4.730000, 4.060000, 3.550000, 3.160000, 2.830000, 2.580000, 2.360000, 2.180000, 2.020000, 1.890000, 1.770000, 1.670000, 1.580000, 1.420000, 1.390000, 1.390000, 1.410000, 1.400000, 1.400000, 1.440000, 1.440000, 3.890000, 5.550000, 7.960000, 5.780000, 3.460000, 7.330000, 7.130000, 5.430000, 6.760000, 6.620000, 6.440000, 6.270000, 6.150000, 3.130000, 3.130000, 3.150000, 3.170000, 3.210000, 3.240000, 3.300000, null, 5.180000, 5.110000, 2.980000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.580000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.530000, 0.590000, 0.670000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054205, 613590 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.080000, -1.766000, 1.189774 ], "estimate": [ 5.080000, -1.766000, 1.189774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.080000, 1.230000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.580000, 1.630000, 1.670000, 1.690000, 1.740000, 1.780000, 1.840000, 1.890000, 1.930000, 2.000000, 2.060000, 2.130000, 2.200000, 2.270000, 2.360000, 2.450000, 2.010000, 2.660000, 2.780000, 2.920000, 3.070000, 3.230000, 3.410000, 3.630000, 3.330000, 4.100000, 4.090000, 4.080000, 4.070000, 4.160000, 4.650000, 5.250000, 6.030000, 7.040000, 10.500000, 10.460000, 11.720000, 11.730000, 11.720000, 14.140000, 13.020000, 14.140000, 14.160000, 6.050000, 5.000000, 4.220000, 3.690000, 3.280000, 2.950000, 2.680000, 2.460000, 2.260000, 2.090000, 1.950000, 1.840000, 1.730000, 1.630000, 1.540000, 1.470000, 1.350000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.370000, 1.380000, 5.560000, 7.710000, 5.740000, 3.390000, 7.180000, 6.980000, 6.800000, 6.630000, 6.470000, 2.790000, 6.180000, 6.040000, 3.100000, 3.040000, 3.100000, 3.120000, 3.140000, 3.190000, 3.240000, null, 5.120000, 5.060000, 2.940000, 4.920000, 4.850000, 4.780000, 4.730000, 4.680000, 4.600000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054205, 794270 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.098000, -1.722000, 1.177483 ], "estimate": [ 5.098000, -1.722000, 1.177483 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.120000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.020000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.580000, 1.610000, 1.650000, 1.680000, 1.730000, 1.770000, 1.820000, 1.870000, 1.930000, 1.990000, 2.040000, 2.110000, 2.180000, 2.260000, 2.360000, 2.450000, 2.000000, 2.650000, 2.770000, 2.900000, 3.050000, 3.220000, 3.390000, 3.620000, 3.100000, 4.060000, 4.050000, 4.020000, 4.010000, 4.160000, 4.650000, 5.260000, 6.030000, 7.080000, 10.430000, 10.420000, 11.680000, 11.680000, 11.660000, 14.090000, 14.090000, 14.110000, 6.980000, 5.960000, 4.890000, 4.160000, 3.660000, 3.250000, 2.930000, 2.660000, 2.450000, 2.260000, 2.100000, 1.960000, 1.840000, 1.740000, 1.640000, 1.560000, 1.470000, 1.400000, 1.290000, 1.290000, 1.290000, 1.300000, 1.300000, 1.310000, 1.330000, 1.350000, 7.700000, 5.700000, 7.380000, 3.390000, 6.950000, 5.350000, 6.610000, 6.450000, 2.760000, 6.160000, 6.020000, 3.100000, 3.030000, 3.050000, 3.090000, 3.110000, 3.150000, 3.170000, null, null, 5.040000, 4.980000, 2.930000, 4.850000, 3.800000, 4.720000, 4.670000, 4.620000, 4.560000, 4.530000, 4.470000, 4.420000, 0.550000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054206, 125399 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.117000, -1.680000, 1.159046 ], "estimate": [ 5.117000, -1.680000, 1.159046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.160000, 1.180000, 1.190000, 1.210000, 0.980000, 1.250000, 1.270000, 1.280000, 1.300000, 1.330000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.510000, 1.540000, 1.570000, 1.600000, 1.650000, 1.680000, 1.730000, 1.770000, 1.820000, 1.870000, 1.930000, 1.990000, 2.040000, 2.110000, 2.190000, 2.270000, 2.350000, 1.930000, 2.530000, 2.650000, 2.770000, 2.910000, 3.060000, 3.240000, 3.410000, 3.640000, 3.160000, 4.010000, 4.000000, 3.980000, 3.970000, 4.210000, 4.700000, 5.340000, 6.120000, 7.220000, 10.380000, 10.430000, 11.620000, 11.650000, 11.640000, 14.040000, null, 14.060000, 6.940000, 5.630000, 4.680000, 4.040000, 3.560000, 3.190000, 2.880000, 2.620000, 2.400000, 2.240000, 2.070000, 1.940000, 1.820000, 1.720000, 1.630000, 1.550000, 1.470000, 1.400000, 1.290000, 1.240000, 1.250000, 1.260000, 1.260000, 1.260000, 1.280000, 1.310000, 1.330000, 5.680000, 7.300000, 3.330000, 6.910000, 5.280000, 6.570000, 6.410000, 6.290000, 2.730000, 6.000000, 5.900000, 3.020000, 3.000000, 3.050000, 3.080000, 3.100000, 3.140000, 3.180000, null, 3.440000, 4.960000, 2.890000, 4.840000, 3.650000, 4.710000, 4.660000, 4.610000, 4.560000, 4.520000, 4.460000, 4.440000, 4.390000, 4.350000, 4.320000, 0.550000, 0.530000, 0.520000, 0.520000, 0.510000, 0.540000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054206, 249531 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.139000, -1.628000, 1.165192 ], "estimate": [ 5.139000, -1.628000, 1.165192 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 0.940000, 1.190000, 1.220000, 1.240000, 1.250000, 1.280000, 1.290000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.760000, 1.800000, 1.850000, 1.900000, 1.960000, 2.020000, 2.080000, 2.160000, 2.240000, 2.320000, 2.040000, 2.510000, 2.620000, 2.750000, 2.870000, 3.010000, 3.190000, 3.370000, 3.570000, 3.240000, 3.970000, 3.950000, 3.940000, 3.930000, 4.100000, 4.570000, 5.180000, 5.950000, 6.970000, 10.340000, 10.330000, 11.590000, 11.580000, 11.590000, 13.990000, 12.770000, 14.020000, 6.900000, 5.930000, 4.950000, 4.230000, 3.710000, 3.320000, 2.980000, 2.710000, 2.490000, 2.310000, 2.150000, 2.000000, 1.880000, 1.770000, 1.670000, 1.590000, 1.500000, 1.440000, 1.360000, 1.310000, 1.220000, 1.210000, 1.210000, 1.220000, 1.210000, 1.230000, 1.250000, 1.280000, 5.610000, 3.310000, 3.320000, 5.250000, 4.250000, 4.860000, 4.900000, 4.670000, 2.720000, 5.910000, 5.830000, 2.970000, 3.000000, 3.040000, 3.050000, 3.090000, 3.120000, 3.180000, null, 4.990000, 4.920000, 2.880000, 4.790000, 3.610000, 4.690000, 4.630000, 4.570000, 4.540000, 4.490000, 4.440000, 4.400000, 4.360000, 4.330000, 4.290000, 4.250000, 4.220000, 4.190000, 4.170000, 0.670000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054206, 640238 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.167000, -1.564000, 1.159046 ], "estimate": [ 5.167000, -1.564000, 1.159046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 0.870000, 0.880000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.540000, 1.580000, 1.610000, 1.640000, 1.680000, 1.730000, 1.770000, 1.830000, 1.880000, 1.930000, 1.990000, 2.050000, 2.130000, 2.190000, 2.290000, 1.820000, 2.470000, 2.570000, 2.700000, 2.820000, 2.960000, 3.110000, 3.290000, 3.500000, 3.190000, 3.900000, 3.880000, 3.860000, 3.850000, 3.960000, 4.420000, 5.000000, 5.730000, 6.690000, 10.290000, 10.260000, 11.520000, 11.510000, 11.520000, 13.920000, 13.940000, 13.950000, 13.950000, 6.330000, 5.220000, 4.430000, 3.860000, 3.450000, 3.110000, 2.810000, 2.570000, 2.380000, 2.220000, 2.060000, 1.930000, 1.830000, 1.730000, 1.640000, 1.550000, 1.480000, 1.420000, 1.350000, 1.300000, 1.240000, 1.170000, 1.150000, 1.150000, 1.170000, 1.170000, 1.180000, 1.200000, 1.210000, 1.240000, 6.840000, 5.200000, 6.510000, 6.360000, 6.210000, 4.720000, 2.670000, 5.820000, 5.720000, 2.960000, 2.910000, 2.980000, 3.010000, 3.040000, 3.070000, 3.110000, null, 3.370000, 4.880000, 4.810000, 2.820000, 3.630000, 4.650000, 4.600000, 4.550000, 4.510000, 4.470000, 4.420000, 4.380000, 4.350000, 4.310000, 4.270000, 4.240000, 4.200000, 4.180000, 4.170000, 4.140000, 4.110000, 4.080000, 4.060000, 4.040000, 0.670000, 0.700000, 0.680000, 0.520000, 0.510000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054206, 641440 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.193000, -1.505000, 1.152901 ], "estimate": [ 5.193000, -1.505000, 1.152901 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.950000, 0.940000, 0.950000, 0.950000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.000000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 0.840000, 0.880000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.300000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.540000, 1.580000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.840000, 1.910000, 1.950000, 2.020000, 2.090000, 2.170000, 1.810000, 2.310000, 2.430000, 2.520000, 2.640000, 2.760000, 2.890000, 3.040000, 3.220000, 3.420000, 3.210000, 3.830000, 3.830000, 3.810000, 3.790000, 3.800000, 4.240000, 4.770000, 5.460000, 6.330000, 10.290000, 10.190000, 11.460000, 11.450000, 11.460000, 11.460000, 13.860000, 13.890000, 13.890000, 6.760000, 5.580000, 4.720000, 4.070000, 3.610000, 3.240000, 2.940000, 2.680000, 2.470000, 2.290000, 2.150000, 2.000000, 1.880000, 1.770000, 1.680000, 1.600000, 1.520000, 1.460000, 1.390000, 1.330000, 1.280000, 1.230000, 1.180000, 1.110000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.140000, 1.170000, 1.180000, 5.100000, 6.410000, 6.260000, 6.120000, 4.720000, 2.610000, 5.770000, 5.650000, 2.940000, 2.870000, 2.940000, 2.970000, 3.000000, 3.040000, 3.060000, null, 4.900000, 4.840000, 4.790000, 2.840000, 4.670000, 4.610000, 4.580000, 4.540000, 4.480000, 4.450000, 4.410000, 4.360000, 4.340000, 4.300000, 4.260000, 4.230000, 4.190000, 4.180000, 4.150000, 4.130000, 4.100000, 4.080000, 4.060000, 4.030000, 4.020000, 4.000000, 3.990000, 3.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054206, 799345 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.214000, -1.458000, 1.140610 ], "estimate": [ 5.214000, -1.458000, 1.140610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.030000, 1.030000, 0.820000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.160000, 1.160000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.610000, 1.660000, 1.700000, 1.760000, 1.800000, 1.850000, 1.910000, 1.960000, 2.030000, 2.110000, 1.900000, 2.250000, 2.350000, 2.450000, 2.550000, 2.670000, 2.800000, 2.940000, 3.110000, 3.280000, 3.130000, 3.750000, 3.770000, 3.760000, 3.750000, 3.730000, 3.980000, 4.440000, 5.040000, 5.820000, 6.850000, 10.150000, 10.140000, 11.390000, 11.420000, 11.410000, 13.820000, 13.830000, 13.840000, 13.850000, 6.230000, 5.150000, 4.410000, 3.860000, 3.450000, 3.130000, 2.840000, 2.610000, 2.400000, 2.260000, 2.110000, 1.970000, 1.860000, 1.750000, 1.670000, 1.580000, 1.510000, 1.450000, 1.380000, 1.320000, 1.280000, 1.220000, 1.180000, 1.130000, 1.080000, 1.050000, 1.050000, 1.060000, 1.080000, 1.070000, 1.100000, 1.120000, 1.150000, 6.350000, 6.200000, 6.070000, 4.660000, 5.870000, 5.720000, 5.610000, 2.920000, 2.850000, 2.890000, 2.930000, 2.960000, 3.000000, 3.030000, null, 3.300000, 4.830000, 4.770000, 2.810000, 4.660000, 3.550000, 4.560000, 4.520000, 4.470000, 4.440000, 4.400000, 4.360000, 4.330000, 4.290000, 4.250000, 4.220000, 4.200000, 4.180000, 4.150000, 4.120000, 4.090000, 4.080000, 4.060000, 4.040000, 4.010000, 4.010000, 3.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054207, 196275 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.235000, -1.414000, 1.128319 ], "estimate": [ 5.235000, -1.414000, 1.128319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 0.800000, 0.810000, 1.010000, 1.030000, 1.030000, 1.030000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.260000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.430000, 1.460000, 1.500000, 1.540000, 1.570000, 1.590000, 1.640000, 1.680000, 1.730000, 1.780000, 1.830000, 1.890000, 1.940000, 2.020000, 2.080000, 1.670000, 2.230000, 2.320000, 2.430000, 2.520000, 2.640000, 2.760000, 2.900000, 3.050000, 3.230000, 3.440000, 3.160000, 3.740000, 3.720000, 3.710000, 3.690000, 3.870000, 4.330000, 4.900000, 5.620000, 6.600000, 10.130000, 10.100000, 11.360000, 11.360000, 11.370000, 13.790000, 13.800000, 13.820000, 13.800000, 6.660000, 5.320000, 4.550000, 3.990000, 3.540000, 3.210000, 2.930000, 2.670000, 2.470000, 2.300000, 2.150000, 2.020000, 1.890000, 1.800000, 1.710000, 1.630000, 1.540000, 1.480000, 1.410000, 1.350000, 1.310000, 1.250000, 1.200000, 1.170000, 1.120000, 1.070000, 1.040000, 1.030000, 1.030000, 1.050000, 1.040000, 1.050000, 1.070000, 1.100000, 1.130000, 6.100000, 4.540000, 5.840000, 2.550000, 5.640000, 5.530000, 2.890000, 2.840000, 2.870000, 2.920000, 2.940000, 2.990000, 3.010000, null, 4.830000, 4.790000, 4.720000, 2.770000, 4.600000, 4.550000, 4.540000, 4.480000, 4.460000, 4.410000, 4.370000, 4.340000, 4.300000, 4.270000, 4.240000, 4.200000, 4.190000, 4.160000, 4.140000, 4.110000, 4.080000, 4.070000, 4.050000, 4.040000, 4.020000, 4.000000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054207, 220031 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.260000, -1.363000, 1.116027 ], "estimate": [ 5.260000, -1.363000, 1.116027 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.780000, 0.770000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.250000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.460000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.680000, 1.720000, 1.770000, 1.820000, 1.870000, 1.940000, 2.010000, 2.060000, 2.020000, 2.240000, 2.310000, 2.430000, 2.520000, 2.640000, 2.770000, 2.910000, 3.060000, 3.240000, 2.690000, 3.680000, 3.680000, 3.670000, 3.660000, 3.650000, 3.920000, 4.390000, 4.990000, 5.750000, 6.780000, 10.040000, 10.040000, 11.290000, 11.320000, 11.310000, 13.740000, 13.740000, 13.740000, 13.760000, 6.610000, 5.230000, 4.520000, 3.950000, 3.540000, 3.200000, 2.920000, 2.680000, 2.470000, 2.320000, 2.180000, 2.020000, 1.920000, 1.810000, 1.730000, 1.630000, 1.560000, 1.480000, 1.430000, 1.360000, 1.320000, 1.280000, 1.220000, 1.180000, 1.130000, 1.090000, 1.060000, 1.020000, 0.990000, 0.990000, 0.990000, 1.010000, 1.020000, 1.020000, 1.040000, 1.060000, 1.090000, 4.500000, 5.730000, 2.520000, 5.520000, 4.080000, 2.840000, 2.800000, 2.860000, 2.890000, 2.930000, 2.970000, 3.020000, null, 4.790000, 4.730000, 4.690000, 2.760000, 3.520000, 4.540000, 4.490000, 4.450000, 4.410000, 4.370000, 4.340000, 4.300000, 4.270000, 4.240000, 4.220000, 4.190000, 4.170000, 4.140000, 4.120000, 4.090000, 4.080000, 4.060000, 4.050000, 4.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054207, 393723 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.290000, -1.302000, 1.109882 ], "estimate": [ 5.290000, -1.302000, 1.109882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.900000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.750000, 0.770000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.250000, 1.270000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.540000, 1.570000, 1.600000, 1.640000, 1.690000, 1.740000, 1.780000, 1.830000, 1.900000, 1.960000, 1.710000, 2.100000, 2.180000, 2.270000, 2.370000, 2.470000, 2.580000, 2.700000, 2.840000, 2.990000, 3.170000, 2.620000, 3.630000, 3.620000, 3.600000, 3.610000, 3.590000, 3.770000, 4.220000, 4.780000, 5.510000, 6.480000, 10.000000, 10.000000, 11.250000, 11.240000, 11.250000, 13.660000, 12.460000, 13.680000, 13.690000, 6.560000, 5.490000, 4.680000, 4.100000, 3.660000, 3.310000, 3.010000, 2.760000, 2.560000, 2.370000, 2.220000, 2.080000, 1.980000, 1.860000, 1.770000, 1.680000, 1.610000, 1.530000, 1.470000, 1.410000, 1.350000, 1.310000, 1.260000, 1.220000, 1.180000, 1.130000, 1.090000, 1.050000, 1.030000, 0.990000, 0.960000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 1.020000, 1.040000, 1.060000, 2.520000, 5.460000, 4.020000, 2.820000, 2.760000, 2.810000, 2.860000, 2.890000, 2.930000, 2.980000, null, 4.760000, 4.700000, 4.650000, 2.760000, 3.490000, 4.510000, 4.470000, 4.440000, 4.390000, 4.360000, 4.330000, 4.290000, 4.260000, 4.220000, 4.200000, 4.180000, 4.160000, 4.140000, 4.110000, 4.080000, 4.070000, 4.060000, 4.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054207, 788177 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.317000, -1.248000, 1.109882 ], "estimate": [ 5.317000, -1.248000, 1.109882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.890000, 0.900000, 0.890000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.710000, 0.730000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.430000, 1.460000, 1.500000, 1.540000, 1.580000, 1.610000, 1.660000, 1.700000, 1.760000, 1.800000, 1.860000, 1.910000, 1.490000, 2.070000, 2.140000, 2.230000, 2.320000, 2.420000, 2.520000, 2.630000, 2.770000, 2.910000, 3.090000, 2.750000, 3.520000, 3.560000, 3.550000, 3.530000, 3.520000, 3.610000, 4.050000, 4.560000, 5.250000, 6.150000, 9.950000, 9.920000, 11.180000, 11.180000, 11.200000, 11.220000, 13.610000, null, 13.630000, 6.660000, 5.610000, 4.950000, 4.330000, 3.820000, 3.440000, 3.140000, 2.870000, 2.660000, 2.470000, 2.320000, 2.180000, 2.040000, 1.930000, 1.820000, 1.740000, 1.670000, 1.590000, 1.510000, 1.460000, 1.400000, 1.340000, 1.310000, 1.260000, 1.210000, 1.170000, 1.140000, 1.090000, 1.070000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.900000, 0.910000, 0.930000, 0.930000, 0.940000, 0.960000, 1.000000, 1.100000, 3.980000, 2.810000, 2.740000, 2.780000, 2.810000, 2.850000, 2.890000, 2.930000, null, 4.710000, 4.680000, 4.620000, 4.580000, 2.720000, 4.490000, 4.460000, 4.420000, 4.380000, 4.350000, 4.310000, 4.280000, 4.250000, 4.230000, 4.200000, 4.180000, 4.160000, 4.130000, 4.100000, 4.080000, 4.080000, 4.060000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054207, 794165 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.341000, -1.201000, 1.103737 ], "estimate": [ 5.341000, -1.201000, 1.103737 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.710000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.990000, 0.990000, 1.010000, 1.010000, 1.020000, 1.040000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.440000, 1.480000, 1.520000, 1.570000, 1.590000, 1.630000, 1.680000, 1.730000, 1.770000, 1.840000, 1.430000, 1.960000, 2.040000, 2.110000, 2.200000, 2.280000, 2.390000, 2.480000, 2.600000, 2.720000, 2.880000, 3.050000, 2.620000, 3.450000, 3.510000, 3.510000, 3.490000, 3.480000, 3.520000, 3.950000, 4.460000, 5.140000, 5.980000, 9.920000, 9.870000, 11.140000, 11.130000, 11.150000, 11.170000, 13.580000, 12.330000, 13.580000, 13.600000, 6.410000, 5.050000, 4.410000, 3.890000, 3.500000, 3.200000, 2.930000, 2.720000, 2.520000, 2.360000, 2.190000, 2.080000, 1.950000, 1.850000, 1.770000, 1.690000, 1.620000, 1.540000, 1.480000, 1.420000, 1.370000, 1.320000, 1.280000, 1.230000, 1.190000, 1.150000, 1.120000, 1.080000, 1.050000, 1.030000, 0.990000, 0.960000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.930000, 0.960000, 0.990000, 2.780000, 2.710000, 2.770000, 2.790000, 2.830000, 2.880000, 2.920000, null, 3.160000, 4.630000, 4.590000, 4.550000, 2.710000, 4.470000, 4.430000, 4.390000, 4.360000, 4.320000, 4.290000, 4.250000, 4.230000, 4.210000, 4.190000, 4.160000, 4.150000, 4.120000, 4.090000, 4.080000, 4.070000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054208, 401610 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.365000, -1.154000, 1.097591 ], "estimate": [ 5.365000, -1.154000, 1.097591 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.880000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.680000, 0.720000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.970000, 0.980000, 0.980000, 1.000000, 1.000000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.700000, 1.750000, 1.800000, 1.550000, 1.920000, 2.000000, 2.060000, 2.150000, 2.250000, 2.330000, 2.440000, 2.540000, 2.670000, 2.810000, 2.970000, 3.150000, 2.740000, 3.470000, 3.450000, 3.440000, 3.430000, 3.420000, 3.790000, 4.240000, 4.860000, 5.650000, 9.860000, 9.830000, 9.920000, 11.070000, 11.100000, 11.100000, 13.510000, 12.280000, 13.530000, 13.530000, 6.400000, 5.390000, 4.640000, 4.090000, 3.660000, 3.330000, 3.050000, 2.810000, 2.600000, 2.420000, 2.280000, 2.150000, 2.040000, 1.920000, 1.820000, 1.730000, 1.670000, 1.590000, 1.510000, 1.470000, 1.410000, 1.360000, 1.320000, 1.270000, 1.230000, 1.180000, 1.150000, 1.100000, 1.080000, 1.050000, 1.020000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.840000, 0.840000, 0.850000, 0.870000, 0.890000, 0.880000, 0.900000, 0.940000, 0.960000, 2.730000, 2.770000, 2.800000, 2.850000, 2.890000, null, 4.650000, 4.620000, 4.570000, 4.530000, 2.700000, 4.450000, 4.410000, 4.370000, 4.350000, 4.310000, 4.280000, 4.250000, 4.220000, 4.200000, 4.190000, 4.160000, 4.140000, 4.110000, 4.090000, 4.090000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054208, 459748 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.392000, -1.101000, 1.091445 ], "estimate": [ 5.392000, -1.101000, 1.091445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.720000, 0.700000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.500000, 1.540000, 1.580000, 1.620000, 1.670000, 1.720000, 1.560000, 1.640000, 1.890000, 1.960000, 2.020000, 2.100000, 2.190000, 2.270000, 2.390000, 2.490000, 2.610000, 2.740000, 2.900000, 3.070000, 2.420000, 3.420000, 3.400000, 3.390000, 3.380000, 3.380000, 3.630000, 4.070000, 4.640000, 5.380000, 6.420000, 9.780000, 9.780000, 11.020000, 11.050000, 11.050000, 12.390000, 12.220000, 12.220000, 13.500000, 6.330000, 5.440000, 4.830000, 4.250000, 3.800000, 3.430000, 3.150000, 2.900000, 2.680000, 2.500000, 2.360000, 2.200000, 2.080000, 1.980000, 1.880000, 1.780000, 1.700000, 1.620000, 1.570000, 1.500000, 1.450000, 1.380000, 1.340000, 1.300000, 1.250000, 1.210000, 1.180000, 1.140000, 1.100000, 1.070000, 1.050000, 1.020000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.820000, 0.820000, 0.840000, 0.860000, 0.860000, 0.880000, 0.920000, 0.940000, 2.790000, 2.810000, 2.870000, null, 4.620000, 4.590000, 4.550000, 4.510000, 2.730000, 4.410000, 4.390000, 4.360000, 4.330000, 4.300000, 4.260000, 4.230000, 4.220000, 4.190000, 4.180000, 4.160000, 4.130000, 4.110000, 4.100000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054208, 460806 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.422000, -1.045000, 1.085300 ], "estimate": [ 5.422000, -1.045000, 1.085300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.860000, 0.860000, 0.670000, 0.690000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.000000, 1.010000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.160000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.500000, 1.540000, 1.580000, 1.630000, 1.680000, 1.500000, 1.780000, 1.840000, 1.910000, 1.980000, 2.050000, 2.140000, 2.230000, 2.320000, 2.420000, 2.530000, 2.660000, 2.820000, 2.980000, 2.450000, 3.360000, 3.350000, 3.340000, 3.320000, 3.300000, 3.450000, 3.850000, 4.380000, 5.050000, 5.970000, 9.730000, 9.720000, 10.960000, 10.970000, 10.980000, 11.040000, 13.410000, null, 13.430000, 13.420000, 6.290000, 5.130000, 4.490000, 3.980000, 3.600000, 3.290000, 3.040000, 2.800000, 2.600000, 2.440000, 2.290000, 2.170000, 2.040000, 1.940000, 1.850000, 1.760000, 1.680000, 1.620000, 1.550000, 1.480000, 1.440000, 1.390000, 1.340000, 1.300000, 1.260000, 1.220000, 1.180000, 1.130000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.980000, 0.960000, 0.930000, 0.920000, 0.910000, 0.880000, 0.860000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.800000, 0.810000, 0.830000, 0.830000, 0.850000, 0.880000, 0.930000, 2.880000, null, 4.570000, 4.530000, 4.500000, 4.450000, 2.680000, 4.380000, 4.350000, 4.320000, 4.290000, 4.260000, 4.240000, 4.210000, 4.190000, 4.170000, 4.150000, 4.130000, 4.120000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054208, 594241 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.448000, -0.997000, 1.091445 ], "estimate": [ 5.448000, -0.997000, 1.091445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.360000, 1.380000, 1.420000, 1.440000, 1.480000, 1.520000, 1.570000, 1.610000, 1.230000, 1.700000, 1.760000, 1.820000, 1.890000, 1.960000, 2.020000, 2.110000, 2.200000, 2.290000, 2.390000, 2.500000, 2.620000, 2.790000, 2.940000, 2.300000, 3.310000, 3.290000, 3.280000, 3.270000, 3.250000, 3.380000, 3.780000, 4.300000, 4.980000, 5.880000, 9.680000, 9.670000, 10.910000, 10.910000, 10.940000, 10.970000, 13.340000, null, 13.370000, 13.390000, 6.250000, 5.220000, 4.550000, 4.040000, 3.650000, 3.320000, 3.070000, 2.850000, 2.640000, 2.480000, 2.340000, 2.190000, 2.070000, 1.970000, 1.880000, 1.800000, 1.710000, 1.650000, 1.580000, 1.510000, 1.460000, 1.410000, 1.360000, 1.320000, 1.280000, 1.240000, 1.190000, 1.160000, 1.120000, 1.100000, 1.070000, 1.040000, 1.010000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.860000, 0.860000, 0.840000, 0.840000, 0.820000, 0.810000, 0.810000, 0.770000, 0.770000, 0.760000, 0.780000, 0.810000, 0.820000, 0.820000, 0.860000, 0.910000, 4.540000, 4.500000, 4.470000, 3.410000, 2.630000, 4.360000, 4.330000, 4.300000, 4.270000, 4.250000, 4.220000, 4.200000, 4.190000, 4.160000, 4.140000, 4.120000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054208, 980977 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.462000, -0.970000, 1.109882 ], "estimate": [ 5.462000, -0.970000, 1.109882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.380000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.180000, 1.630000, 1.710000, 1.760000, 1.820000, 1.890000, 1.960000, 2.020000, 2.110000, 2.190000, 2.290000, 2.400000, 2.510000, 2.640000, 2.790000, 2.550000, 2.800000, 3.270000, 3.250000, 3.230000, 3.220000, 3.190000, 3.430000, 3.840000, 4.390000, 5.090000, 6.060000, 9.620000, 9.640000, 10.880000, 10.900000, 10.900000, 13.310000, 13.330000, 13.330000, 13.320000, 12.760000, 6.210000, 5.060000, 4.450000, 3.970000, 3.610000, 3.290000, 3.060000, 2.820000, 2.620000, 2.470000, 2.320000, 2.180000, 2.080000, 1.970000, 1.880000, 1.800000, 1.710000, 1.650000, 1.580000, 1.510000, 1.470000, 1.410000, 1.370000, 1.320000, 1.290000, 1.250000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.790000, 0.760000, 0.750000, 0.740000, 0.760000, 0.790000, 0.810000, 0.810000, 0.820000, 0.880000, 4.470000, 4.430000, 3.390000, 2.620000, 4.330000, 4.300000, 4.270000, 4.250000, 4.230000, 4.200000, 4.190000, 4.170000, 4.150000, 4.140000 ], "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": [ 976054209, 100260 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.464000, -0.965000, 1.128319 ], "estimate": [ 5.464000, -0.965000, 1.128319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.410000, 1.430000, 1.460000, 1.510000, 1.560000, 1.180000, 1.640000, 1.690000, 1.750000, 1.810000, 1.880000, 1.950000, 2.010000, 2.100000, 2.180000, 2.280000, 2.380000, 2.490000, 2.620000, 2.760000, 2.720000, 2.570000, 3.260000, 3.240000, 3.230000, 3.220000, 3.210000, 3.380000, 3.790000, 4.310000, 5.000000, 5.920000, 9.610000, 9.630000, 10.870000, 10.880000, 10.890000, 10.940000, null, null, 13.320000, 13.000000, 6.200000, 5.150000, 4.490000, 4.030000, 3.640000, 3.320000, 3.060000, 2.840000, 2.650000, 2.480000, 2.320000, 2.200000, 2.080000, 1.990000, 1.880000, 1.800000, 1.720000, 1.660000, 1.590000, 1.520000, 1.470000, 1.430000, 1.360000, 1.320000, 1.290000, 1.240000, 1.200000, 1.170000, 1.130000, 1.100000, 1.080000, 1.050000, 1.030000, 1.000000, 0.980000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.780000, 0.760000, 0.750000, 0.740000, 0.760000, 0.790000, 0.800000, 0.800000, 0.830000, 0.860000, 4.430000, 4.350000, 2.660000, 4.340000, 4.300000, 4.280000, 4.250000, 4.230000, 4.200000, 4.190000, 4.170000, 4.150000, 4.130000, 4.120000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054209, 194210 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.460000, -0.972000, 1.146755 ], "estimate": [ 5.460000, -0.972000, 1.146755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.420000, 1.460000, 1.500000, 1.540000, 1.580000, 1.180000, 1.680000, 1.720000, 1.780000, 1.850000, 1.920000, 1.990000, 2.070000, 2.160000, 2.250000, 2.340000, 2.450000, 2.580000, 2.720000, 2.870000, 2.430000, 3.270000, 3.250000, 3.240000, 3.230000, 3.220000, 3.200000, 3.620000, 4.110000, 4.710000, 5.530000, 9.670000, 9.620000, 9.830000, 10.880000, 10.890000, 10.900000, 13.300000, null, 13.340000, 13.350000, 6.210000, 5.250000, 4.710000, 4.200000, 3.750000, 3.400000, 3.140000, 2.910000, 2.710000, 2.530000, 2.370000, 2.230000, 2.110000, 2.000000, 1.910000, 1.820000, 1.740000, 1.670000, 1.610000, 1.540000, 1.480000, 1.430000, 1.380000, 1.340000, 1.300000, 1.250000, 1.220000, 1.180000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.870000, 0.850000, 0.860000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.740000, 0.750000, 0.790000, 0.800000, 0.800000, 0.840000, 0.890000, 4.450000, 3.390000, 2.630000, 4.350000, 4.310000, 4.280000, 4.260000, 4.240000, 4.210000, 4.190000, 4.170000, 4.150000, 4.130000, 4.110000, 4.110000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054209, 544157 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.454000, -0.987000, 1.171337 ], "estimate": [ 5.454000, -0.987000, 1.171337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.820000, 0.830000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.180000, 1.210000, 1.240000, 1.270000, 1.290000, 1.320000, 1.360000, 1.390000, 1.420000, 1.440000, 1.480000, 1.520000, 1.570000, 1.200000, 1.500000, 1.710000, 1.760000, 1.830000, 1.890000, 1.950000, 2.030000, 2.110000, 2.190000, 2.290000, 2.400000, 2.520000, 2.640000, 2.790000, 2.320000, 2.650000, 3.270000, 3.260000, 3.250000, 3.240000, 3.230000, 3.410000, 3.830000, 4.360000, 5.050000, 5.990000, 9.630000, 9.640000, 10.890000, 10.910000, 10.910000, 10.940000, null, null, 13.350000, 12.800000, 6.200000, 5.020000, 4.410000, 3.930000, 3.570000, 3.270000, 3.010000, 2.800000, 2.600000, 2.430000, 2.300000, 2.180000, 2.050000, 1.940000, 1.860000, 1.770000, 1.690000, 1.630000, 1.570000, 1.490000, 1.450000, 1.390000, 1.350000, 1.320000, 1.270000, 1.220000, 1.190000, 1.150000, 1.120000, 1.080000, 1.050000, 1.040000, 1.020000, 0.980000, 0.970000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.860000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.810000, 0.790000, 0.760000, 0.750000, 0.740000, 0.760000, 0.770000, 0.800000, 0.800000, 0.810000, 0.860000, 4.490000, 4.460000, 4.380000, 2.650000, 2.680000, 4.330000, 4.290000, 4.270000, 4.250000, 4.220000, 4.190000, 4.180000, 4.160000, 4.140000, 4.120000, 4.100000, 4.090000, 4.090000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054209, 609583 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.447000, -1.005000, 1.195919 ], "estimate": [ 5.447000, -1.005000, 1.195919 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.420000, 1.430000, 1.470000, 1.510000, 1.560000, 1.600000, 1.280000, 1.700000, 1.750000, 1.800000, 1.870000, 1.940000, 2.010000, 2.090000, 2.170000, 2.260000, 2.360000, 2.470000, 2.600000, 2.740000, 2.900000, 2.810000, 3.310000, 3.290000, 3.270000, 3.260000, 3.260000, 3.250000, 3.670000, 4.130000, 4.760000, 5.560000, 9.700000, 9.650000, 9.840000, 10.900000, 10.930000, 10.930000, 13.330000, null, 13.360000, 13.390000, 6.230000, 5.260000, 4.670000, 4.150000, 3.720000, 3.380000, 3.110000, 2.880000, 2.670000, 2.500000, 2.330000, 2.210000, 2.090000, 1.980000, 1.880000, 1.800000, 1.720000, 1.650000, 1.580000, 1.520000, 1.470000, 1.410000, 1.350000, 1.320000, 1.280000, 1.230000, 1.180000, 1.160000, 1.120000, 1.090000, 1.060000, 1.040000, 1.020000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.850000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.770000, 0.760000, 0.750000, 0.770000, 0.780000, 0.810000, 0.800000, 0.810000, 0.860000, 0.900000, 4.510000, 4.480000, 4.430000, 2.660000, 2.680000, 4.330000, 4.300000, 4.280000, 4.250000, 4.230000, 4.200000, 4.190000, 4.160000, 4.140000, 4.120000, 4.100000, 4.080000, 4.080000, 4.070000, 4.060000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054210, 475059 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.439000, -1.025000, 1.208210 ], "estimate": [ 5.439000, -1.025000, 1.208210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.150000, 1.170000, 1.180000, 1.210000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.450000, 1.490000, 1.520000, 1.570000, 1.610000, 1.240000, 1.680000, 1.760000, 1.820000, 1.890000, 1.960000, 2.020000, 2.110000, 2.180000, 2.280000, 2.380000, 2.490000, 2.620000, 2.760000, 2.930000, 2.500000, 3.330000, 3.310000, 3.290000, 3.280000, 3.280000, 3.320000, 3.720000, 4.200000, 4.820000, 5.690000, 9.700000, 9.680000, 9.700000, 10.920000, 10.950000, 10.950000, 13.370000, 13.370000, 13.400000, 13.400000, 6.260000, 5.260000, 4.620000, 4.120000, 3.680000, 3.350000, 3.090000, 2.860000, 2.640000, 2.480000, 2.340000, 2.190000, 2.080000, 1.970000, 1.870000, 1.780000, 1.710000, 1.630000, 1.570000, 1.510000, 1.460000, 1.410000, 1.350000, 1.320000, 1.260000, 1.230000, 1.190000, 1.160000, 1.120000, 1.080000, 1.050000, 1.030000, 1.000000, 0.990000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.780000, 0.790000, 0.820000, 0.820000, 0.830000, 0.880000, 3.180000, 4.550000, 4.500000, 4.460000, 3.410000, 2.690000, 4.360000, 4.330000, 4.300000, 4.270000, 4.240000, 4.210000, 4.200000, 4.190000, 4.160000, 4.140000, 4.120000, 4.100000, 4.080000, 4.080000, 4.070000, 4.060000, 4.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054210, 486479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.438000, -1.028000, 1.202065 ], "estimate": [ 5.438000, -1.028000, 1.202065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.380000, 1.410000, 1.430000, 1.470000, 1.500000, 1.540000, 1.580000, 1.630000, 1.270000, 1.720000, 1.780000, 1.850000, 1.900000, 1.990000, 2.070000, 2.140000, 2.240000, 2.340000, 2.430000, 2.550000, 2.680000, 2.840000, 3.000000, 2.570000, 3.340000, 3.330000, 3.310000, 3.300000, 3.290000, 3.500000, 3.920000, 4.470000, 5.180000, 6.140000, 9.690000, 9.700000, 10.930000, 10.960000, 10.970000, 13.390000, 13.370000, 13.400000, 13.400000, 12.860000, 6.260000, 5.010000, 4.400000, 3.920000, 3.540000, 3.240000, 2.990000, 2.770000, 2.580000, 2.400000, 2.270000, 2.140000, 2.030000, 1.930000, 1.830000, 1.740000, 1.670000, 1.610000, 1.540000, 1.480000, 1.430000, 1.380000, 1.330000, 1.290000, 1.250000, 1.210000, 1.180000, 1.140000, 1.100000, 1.080000, 1.040000, 1.020000, 0.990000, 0.980000, 0.950000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.810000, 0.780000, 0.780000, 0.790000, 0.790000, 0.820000, 0.830000, 0.830000, 0.870000, 0.910000, null, 4.570000, 4.530000, 4.480000, 4.450000, 2.670000, 4.380000, 4.350000, 4.320000, 4.290000, 4.260000, 4.230000, 4.210000, 4.190000, 4.180000, 4.150000, 4.130000, 4.110000, 4.090000, 4.080000, 4.070000, 4.060000, 4.050000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054210, 239513 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.438000, -1.027000, 1.214356 ], "estimate": [ 5.438000, -1.027000, 1.214356 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.150000, 1.180000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.330000, 1.360000, 1.400000, 1.420000, 1.450000, 1.490000, 1.530000, 1.570000, 1.610000, 1.670000, 1.260000, 1.760000, 1.830000, 1.890000, 1.940000, 2.020000, 2.110000, 2.190000, 2.290000, 2.390000, 2.500000, 2.620000, 2.760000, 2.930000, 3.070000, 3.340000, 3.330000, 3.320000, 3.300000, 3.290000, 3.290000, 3.710000, 4.210000, 4.840000, 5.680000, 9.720000, 9.690000, 9.740000, 10.930000, 10.970000, 10.970000, 13.390000, 13.400000, 13.400000, 13.420000, 6.270000, 5.270000, 4.610000, 4.100000, 3.670000, 3.350000, 3.070000, 2.830000, 2.640000, 2.470000, 2.320000, 2.180000, 2.070000, 1.970000, 1.860000, 1.770000, 1.700000, 1.630000, 1.570000, 1.500000, 1.450000, 1.400000, 1.340000, 1.310000, 1.260000, 1.220000, 1.180000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 0.990000, 0.980000, 0.950000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.780000, 0.780000, 0.780000, 0.780000, 0.800000, 0.820000, 0.830000, 0.850000, 0.890000, null, 4.580000, 4.540000, 4.500000, 4.470000, 3.420000, 2.670000, 4.360000, 4.330000, 4.300000, 4.260000, 4.240000, 4.210000, 4.190000, 4.180000, 4.160000, 4.140000, 4.120000, 4.090000, 4.080000, 4.070000, 4.070000, 4.050000, 4.050000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054210, 627331 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.439000, -1.025000, 1.226647 ], "estimate": [ 5.439000, -1.025000, 1.226647 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.320000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.500000, 1.550000, 1.590000, 1.640000, 1.280000, 1.730000, 1.790000, 1.850000, 1.920000, 2.000000, 2.070000, 2.160000, 2.250000, 2.330000, 2.440000, 2.550000, 2.690000, 2.850000, 2.480000, 2.780000, 3.340000, 3.320000, 3.300000, 3.290000, 3.290000, 3.530000, 3.950000, 4.510000, 5.220000, 6.220000, 9.690000, 9.690000, 10.940000, 10.960000, 10.970000, 13.370000, 13.380000, 13.400000, 13.410000, 6.460000, 6.190000, 4.910000, 4.330000, 3.870000, 3.500000, 3.200000, 2.950000, 2.740000, 2.550000, 2.380000, 2.250000, 2.120000, 1.990000, 1.910000, 1.810000, 1.730000, 1.670000, 1.590000, 1.520000, 1.470000, 1.420000, 1.360000, 1.320000, 1.280000, 1.250000, 1.200000, 1.170000, 1.120000, 1.090000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.930000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.790000, 0.790000, 0.820000, 0.820000, 0.830000, 0.870000, 0.910000, null, 4.560000, 4.520000, 4.470000, 4.430000, 2.660000, 4.370000, 4.350000, 4.310000, 4.280000, 4.250000, 4.220000, 4.200000, 4.190000, 4.160000, 4.150000, 4.120000, 4.100000, 4.080000, 4.080000, 4.070000, 4.060000, 4.050000, 4.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054210, 628563 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.442000, -1.017000, 1.263520 ], "estimate": [ 5.442000, -1.017000, 1.263520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.410000, 1.430000, 1.460000, 1.510000, 1.540000, 1.580000, 1.630000, 1.280000, 1.720000, 1.770000, 1.830000, 1.900000, 1.970000, 2.040000, 2.130000, 2.210000, 2.310000, 2.420000, 2.520000, 2.640000, 2.790000, 2.960000, 2.320000, 3.340000, 3.320000, 3.300000, 3.290000, 3.280000, 3.400000, 3.800000, 4.300000, 4.940000, 5.820000, 9.700000, 9.690000, 10.930000, 10.930000, 10.960000, 10.970000, null, null, 13.390000, 13.360000, 6.270000, 5.060000, 4.440000, 3.940000, 3.580000, 3.270000, 3.010000, 2.780000, 2.580000, 2.410000, 2.270000, 2.150000, 2.030000, 1.930000, 1.830000, 1.740000, 1.670000, 1.600000, 1.540000, 1.480000, 1.420000, 1.380000, 1.330000, 1.290000, 1.250000, 1.210000, 1.160000, 1.130000, 1.090000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.940000, 0.930000, 0.920000, 0.900000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.800000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.820000, 0.820000, 0.830000, 0.880000, null, 4.570000, 4.530000, 4.480000, 4.460000, 2.700000, 2.670000, 4.350000, 4.310000, 4.280000, 4.250000, 4.230000, 4.200000, 4.190000, 4.170000, 4.150000, 4.140000, 4.110000, 4.090000, 4.080000, 4.060000, 4.060000, 4.050000, 4.040000, 4.030000, 4.020000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054210, 794607 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.444000, -1.008000, 1.337266 ], "estimate": [ 5.444000, -1.008000, 1.337266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.380000, 1.410000, 1.430000, 1.470000, 1.500000, 1.550000, 1.580000, 1.630000, 1.570000, 1.720000, 1.780000, 1.830000, 1.900000, 1.970000, 2.050000, 2.140000, 2.220000, 2.300000, 2.420000, 2.520000, 2.650000, 2.790000, 2.350000, 2.330000, 3.330000, 3.310000, 3.290000, 3.280000, 3.280000, 3.400000, 3.790000, 4.280000, 4.920000, 5.770000, 9.690000, 9.670000, 10.920000, 10.920000, 10.950000, 10.950000, 13.350000, 13.390000, 13.380000, 13.200000, 6.240000, 4.990000, 4.410000, 3.910000, 3.530000, 3.220000, 2.970000, 2.750000, 2.560000, 2.390000, 2.250000, 2.120000, 2.000000, 1.910000, 1.810000, 1.730000, 1.660000, 1.580000, 1.510000, 1.460000, 1.410000, 1.350000, 1.320000, 1.270000, 1.230000, 1.190000, 1.160000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.940000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.810000, 0.800000, 0.820000, 0.850000, 0.890000, 4.560000, 4.520000, 4.470000, 4.450000, 3.650000, 2.660000, 4.340000, 4.310000, 4.280000, 4.250000, 4.230000, 4.190000, 4.180000, 4.160000, 4.140000, 4.120000, 4.100000, 4.080000, 4.070000, 4.060000, 4.040000, 4.040000, 4.020000, 4.010000, 4.010000, 4.000000, 4.000000, 4.000000, 3.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054211, 331498 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -1.003000, 1.435595 ], "estimate": [ 5.445000, -1.003000, 1.435595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.130000, 1.150000, 1.150000, 1.180000, 1.190000, 1.220000, 1.250000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.420000, 1.440000, 1.470000, 1.510000, 1.550000, 1.600000, 1.250000, 1.260000, 1.730000, 1.790000, 1.850000, 1.910000, 1.990000, 2.050000, 2.140000, 2.230000, 2.310000, 2.410000, 2.520000, 2.650000, 2.810000, 2.360000, 2.510000, 3.320000, 3.310000, 3.290000, 3.280000, 3.280000, 3.400000, 3.790000, 4.270000, 4.900000, 5.730000, 9.680000, 9.680000, 9.720000, 10.920000, 10.940000, 10.940000, 13.360000, 13.370000, 13.370000, 13.110000, 6.240000, 4.960000, 4.340000, 3.870000, 3.500000, 3.210000, 2.930000, 2.730000, 2.530000, 2.360000, 2.220000, 2.090000, 1.980000, 1.880000, 1.790000, 1.710000, 1.630000, 1.570000, 1.500000, 1.450000, 1.390000, 1.340000, 1.300000, 1.250000, 1.210000, 1.170000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.870000, 0.850000, 0.830000, 0.800000, 0.800000, 0.790000, 0.790000, 0.760000, 0.740000, 0.750000, 0.750000, 0.750000, 0.790000, 0.790000, 0.790000, 0.830000, 0.870000, 4.550000, 4.510000, 4.470000, 4.440000, 3.510000, 4.360000, 4.340000, 4.300000, 4.270000, 4.240000, 4.210000, 4.190000, 4.180000, 4.160000, 4.130000, 4.110000, 4.090000, 4.080000, 4.070000, 4.050000, 4.040000, 4.030000, 4.010000, 4.010000, 4.010000, 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054211, 332695 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -1.002000, 1.527778 ], "estimate": [ 5.445000, -1.002000, 1.527778 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.450000, 1.470000, 1.520000, 1.560000, 1.590000, 1.290000, 1.300000, 1.740000, 1.800000, 1.840000, 1.910000, 1.990000, 2.050000, 2.150000, 2.230000, 2.320000, 2.420000, 2.530000, 2.650000, 2.800000, 2.320000, 2.390000, 3.330000, 3.310000, 3.290000, 3.280000, 3.260000, 3.370000, 3.750000, 4.210000, 4.810000, 5.580000, 9.690000, 9.670000, 9.760000, 10.920000, 10.950000, 10.940000, 13.360000, 13.360000, 13.380000, 13.400000, 6.250000, 5.140000, 4.470000, 3.950000, 3.560000, 3.240000, 2.970000, 2.730000, 2.550000, 2.370000, 2.230000, 2.100000, 1.980000, 1.880000, 1.800000, 1.700000, 1.630000, 1.560000, 1.500000, 1.450000, 1.390000, 1.330000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.870000, 0.850000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.750000, 0.730000, 0.730000, 0.740000, 0.750000, 0.780000, 0.780000, 0.800000, 0.820000, 0.870000, 4.550000, 4.520000, 4.470000, 4.440000, 3.370000, 3.380000, 4.340000, 4.300000, 4.270000, 4.240000, 4.210000, 4.180000, 4.170000, 4.160000, 4.130000, 4.110000, 4.080000, 4.080000, 4.060000, 4.050000, 4.030000, 4.020000, 4.010000, 4.000000, 4.000000, 3.980000, 3.980000, 3.990000, 3.980000, 3.980000, 3.980000, 3.980000, 3.990000, 3.980000, 3.990000, 3.990000, 4.000000, 4.010000, 3.980000, 3.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054211, 419404 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -1.001000, 1.610127 ], "estimate": [ 5.445000, -1.001000, 1.610127 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.030000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.290000, 1.280000, 1.740000, 1.790000, 1.840000, 1.900000, 1.990000, 2.050000, 2.140000, 2.230000, 2.310000, 2.410000, 2.520000, 2.630000, 2.770000, 2.330000, 2.330000, 3.330000, 3.320000, 3.300000, 3.290000, 3.270000, 3.250000, 3.680000, 4.120000, 4.680000, 5.420000, 6.400000, 9.680000, 9.670000, 10.930000, 10.950000, 10.950000, 13.350000, 13.370000, 13.390000, 13.400000, 6.250000, 5.240000, 4.510000, 3.970000, 3.570000, 3.240000, 2.990000, 2.740000, 2.560000, 2.380000, 2.230000, 2.090000, 1.980000, 1.880000, 1.790000, 1.690000, 1.630000, 1.550000, 1.490000, 1.440000, 1.380000, 1.330000, 1.280000, 1.230000, 1.190000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.820000, 0.860000, 3.080000, 4.520000, 4.470000, 4.440000, 3.460000, 2.650000, 4.320000, 4.300000, 4.270000, 4.240000, 4.210000, 4.180000, 4.170000, 4.140000, 4.130000, 4.100000, 4.080000, 4.070000, 4.060000, 4.040000, 4.030000, 4.010000, 4.000000, 3.990000, 3.990000, 3.980000, 3.990000, 3.980000, 3.980000, 3.970000, 3.970000, 3.970000, 3.960000, 3.980000, 3.980000, 3.980000, 3.990000, 4.000000, 4.010000, 3.620000, 3.280000, 3.010000, 2.760000, 2.570000, 2.410000 ], "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": [ 976054211, 875300 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -1.000000, 1.720747 ], "estimate": [ 5.445000, -1.000000, 1.720747 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.010000, 1.030000, 1.030000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.390000, 1.410000, 1.440000, 1.470000, 1.520000, 1.560000, 1.580000, 1.630000, 1.280000, 1.730000, 1.780000, 1.830000, 1.890000, 1.960000, 2.020000, 2.100000, 2.190000, 2.270000, 2.370000, 2.470000, 2.590000, 2.710000, 2.870000, 3.020000, 3.220000, 3.330000, 3.310000, 3.300000, 3.290000, 3.290000, 3.510000, 3.910000, 4.400000, 5.020000, 5.850000, 9.690000, 9.690000, 9.790000, 10.930000, 10.950000, 10.950000, 13.370000, null, 13.400000, 13.400000, 5.620000, 4.820000, 4.230000, 3.740000, 3.380000, 3.090000, 2.840000, 2.620000, 2.430000, 2.280000, 2.140000, 2.020000, 1.910000, 1.810000, 1.730000, 1.640000, 1.570000, 1.490000, 1.450000, 1.390000, 1.330000, 1.290000, 1.240000, 1.200000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.810000, 0.860000, 2.830000, 4.540000, 4.480000, 4.450000, 4.410000, 2.640000, 2.600000, 4.310000, 4.280000, 4.250000, 4.220000, 4.190000, 4.170000, 4.150000, 4.130000, 4.110000, 4.080000, 4.070000, 4.050000, 4.040000, 4.020000, 4.010000, 4.000000, 3.990000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.970000, 3.980000, 3.980000, 3.840000, 3.460000, 3.160000, 2.900000, 2.680000, 2.480000, 2.310000, 1.620000, 1.510000, 1.410000, 1.330000, 1.260000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054211, 876561 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -1.000000, 1.825221 ], "estimate": [ 5.445000, -1.000000, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.580000, 1.630000, 1.670000, 1.720000, 1.770000, 1.820000, 1.890000, 1.950000, 2.010000, 2.090000, 2.170000, 2.260000, 2.350000, 2.450000, 2.560000, 2.680000, 2.820000, 2.730000, 3.150000, 3.340000, 3.320000, 3.310000, 3.300000, 3.300000, 3.400000, 3.760000, 4.210000, 4.780000, 5.520000, 6.490000, 9.680000, 9.680000, 10.940000, 10.950000, 10.960000, 13.350000, 13.370000, 13.390000, 13.390000, 6.260000, 5.060000, 4.390000, 3.860000, 3.470000, 3.170000, 2.900000, 2.670000, 2.480000, 2.310000, 2.160000, 2.030000, 1.930000, 1.820000, 1.730000, 1.650000, 1.580000, 1.500000, 1.450000, 1.390000, 1.340000, 1.300000, 1.240000, 1.200000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.780000, 0.820000, 0.850000, 2.790000, 4.540000, 4.500000, 4.460000, 4.420000, 3.360000, 3.340000, 4.310000, 4.280000, 4.250000, 4.220000, 4.190000, 4.180000, 4.150000, 4.140000, 4.110000, 4.080000, 4.070000, 4.060000, 4.040000, 4.020000, 4.010000, 3.990000, 3.980000, 3.980000, 3.970000, 3.960000, 3.960000, 3.960000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.950000, 3.960000, 3.960000, 3.970000, 3.980000, 3.980000, 3.570000, 3.240000, 2.980000, 2.740000, 2.540000, 2.370000, 1.670000, 1.520000, 1.430000, 1.350000, 1.270000, 1.210000, 1.140000, 1.080000, 1.030000, 0.990000, 0.940000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054212, 597990 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -0.999000, 1.917404 ], "estimate": [ 5.445000, -0.999000, 1.917404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.090000, 1.110000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.420000, 1.450000, 1.490000, 1.530000, 1.550000, 1.590000, 1.640000, 1.670000, 1.730000, 1.780000, 1.830000, 1.880000, 1.950000, 2.030000, 2.090000, 2.170000, 2.260000, 2.360000, 2.450000, 2.570000, 2.690000, 2.840000, 2.760000, 3.170000, 3.340000, 3.330000, 3.320000, 3.300000, 3.300000, 3.400000, 3.760000, 4.210000, 4.770000, 5.490000, 6.470000, 9.680000, 9.680000, 10.940000, 10.950000, 10.960000, 13.370000, 13.370000, 13.370000, 13.400000, 6.260000, 5.140000, 4.440000, 3.910000, 3.490000, 3.170000, 2.910000, 2.670000, 2.480000, 2.310000, 2.170000, 2.030000, 1.930000, 1.820000, 1.730000, 1.640000, 1.570000, 1.490000, 1.430000, 1.370000, 1.330000, 1.280000, 1.230000, 1.180000, 1.140000, 1.100000, 1.080000, 1.040000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.820000, 0.870000, 2.780000, 4.530000, 4.490000, 4.460000, 4.420000, 3.350000, 3.340000, 4.310000, 4.280000, 4.240000, 4.220000, 4.190000, 4.180000, 4.150000, 4.130000, 4.100000, 4.080000, 4.070000, 4.050000, 4.030000, 4.010000, 4.000000, 3.990000, 3.980000, 3.970000, 3.960000, 3.960000, 3.950000, 3.950000, 3.940000, 3.940000, 3.950000, 3.940000, 3.940000, 3.940000, 3.950000, 3.950000, 3.960000, 3.960000, 3.980000, 3.640000, 3.290000, 3.020000, 2.770000, 2.570000, 2.380000, 1.780000, 1.530000, 1.440000, 1.360000, 1.270000, 1.200000, 1.140000, 1.080000, 1.030000, 0.990000, 0.930000, 0.900000, 0.860000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000 ], "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": [ 976054212, 500041 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -0.998000, 2.003441 ], "estimate": [ 5.445000, -0.998000, 2.003441 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.580000, 1.620000, 1.360000, 1.410000, 1.750000, 1.820000, 1.870000, 1.930000, 2.000000, 2.060000, 2.140000, 2.230000, 2.310000, 2.410000, 2.520000, 2.630000, 2.770000, 2.780000, 2.390000, 3.300000, 3.340000, 3.330000, 3.320000, 3.300000, 3.300000, 3.620000, 4.000000, 4.500000, 5.130000, 5.960000, 9.730000, 9.710000, 10.960000, 10.940000, 10.960000, 10.960000, 13.370000, null, 13.380000, 6.390000, 5.420000, 4.750000, 4.160000, 3.670000, 3.310000, 3.010000, 2.780000, 2.570000, 2.360000, 2.220000, 2.080000, 1.950000, 1.850000, 1.750000, 1.670000, 1.580000, 1.520000, 1.460000, 1.390000, 1.340000, 1.300000, 1.240000, 1.190000, 1.150000, 1.110000, 1.080000, 1.050000, 1.020000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.810000, 0.800000, 0.770000, 0.770000, 0.760000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.780000, 0.810000, 0.870000, 2.780000, 3.010000, 4.510000, 4.480000, 4.440000, 4.390000, 2.590000, 2.620000, 4.290000, 4.260000, 4.220000, 4.190000, 4.180000, 4.160000, 4.130000, 4.110000, 4.080000, 4.070000, 4.050000, 4.030000, 4.020000, 4.000000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.950000, 3.940000, 3.940000, 3.940000, 3.950000, 3.940000, 3.940000, 3.940000, 3.940000, 3.940000, 3.950000, 3.950000, 3.960000, 3.860000, 3.460000, 3.140000, 2.890000, 2.660000, 2.470000, 2.300000, 1.600000, 1.490000, 1.380000, 1.300000, 1.220000, 1.160000, 1.100000, 1.050000, 1.010000, 0.960000, 0.910000, 0.870000, 0.840000, 0.830000, 0.830000, 0.840000, 0.830000, 0.840000, 0.820000, 0.770000, 0.750000, 0.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054212, 501705 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.445000, -0.998000, 2.089479 ], "estimate": [ 5.445000, -0.998000, 2.089479 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.240000, 1.260000, 1.290000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.430000, 1.450000, 1.490000, 1.530000, 1.560000, 1.590000, 1.650000, 1.340000, 1.720000, 1.780000, 1.820000, 1.890000, 1.940000, 2.010000, 2.080000, 2.160000, 2.250000, 2.330000, 2.430000, 2.530000, 2.650000, 2.790000, 2.360000, 2.390000, 3.330000, 3.340000, 3.330000, 3.320000, 3.300000, 3.310000, 3.650000, 4.050000, 4.560000, 5.210000, 6.030000, 9.720000, 9.720000, 10.960000, 10.950000, 10.970000, 10.970000, 13.380000, null, 13.400000, 6.240000, 5.310000, 4.660000, 4.060000, 3.600000, 3.260000, 2.970000, 2.730000, 2.510000, 2.340000, 2.180000, 2.050000, 1.920000, 1.820000, 1.730000, 1.650000, 1.560000, 1.490000, 1.430000, 1.370000, 1.310000, 1.280000, 1.230000, 1.180000, 1.150000, 1.100000, 1.070000, 1.030000, 1.000000, 0.980000, 0.950000, 0.920000, 0.900000, 0.870000, 0.850000, 0.850000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.770000, 0.820000, 0.850000, 2.740000, 2.780000, 3.050000, 4.510000, 4.460000, 4.420000, 4.330000, 2.620000, 4.310000, 4.280000, 4.240000, 4.210000, 4.180000, 4.180000, 4.150000, 4.120000, 4.100000, 4.080000, 4.060000, 4.040000, 4.020000, 4.010000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.940000, 3.940000, 3.940000, 3.940000, 3.940000, 3.940000, 3.950000, 3.940000, 3.940000, 3.950000, 3.940000, 3.940000, 3.950000, 3.960000, 3.790000, 3.410000, 3.090000, 2.840000, 2.620000, 2.430000, 2.270000, 1.550000, 1.450000, 1.360000, 1.280000, 1.200000, 1.140000, 1.080000, 1.020000, 0.980000, 0.930000, 0.890000, 0.850000, 0.820000, 0.810000, 0.820000, 0.830000, 0.840000, 0.830000, 0.790000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054212, 594611 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.444000, -0.998000, 2.193953 ], "estimate": [ 5.444000, -0.998000, 2.193953 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.390000, 1.420000, 1.440000, 1.470000, 1.510000, 1.550000, 1.580000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.040000, 2.120000, 2.200000, 2.270000, 2.360000, 2.470000, 2.560000, 2.690000, 2.840000, 3.000000, 3.170000, 3.350000, 3.340000, 3.330000, 3.320000, 3.320000, 3.390000, 3.760000, 4.190000, 4.720000, 5.400000, 6.330000, 9.710000, 9.700000, 10.950000, 10.950000, 10.970000, 11.000000, 13.380000, 13.400000, 13.410000, 6.280000, 5.230000, 4.450000, 3.900000, 3.460000, 3.160000, 2.860000, 2.640000, 2.440000, 2.270000, 2.130000, 1.980000, 1.890000, 1.780000, 1.690000, 1.610000, 1.520000, 1.470000, 1.410000, 1.340000, 1.300000, 1.240000, 1.200000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 0.990000, 0.950000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.800000, 0.820000, 2.720000, 2.750000, 2.800000, 4.540000, 4.480000, 4.450000, 4.400000, 3.030000, 2.670000, 4.290000, 4.260000, 4.230000, 4.200000, 4.180000, 4.160000, 4.130000, 4.100000, 4.080000, 4.070000, 4.050000, 4.030000, 4.010000, 3.990000, 3.980000, 3.970000, 3.960000, 3.960000, 3.940000, 3.950000, 3.950000, 3.950000, 3.950000, 3.940000, 3.940000, 3.930000, 3.930000, 3.930000, 3.940000, 3.940000, 3.940000, 3.940000, 3.950000, 3.650000, 3.290000, 3.000000, 2.750000, 2.540000, 2.370000, 1.690000, 1.510000, 1.390000, 1.310000, 1.240000, 1.160000, 1.110000, 1.050000, 1.000000, 0.950000, 0.900000, 0.860000, 0.830000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.810000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.700000, 0.720000, 0.750000, 0.760000, 0.770000, 0.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054213, 102303 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.443000, -0.996000, 2.292281 ], "estimate": [ 5.443000, -0.996000, 2.292281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.590000, 1.630000, 1.680000, 1.440000, 1.770000, 1.810000, 1.870000, 1.920000, 2.000000, 2.060000, 2.140000, 2.220000, 2.300000, 2.400000, 2.490000, 2.600000, 2.720000, 2.860000, 3.030000, 3.200000, 3.360000, 3.350000, 3.340000, 3.330000, 3.320000, 3.460000, 3.820000, 4.250000, 4.810000, 5.510000, 6.450000, 9.720000, 9.700000, 10.950000, 10.960000, 10.990000, 13.400000, 13.400000, 13.390000, 13.410000, 6.280000, 5.060000, 4.350000, 3.820000, 3.420000, 3.100000, 2.820000, 2.600000, 2.400000, 2.230000, 2.080000, 1.970000, 1.860000, 1.760000, 1.670000, 1.580000, 1.510000, 1.450000, 1.380000, 1.320000, 1.280000, 1.230000, 1.180000, 1.130000, 1.100000, 1.070000, 1.040000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.840000, 0.840000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.740000, 0.740000, 0.740000, 0.770000, 0.820000, 0.940000, 2.730000, 2.760000, 2.840000, 2.990000, 4.480000, 4.440000, 4.390000, 2.590000, 2.570000, 4.280000, 4.260000, 4.230000, 4.200000, 4.180000, 4.150000, 4.120000, 4.090000, 4.080000, 4.060000, 4.040000, 4.020000, 4.000000, 3.990000, 3.970000, 3.960000, 3.960000, 3.950000, 3.950000, 3.950000, 3.940000, 3.940000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.930000, 3.940000, 3.940000, 3.950000, 3.570000, 3.230000, 2.960000, 2.710000, 2.500000, 2.320000, 1.590000, 1.470000, 1.370000, 1.290000, 1.210000, 1.150000, 1.080000, 1.020000, 0.990000, 0.930000, 0.880000, 0.850000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.800000, 0.740000, 0.720000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.690000, 0.690000, 0.710000, 0.740000, 0.760000, 0.760000, 0.760000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054213, 103387 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.443000, -0.996000, 2.384464 ], "estimate": [ 5.443000, -0.996000, 2.384464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.780000, 1.820000, 1.880000, 1.930000, 2.010000, 2.070000, 2.140000, 2.220000, 2.290000, 2.400000, 2.490000, 2.610000, 2.720000, 2.860000, 3.010000, 3.200000, 3.370000, 3.360000, 3.340000, 3.340000, 3.330000, 3.450000, 3.790000, 4.230000, 4.760000, 5.440000, 6.340000, 9.740000, 9.720000, 10.980000, 10.960000, 10.980000, 11.010000, 13.400000, 13.400000, 13.420000, 6.280000, 5.190000, 4.420000, 3.860000, 3.450000, 3.120000, 2.850000, 2.600000, 2.420000, 2.240000, 2.090000, 1.970000, 1.860000, 1.750000, 1.670000, 1.580000, 1.510000, 1.450000, 1.390000, 1.320000, 1.280000, 1.230000, 1.180000, 1.130000, 1.100000, 1.060000, 1.030000, 1.000000, 0.960000, 0.930000, 0.910000, 0.890000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.790000, 0.770000, 0.760000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.770000, 0.810000, 0.840000, 2.690000, 2.720000, 2.770000, 2.830000, 2.990000, 4.480000, 4.440000, 4.370000, 2.580000, 2.600000, 4.280000, 4.250000, 4.230000, 4.190000, 4.180000, 4.150000, 4.120000, 4.090000, 4.080000, 4.060000, 4.040000, 4.020000, 4.000000, 3.980000, 3.970000, 3.960000, 3.960000, 3.950000, 3.950000, 3.940000, 3.930000, 3.930000, 3.930000, 3.930000, 3.920000, 3.920000, 3.920000, 3.930000, 3.930000, 3.930000, 3.940000, 3.950000, 3.950000, 3.610000, 3.260000, 2.970000, 2.720000, 2.510000, 2.320000, 1.590000, 1.460000, 1.360000, 1.270000, 1.200000, 1.130000, 1.070000, 1.010000, 0.970000, 0.930000, 0.870000, 0.840000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.740000, 0.720000, 0.720000, 0.710000, 0.680000, 0.680000, 0.670000, 0.670000, 0.680000, 0.710000, 0.730000, 0.730000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.820000, 0.840000, 0.860000, 0.870000, 2.630000, 2.610000, 2.580000, 2.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054213, 194051 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.442000, -0.995000, 2.470501 ], "estimate": [ 5.442000, -0.995000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.110000, 2.180000, 2.280000, 2.350000, 2.450000, 2.550000, 2.660000, 2.790000, 2.930000, 2.380000, 3.270000, 3.370000, 3.360000, 3.340000, 3.340000, 3.340000, 3.580000, 3.960000, 4.410000, 5.010000, 5.760000, 9.780000, 9.730000, 9.730000, 10.970000, 10.990000, 10.990000, 13.410000, 13.410000, 13.410000, 13.430000, 6.020000, 4.810000, 4.170000, 3.660000, 3.280000, 2.970000, 2.720000, 2.500000, 2.330000, 2.180000, 2.040000, 1.920000, 1.810000, 1.720000, 1.630000, 1.550000, 1.480000, 1.410000, 1.350000, 1.300000, 1.250000, 1.200000, 1.150000, 1.120000, 1.080000, 1.050000, 1.010000, 0.970000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.770000, 0.810000, 0.840000, 2.660000, 2.700000, 2.750000, 2.790000, 4.530000, 4.500000, 4.460000, 4.410000, 2.700000, 2.610000, 2.600000, 4.270000, 4.230000, 4.210000, 4.190000, 4.160000, 4.130000, 4.100000, 4.080000, 4.060000, 4.040000, 4.020000, 4.010000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.950000, 3.940000, 3.930000, 3.930000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.920000, 3.930000, 3.930000, 3.940000, 3.950000, 3.840000, 3.420000, 3.100000, 2.830000, 2.600000, 2.410000, 1.850000, 1.510000, 1.390000, 1.310000, 1.230000, 1.160000, 1.080000, 1.020000, 0.970000, 0.930000, 0.880000, 0.840000, 0.800000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.740000, 0.710000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.680000, 0.720000, 0.730000, 0.730000, 0.750000, 0.760000, 0.790000, 0.780000, 0.800000, 0.810000, 0.840000, 0.860000, 2.640000, 2.610000, 2.580000, 2.560000, 2.520000, 2.520000, 2.550000, 2.610000, 2.700000, 2.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054213, 703057 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.442000, -0.995000, 2.550393 ], "estimate": [ 5.442000, -0.995000, 2.550393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.510000, 2.620000, 2.730000, 2.870000, 2.430000, 3.180000, 3.390000, 3.380000, 3.370000, 3.350000, 3.350000, 3.400000, 3.740000, 4.160000, 4.660000, 5.300000, 6.130000, 9.780000, 9.760000, 10.990000, 11.000000, 10.990000, 10.990000, 13.410000, null, 13.430000, 6.290000, 5.330000, 4.560000, 3.950000, 3.510000, 3.170000, 2.880000, 2.640000, 2.430000, 2.250000, 2.110000, 1.980000, 1.870000, 1.760000, 1.670000, 1.580000, 1.510000, 1.450000, 1.380000, 1.310000, 1.270000, 1.230000, 1.170000, 1.130000, 1.090000, 1.050000, 1.020000, 0.990000, 0.950000, 0.930000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.770000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.810000, 0.830000, 2.650000, 2.690000, 2.730000, 2.780000, 2.990000, 3.010000, 4.480000, 4.440000, 4.380000, 2.550000, 2.600000, 4.290000, 4.250000, 4.230000, 4.200000, 4.180000, 4.150000, 4.120000, 4.090000, 4.070000, 4.050000, 4.030000, 4.020000, 4.000000, 3.990000, 3.980000, 3.960000, 3.950000, 3.950000, 3.940000, 3.930000, 3.930000, 3.920000, 3.920000, 3.920000, 3.920000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.930000, 3.940000, 3.940000, 3.640000, 3.260000, 2.980000, 2.720000, 2.500000, 2.320000, 1.560000, 1.440000, 1.340000, 1.250000, 1.170000, 1.100000, 1.040000, 0.990000, 0.930000, 0.880000, 0.850000, 0.810000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.760000, 0.710000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.700000, 0.720000, 0.740000, 0.730000, 0.740000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.850000, 0.860000, 2.620000, 2.590000, 2.560000, 2.540000, 2.460000, 2.500000, 2.570000, 2.650000, 2.730000, 2.820000, 2.930000, 3.030000, 3.160000, 3.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054213, 704195 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.442000, -0.995000, 2.642576 ], "estimate": [ 5.442000, -0.995000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.420000, 3.370000, 3.390000, 3.380000, 3.360000, 3.350000, 3.340000, 3.670000, 4.060000, 4.550000, 5.160000, 5.950000, 9.790000, 9.750000, 9.910000, 11.010000, 11.010000, 11.010000, 13.430000, null, 13.430000, 6.310000, 5.360000, 4.650000, 4.020000, 3.540000, 3.190000, 2.910000, 2.660000, 2.460000, 2.270000, 2.130000, 2.000000, 1.880000, 1.770000, 1.670000, 1.570000, 1.510000, 1.450000, 1.390000, 1.320000, 1.270000, 1.230000, 1.180000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.960000, 0.930000, 0.910000, 0.880000, 0.860000, 0.840000, 0.830000, 0.800000, 0.780000, 0.780000, 0.750000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.790000, 0.820000, 0.850000, 2.660000, 2.690000, 2.730000, 2.770000, 3.010000, 3.020000, 4.480000, 4.440000, 3.360000, 2.590000, 2.620000, 4.280000, 4.250000, 4.230000, 4.200000, 4.180000, 4.150000, 4.110000, 4.090000, 4.070000, 4.050000, 4.030000, 4.010000, 3.990000, 3.990000, 3.970000, 3.960000, 3.950000, 3.950000, 3.940000, 3.930000, 3.930000, 3.920000, 3.920000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.920000, 3.920000, 3.930000, 3.940000, 3.640000, 3.260000, 2.960000, 2.700000, 2.480000, 2.300000, 1.520000, 1.400000, 1.320000, 1.230000, 1.150000, 1.080000, 1.010000, 0.960000, 0.920000, 0.860000, 0.820000, 0.790000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.660000, 0.660000, 0.700000, 0.710000, 0.730000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.840000, 0.850000, 2.620000, 2.590000, 2.550000, 2.530000, 2.460000, 2.470000, 2.550000, 2.630000, 2.720000, 2.810000, 2.900000, 3.010000, 3.140000, 3.270000, 3.400000, 3.550000, 3.710000, 3.900000, 4.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054213, 849635 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.442000, -0.995000, 2.747050 ], "estimate": [ 5.442000, -0.995000, 2.747050 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.360000, 3.490000, 3.840000, 4.270000, 4.790000, 5.480000, 6.350000, 9.770000, 9.760000, 11.010000, 11.010000, 11.010000, 11.020000, 12.200000, 12.210000, 13.470000, 6.310000, 5.040000, 4.320000, 3.780000, 3.370000, 3.050000, 2.770000, 2.550000, 2.350000, 2.190000, 2.060000, 1.920000, 1.810000, 1.730000, 1.630000, 1.550000, 1.480000, 1.420000, 1.350000, 1.300000, 1.240000, 1.190000, 1.160000, 1.120000, 1.070000, 1.040000, 1.000000, 0.970000, 0.940000, 0.930000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.750000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.760000, 0.760000, 0.760000, 0.790000, 0.820000, 0.860000, 2.630000, 2.680000, 2.730000, 2.770000, 2.800000, 4.550000, 4.490000, 4.460000, 4.420000, 2.570000, 2.580000, 4.300000, 4.270000, 4.240000, 4.210000, 4.190000, 4.160000, 4.130000, 4.100000, 4.080000, 4.060000, 4.040000, 4.020000, 4.010000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.940000, 3.930000, 3.930000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.920000, 3.930000, 3.930000, 3.790000, 3.370000, 3.040000, 2.770000, 2.530000, 2.350000, 1.550000, 1.410000, 1.320000, 1.240000, 1.150000, 1.070000, 1.010000, 0.960000, 0.910000, 0.860000, 0.810000, 0.790000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.760000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.650000, 0.700000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.770000, 0.790000, 0.800000, 0.820000, 0.860000, 2.620000, 2.590000, 2.570000, 2.540000, 2.500000, 2.490000, 2.510000, 2.580000, 2.660000, 2.750000, 2.830000, 2.940000, 3.050000, 3.180000, 3.320000, 3.470000, 3.620000, 3.790000, 3.970000, 4.200000, 4.460000, 4.710000, 5.010000, 5.370000, 5.770000 ], "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": [ 976054214, 421573 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.437000, -0.994000, 2.857669 ], "estimate": [ 5.437000, -0.994000, 2.857669 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.780000, 9.770000, 11.010000, 11.010000, 11.030000, 11.040000, 12.220000, 12.220000, 12.180000, 6.320000, 5.110000, 4.370000, 3.810000, 3.390000, 3.060000, 2.780000, 2.560000, 2.360000, 2.200000, 2.050000, 1.930000, 1.810000, 1.720000, 1.630000, 1.550000, 1.480000, 1.420000, 1.350000, 1.300000, 1.240000, 1.190000, 1.160000, 1.110000, 1.080000, 1.040000, 0.990000, 0.970000, 0.930000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.780000, 0.770000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.750000, 0.770000, 0.770000, 0.790000, 0.820000, 0.840000, 2.630000, 2.670000, 2.680000, 2.730000, 2.770000, 2.830000, 2.960000, 4.500000, 4.460000, 4.420000, 2.580000, 2.570000, 4.310000, 4.270000, 4.230000, 4.200000, 4.190000, 4.160000, 4.130000, 4.100000, 4.080000, 4.060000, 4.040000, 4.020000, 4.010000, 3.990000, 3.980000, 3.960000, 3.950000, 3.950000, 3.940000, 3.930000, 3.920000, 3.920000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.920000, 3.930000, 3.740000, 3.330000, 3.010000, 2.730000, 2.500000, 2.300000, 1.500000, 1.380000, 1.270000, 1.180000, 1.110000, 1.040000, 0.980000, 0.920000, 0.870000, 0.820000, 0.780000, 0.750000, 0.740000, 0.750000, 0.760000, 0.760000, 0.750000, 0.740000, 0.690000, 0.670000, 0.680000, 0.670000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.660000, 0.680000, 0.690000, 0.710000, 0.730000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.800000, 0.810000, 0.840000, 2.620000, 2.580000, 2.560000, 2.530000, 2.490000, 2.490000, 2.490000, 2.570000, 2.650000, 2.740000, 2.820000, 2.930000, 3.040000, 3.180000, 3.310000, 3.440000, 3.600000, 3.770000, 3.960000, 4.170000, 4.450000, 4.690000, 4.990000, 5.330000, 5.740000, 6.190000, 8.400000, 8.370000, 8.370000, 9.390000, 14.080000, 14.070000 ], "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": [ 976054214, 422711 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.418000, -0.989000, 2.949852 ], "estimate": [ 5.418000, -0.989000, 2.949852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.280000, 12.210000, 12.300000, 6.390000, 5.370000, 4.630000, 4.010000, 3.530000, 3.170000, 2.860000, 2.610000, 2.400000, 2.220000, 2.080000, 1.950000, 1.830000, 1.730000, 1.650000, 1.550000, 1.480000, 1.420000, 1.350000, 1.300000, 1.240000, 1.190000, 1.150000, 1.100000, 1.070000, 1.030000, 1.000000, 0.970000, 0.930000, 0.900000, 0.870000, 0.850000, 0.840000, 0.800000, 0.790000, 0.780000, 0.750000, 0.730000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.800000, 0.820000, 0.860000, 2.570000, 2.640000, 2.680000, 2.720000, 2.760000, 2.800000, 4.540000, 4.520000, 4.470000, 4.430000, 2.600000, 2.570000, 4.310000, 4.280000, 4.240000, 4.200000, 4.180000, 4.160000, 4.140000, 4.100000, 4.070000, 4.060000, 4.040000, 4.020000, 4.000000, 3.980000, 3.970000, 3.960000, 3.950000, 3.940000, 3.930000, 3.920000, 3.910000, 3.910000, 3.900000, 3.900000, 3.890000, 3.890000, 3.890000, 3.890000, 3.890000, 3.900000, 3.900000, 3.910000, 3.910000, 3.920000, 3.470000, 3.120000, 2.840000, 2.580000, 2.370000, 1.540000, 1.400000, 1.300000, 1.200000, 1.120000, 1.040000, 0.980000, 0.920000, 0.860000, 0.820000, 0.780000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.690000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.740000, 0.740000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 2.590000, 2.560000, 2.540000, 2.500000, 2.460000, 2.430000, 2.500000, 2.580000, 2.650000, 2.750000, 2.850000, 2.950000, 3.070000, 3.220000, 3.340000, 3.480000, 3.640000, 3.830000, 4.020000, 4.240000, 4.520000, 4.780000, 5.090000, 5.460000, 5.870000, 6.390000, 8.370000, 8.390000, 8.690000, 9.860000, 14.060000, 14.170000, 14.910000, 14.890000, 10.380000, 10.380000, 10.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054214, 423730 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.373000, -0.982000, 2.986726 ], "estimate": [ 5.373000, -0.982000, 2.986726 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.750000, 4.040000, 3.540000, 3.160000, 2.830000, 2.580000, 2.360000, 2.180000, 2.020000, 1.910000, 1.770000, 1.660000, 1.580000, 1.500000, 1.430000, 1.350000, 1.300000, 1.240000, 1.180000, 1.130000, 1.090000, 1.050000, 1.010000, 0.980000, 0.940000, 0.910000, 0.890000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.770000, 0.800000, 0.820000, 2.620000, 2.570000, 2.590000, 2.630000, 2.650000, 2.710000, 2.740000, 2.780000, 3.070000, 4.500000, 4.460000, 4.410000, 4.350000, 2.570000, 4.300000, 4.260000, 4.220000, 4.180000, 4.170000, 4.140000, 4.110000, 4.080000, 4.060000, 4.040000, 4.010000, 3.990000, 3.970000, 3.950000, 3.940000, 3.940000, 3.920000, 3.910000, 3.900000, 3.890000, 3.870000, 3.870000, 3.870000, 3.860000, 3.850000, 3.850000, 3.850000, 3.850000, 3.850000, 3.850000, 3.860000, 3.860000, 3.870000, 3.880000, 3.730000, 3.310000, 2.980000, 2.690000, 2.470000, 2.280000, 1.460000, 1.340000, 1.240000, 1.130000, 1.070000, 1.000000, 0.940000, 0.890000, 0.840000, 0.790000, 0.740000, 0.710000, 0.680000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.690000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.630000, 0.640000, 0.640000, 0.650000, 0.670000, 0.680000, 0.690000, 0.710000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 2.550000, 2.510000, 2.480000, 2.450000, 2.410000, 2.490000, 2.550000, 2.640000, 2.730000, 2.820000, 2.930000, 3.050000, 3.200000, 3.320000, 3.470000, 3.630000, 3.820000, 4.020000, 4.250000, 4.520000, 4.790000, 5.130000, 5.540000, 5.950000, 6.500000, 8.350000, 8.350000, 8.990000, 10.300000, 14.070000, 14.900000, 14.910000, 13.730000, 10.380000, 10.370000, 10.370000, 10.380000, 7.720000, 7.590000, 7.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054214, 649423 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.306000, -0.971000, 2.974435 ], "estimate": [ 5.306000, -0.971000, 2.974435 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.560000, 3.810000, 3.310000, 2.930000, 2.610000, 2.350000, 2.170000, 1.990000, 1.850000, 1.710000, 1.610000, 1.520000, 1.420000, 1.340000, 1.280000, 1.210000, 1.150000, 1.100000, 1.060000, 1.020000, 0.970000, 0.930000, 0.900000, 0.860000, 0.830000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.670000, 0.680000, 0.680000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.760000, 0.780000, 0.790000, 3.770000, 5.060000, 2.560000, 2.540000, 2.570000, 2.610000, 2.640000, 2.670000, 2.700000, null, 4.500000, 4.460000, 4.410000, 4.360000, 2.500000, 3.320000, 4.250000, 4.200000, 4.180000, 4.140000, 4.110000, 4.080000, 4.060000, 4.030000, 4.000000, 3.980000, 3.960000, 3.940000, 3.920000, 3.900000, 3.900000, 3.880000, 3.860000, 3.850000, 3.840000, 3.820000, 3.820000, 3.820000, 3.810000, 3.810000, 3.800000, 3.790000, 3.790000, 3.790000, 3.800000, 3.790000, 3.800000, 3.810000, 3.810000, 3.810000, 3.820000, 3.470000, 3.110000, 2.830000, 2.560000, 2.350000, 2.180000, 1.390000, 1.290000, 1.180000, 1.110000, 1.030000, 0.970000, 0.910000, 0.850000, 0.810000, 0.770000, 0.730000, 0.700000, 0.670000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.650000, 0.630000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.540000, 0.550000, 0.530000, 0.540000, 0.550000, 0.570000, 0.580000, 0.600000, 0.620000, 0.620000, 0.630000, 0.650000, 0.660000, 0.680000, 0.710000, 0.710000, 0.750000, 0.810000, 2.450000, 2.410000, 2.390000, 2.480000, 2.560000, 2.650000, 2.750000, 2.860000, 2.980000, 3.100000, 3.250000, 3.400000, 3.560000, 3.750000, 3.950000, 4.190000, 4.480000, 4.770000, 5.100000, 5.540000, 5.980000, 6.540000, 8.340000, 8.320000, 9.330000, 14.040000, 14.050000, 14.910000, 13.510000, 13.480000, 10.370000, 10.370000, 10.360000, 10.370000, 7.770000, 7.600000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054215, 217249 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.233000, -0.959000, 2.968289 ], "estimate": [ 5.233000, -0.959000, 2.968289 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.030000, 3.950000, 3.320000, 2.850000, 2.490000, 2.200000, 1.990000, 1.810000, 1.660000, 1.540000, 1.440000, 1.330000, 1.250000, 1.170000, 1.100000, 1.040000, 0.990000, 0.940000, 0.900000, 0.860000, 0.830000, 0.780000, 0.760000, 0.720000, 0.680000, 0.660000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.680000, 0.700000, 0.710000, 0.720000, 0.710000, 5.430000, 5.330000, 2.190000, 5.150000, 3.730000, 2.510000, 2.490000, 2.520000, 2.540000, 2.570000, 2.600000, 2.640000, 2.680000, null, 4.430000, 4.380000, 4.350000, 4.290000, 2.450000, 4.210000, 4.180000, 4.130000, 4.090000, 4.070000, 4.040000, 4.010000, 3.980000, 3.950000, 3.930000, 3.910000, 3.880000, 3.860000, 3.850000, 3.830000, 3.820000, 3.800000, 3.790000, 3.770000, 3.760000, 3.750000, 3.740000, 3.730000, 3.730000, 3.720000, 3.720000, 3.710000, 3.710000, 3.710000, 3.710000, 3.710000, 3.720000, 3.720000, 3.720000, 3.730000, 3.740000, 3.630000, 3.220000, 2.910000, 2.620000, 2.410000, 2.220000, 2.050000, 1.330000, 1.220000, 1.140000, 1.070000, 1.000000, 0.930000, 0.870000, 0.820000, 0.790000, 0.740000, 0.700000, 0.690000, 0.650000, 0.630000, 0.600000, 0.580000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.550000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.490000, 0.500000, 0.510000, 0.530000, 0.540000, 0.550000, 0.570000, 0.590000, 0.600000, 0.610000, 0.640000, 0.650000, 0.680000, 0.710000, 2.440000, 2.520000, 2.620000, 2.720000, 2.830000, 2.960000, 3.110000, 3.260000, 3.410000, 3.600000, 3.820000, 4.040000, 4.330000, 4.630000, 4.960000, 5.380000, 5.850000, 6.450000, 8.320000, 8.300000, 9.390000, 14.030000, 14.110000, 14.900000, 13.820000, 14.870000, 10.370000, 10.360000, 10.360000, 10.360000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054215, 229920 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.177000, -0.949000, 2.955998 ], "estimate": [ 5.177000, -0.949000, 2.955998 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.550000, 3.540000, 2.930000, 2.490000, 2.190000, 1.930000, 1.730000, 1.570000, 1.450000, 1.310000, 1.230000, 1.130000, 1.070000, 1.000000, 0.930000, 0.890000, 0.840000, 0.800000, 0.750000, 0.720000, 0.660000, 0.640000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.650000, 0.650000, 0.670000, 0.680000, 0.710000, 5.850000, 5.720000, 5.590000, 4.120000, 5.380000, 2.150000, 5.180000, 3.710000, 2.490000, 2.420000, 2.450000, 2.490000, 2.510000, 2.540000, 2.570000, 2.610000, null, 4.430000, 4.370000, 4.340000, 4.290000, 2.380000, 3.170000, 4.160000, 4.130000, 4.080000, 4.050000, 4.020000, 3.990000, 3.960000, 3.940000, 3.910000, 3.880000, 3.850000, 3.830000, 3.820000, 3.800000, 3.780000, 3.760000, 3.750000, 3.730000, 3.720000, 3.710000, 3.690000, 3.680000, 3.680000, 3.670000, 3.670000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.660000, 3.670000, 3.670000, 3.670000, 3.680000, 3.320000, 2.980000, 2.690000, 2.470000, 2.270000, 2.100000, 1.420000, 1.260000, 1.170000, 1.090000, 1.010000, 0.950000, 0.890000, 0.850000, 0.800000, 0.750000, 0.720000, 0.700000, 0.670000, 0.640000, 0.610000, 0.590000, 0.570000, 0.560000, 0.540000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.450000, 0.460000, 0.450000, 0.450000, 0.470000, 0.470000, 0.500000, 0.510000, 0.520000, 0.540000, 0.560000, 0.580000, 0.590000, 0.620000, 0.650000, 0.680000, 2.660000, 2.770000, 2.890000, 3.040000, 3.210000, 3.380000, 3.550000, 3.780000, 4.010000, 4.320000, 4.620000, 4.980000, 5.420000, 5.930000, 8.320000, 8.310000, 8.520000, 9.960000, 14.020000, 14.890000, 14.870000, 13.480000, 14.860000, 10.370000, 10.360000, 10.370000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054215, 249866 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.129000, -0.940000, 2.919124 ], "estimate": [ 5.129000, -0.940000, 2.919124 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.350000, 4.550000, 3.440000, 2.750000, 2.310000, 1.980000, 1.740000, 1.550000, 1.390000, 1.260000, 1.150000, 1.070000, 0.990000, 0.920000, 0.860000, 0.810000, 0.760000, 0.720000, 0.650000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.620000, 0.630000, 0.650000, 0.650000, 0.670000, 0.680000, 4.630000, 3.600000, 5.850000, 4.270000, 5.590000, 4.160000, 5.370000, 2.120000, 5.180000, 3.690000, 2.450000, 2.410000, 2.430000, 2.460000, 2.490000, 2.500000, 2.550000, 2.580000, 2.650000, 2.830000, 4.350000, 4.310000, 4.260000, 2.350000, 3.100000, 4.130000, 4.090000, 4.050000, 4.020000, 3.980000, 3.950000, 3.930000, 3.900000, 3.870000, 3.840000, 3.810000, 3.810000, 3.780000, 3.760000, 3.750000, 3.730000, 3.710000, 3.690000, 3.670000, 3.670000, 3.660000, 3.650000, 3.640000, 3.630000, 3.630000, 3.620000, 3.620000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.620000, 3.620000, 3.630000, 3.630000, 3.580000, 3.170000, 2.850000, 2.590000, 2.380000, 2.190000, 2.040000, 1.420000, 1.230000, 1.140000, 1.070000, 1.000000, 0.930000, 0.880000, 0.830000, 0.790000, 0.750000, 0.710000, 0.690000, 0.660000, 0.630000, 0.610000, 0.590000, 0.570000, 0.560000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.490000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.460000, 0.450000, 0.440000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.440000, 0.450000, 0.450000, 0.500000, 0.520000, 0.540000, 0.540000, 0.580000, 0.600000, 0.630000, 0.660000, 2.980000, 3.120000, 3.300000, 3.480000, 3.690000, 3.940000, 4.240000, 4.570000, 4.940000, 5.390000, 5.910000, 8.330000, 8.290000, 8.660000, 10.220000, 14.050000, 14.890000, 13.490000, 13.490000, 10.370000, 10.370000 ], "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": [ 976054215, 526296 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.084000, -0.929000, 2.894542 ], "estimate": [ 5.084000, -0.929000, 2.894542 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.100000, 6.340000, 4.340000, 3.150000, 2.490000, 2.050000, 1.740000, 1.520000, 1.340000, 1.190000, 1.080000, 0.990000, 0.910000, 0.840000, 0.790000, 0.740000, 0.630000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.630000, 0.630000, 0.630000, 0.660000, 0.660000, 2.680000, 6.280000, 4.640000, 3.680000, 4.240000, 4.260000, 5.570000, 4.060000, 2.090000, 5.250000, 5.160000, 3.660000, 2.420000, 2.370000, 2.400000, 2.440000, 2.470000, 2.490000, 2.520000, 2.570000, 2.630000, 4.340000, 4.340000, 4.280000, 4.230000, 2.330000, 3.070000, 4.090000, 4.060000, 4.020000, 3.990000, 3.960000, 3.930000, 3.900000, 3.860000, 3.830000, 3.810000, 3.790000, 3.760000, 3.750000, 3.730000, 3.710000, 3.690000, 3.670000, 3.660000, 3.640000, 3.630000, 3.620000, 3.610000, 3.600000, 3.590000, 3.590000, 3.580000, 3.580000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.580000, 3.580000, 3.580000, 3.590000, 3.590000, 3.590000, 3.300000, 2.960000, 2.690000, 2.450000, 2.260000, 2.080000, 1.950000, 1.280000, 1.180000, 1.110000, 1.030000, 0.970000, 0.910000, 0.860000, 0.810000, 0.780000, 0.740000, 0.700000, 0.680000, 0.650000, 0.620000, 0.600000, 0.580000, 0.570000, 0.550000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.460000, 0.470000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.430000, 0.430000, 0.500000, 0.520000, 0.540000, 0.570000, 0.600000, 0.630000, 0.690000, 3.470000, 3.690000, 3.960000, 4.280000, 4.620000, 5.010000, 5.510000, 6.090000, 8.310000, 8.290000, 9.280000, 14.030000, 14.760000, 14.870000, 13.510000, 13.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054215, 594568 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.023000, -0.914000, 2.888397 ], "estimate": [ 5.023000, -0.914000, 2.888397 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.100000, 5.370000, 3.360000, 2.380000, 1.830000, 1.500000, 1.250000, 1.070000, 0.940000, 0.840000, 0.750000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.560000, 0.600000, 0.610000, 0.620000, 0.630000, 7.360000, 6.960000, 6.950000, 4.990000, 6.610000, 2.640000, 6.220000, 3.650000, 3.560000, 4.200000, 4.230000, 4.010000, 2.050000, 2.090000, 5.180000, 5.100000, 2.370000, 2.330000, 2.350000, 2.370000, 2.400000, 2.420000, 2.440000, 2.490000, 2.540000, 2.640000, 2.750000, 4.260000, 4.220000, 4.170000, 2.280000, 3.460000, 4.030000, 3.990000, 3.970000, 3.940000, 3.900000, 3.870000, 3.830000, 3.810000, 3.770000, 3.740000, 3.730000, 3.710000, 3.680000, 3.670000, 3.650000, 3.630000, 3.610000, 3.600000, 3.580000, 3.570000, 3.560000, 3.550000, 3.530000, 3.530000, 3.520000, 3.520000, 3.510000, 3.500000, 3.500000, 3.500000, 3.500000, 3.500000, 3.500000, 3.510000, 3.510000, 3.510000, 3.520000, 3.530000, 3.420000, 3.050000, 2.760000, 2.510000, 2.310000, 2.130000, 1.990000, 1.860000, 1.250000, 1.140000, 1.070000, 1.000000, 0.930000, 0.880000, 0.840000, 0.790000, 0.750000, 0.720000, 0.690000, 0.670000, 0.640000, 0.610000, 0.600000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.510000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.510000, 0.540000, 0.590000, 0.620000, 4.560000, 4.950000, 5.500000, 6.090000, 8.290000, 8.280000, 9.630000, 14.030000, 14.880000, 14.880000, 13.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054216, 452290 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.954000, -0.896000, 2.888397 ], "estimate": [ 4.954000, -0.896000, 2.888397 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.370000, 2.440000, 1.540000, 1.100000, 0.610000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.600000, 4.560000, 4.600000, 4.640000, 4.680000, 4.700000, 7.040000, 6.900000, 5.060000, 2.610000, 6.390000, 6.200000, 3.550000, 5.890000, 5.750000, 5.610000, 5.540000, 2.010000, 5.260000, 5.160000, 2.350000, 2.300000, 2.290000, 2.320000, 2.340000, 2.360000, 2.400000, 2.410000, 2.430000, 2.520000, 2.620000, 4.270000, 4.230000, 4.180000, 2.240000, 2.220000, 3.340000, 3.980000, 3.950000, 3.920000, 3.880000, 3.840000, 3.820000, 3.780000, 3.750000, 3.720000, 3.690000, 3.670000, 3.660000, 3.630000, 3.610000, 3.600000, 3.580000, 3.560000, 3.540000, 3.520000, 3.510000, 3.500000, 3.490000, 3.480000, 3.470000, 3.460000, 3.460000, 3.450000, 3.450000, 3.440000, 3.440000, 3.440000, 3.440000, 3.440000, 3.440000, 3.450000, 3.450000, 3.460000, 3.460000, 3.470000, 3.280000, 2.940000, 2.670000, 2.440000, 2.240000, 2.070000, 1.940000, 1.820000, 1.710000, 1.130000, 1.060000, 0.990000, 0.930000, 0.870000, 0.830000, 0.790000, 0.750000, 0.710000, 0.690000, 0.660000, 0.640000, 0.610000, 0.590000, 0.570000, 0.570000, 0.550000, 0.530000, 0.530000, 0.510000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.360000, 0.360000, 0.460000, 0.670000, 9.610000, 14.010000, 14.880000, 13.500000, 13.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054216, 463860 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.896000, -0.881000, 2.882251 ], "estimate": [ 4.896000, -0.881000, 2.882251 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.600000, 6.770000, 4.100000, 3.930000, 4.160000, 3.690000, 4.540000, 4.570000, 4.590000, 3.020000, 4.660000, 7.010000, 6.890000, 6.530000, 2.590000, 6.450000, 6.270000, 3.930000, 5.940000, 4.100000, 4.150000, 1.970000, 3.940000, 5.270000, 5.160000, 2.300000, 2.260000, 2.220000, 2.280000, 2.290000, 2.320000, 2.350000, 2.360000, 2.390000, 2.470000, 2.560000, 2.670000, 4.190000, 4.150000, 2.200000, 2.150000, 2.910000, 3.950000, 3.920000, 3.880000, 3.840000, 3.810000, 3.770000, 3.740000, 3.710000, 3.670000, 3.650000, 3.640000, 3.610000, 3.590000, 3.570000, 3.540000, 3.520000, 3.500000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.430000, 3.410000, 3.400000, 3.390000, 3.390000, 3.380000, 3.370000, 3.380000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.390000, 3.400000, 3.300000, 2.950000, 2.680000, 2.450000, 2.250000, 2.080000, 1.940000, 1.830000, 1.720000, 1.620000, 1.070000, 1.000000, 0.930000, 0.900000, 0.840000, 0.790000, 0.770000, 0.730000, 0.700000, 0.670000, 0.650000, 0.620000, 0.600000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.480000, 0.470000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.360000, 0.370000, 0.380000, 0.370000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.340000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.350000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054216, 219704 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.848000, -0.869000, 2.882251 ], "estimate": [ 4.848000, -0.869000, 2.882251 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.560000, 0.560000, 0.570000, 0.550000, 0.550000, 0.540000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 6.630000, 4.470000, 4.460000, 4.920000, 6.750000, 4.070000, 3.960000, 4.120000, 4.060000, 4.520000, 4.540000, 4.570000, 3.000000, 4.630000, 7.080000, 6.970000, 4.910000, 2.570000, 6.490000, 6.310000, 6.170000, 3.490000, 5.800000, 4.100000, 1.930000, 3.920000, 5.280000, 5.170000, 2.250000, 2.220000, 2.200000, 2.250000, 2.270000, 2.280000, 2.310000, 2.340000, 2.370000, 2.420000, 2.520000, 4.230000, 4.180000, 4.130000, 2.160000, 2.130000, 3.320000, 2.900000, 3.910000, 3.860000, 3.820000, 3.780000, 3.740000, 3.720000, 3.680000, 3.650000, 3.620000, 3.600000, 3.580000, 3.560000, 3.530000, 3.510000, 3.500000, 3.470000, 3.460000, 3.440000, 3.420000, 3.410000, 3.400000, 3.380000, 3.370000, 3.360000, 3.350000, 3.350000, 3.350000, 3.350000, 3.340000, 3.340000, 3.340000, 3.330000, 3.340000, 3.330000, 3.340000, 3.340000, 3.340000, 3.350000, 3.350000, 3.350000, 3.160000, 2.850000, 2.590000, 2.370000, 2.180000, 2.030000, 1.900000, 1.790000, 1.680000, 1.590000, 1.050000, 0.990000, 0.940000, 0.880000, 0.830000, 0.790000, 0.760000, 0.730000, 0.700000, 0.670000, 0.640000, 0.620000, 0.600000, 0.580000, 0.580000, 0.560000, 0.540000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.300000, 0.320000, 0.350000, 0.370000, 0.350000, 0.360000, 0.380000, 0.370000, 0.380000, 0.370000, 0.370000, 0.370000, 0.370000, 0.380000, 0.360000, 0.340000, 0.340000, 0.320000, 0.320000, 0.320000, 0.320000, 0.360000 ], "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": [ 976054216, 607871 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.802000, -0.856000, 2.882251 ], "estimate": [ 4.802000, -0.856000, 2.882251 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 6.160000, 6.160000, 6.580000, 6.600000, 6.620000, 4.460000, 4.440000, 4.880000, 6.730000, 4.070000, 3.920000, 4.120000, 3.610000, 4.490000, 4.530000, 4.550000, 2.990000, 4.630000, 4.670000, 6.940000, 2.540000, 2.560000, 6.520000, 6.340000, 6.180000, 5.980000, 5.810000, 1.920000, 1.960000, 3.910000, 5.280000, 5.170000, 2.200000, 2.160000, 2.210000, 2.230000, 2.250000, 2.250000, 2.280000, 2.310000, 2.350000, 2.420000, 2.500000, 2.560000, 4.150000, 4.100000, 2.090000, 2.110000, 3.930000, 2.840000, 3.860000, 3.820000, 3.790000, 3.740000, 3.710000, 3.670000, 3.640000, 3.620000, 3.600000, 3.570000, 3.540000, 3.520000, 3.500000, 3.480000, 3.450000, 3.430000, 3.420000, 3.400000, 3.380000, 3.360000, 3.350000, 3.350000, 3.330000, 3.330000, 3.320000, 3.320000, 3.310000, 3.300000, 3.300000, 3.300000, 3.290000, 3.290000, 3.300000, 3.290000, 3.290000, 3.290000, 3.290000, 3.300000, 3.300000, 3.310000, 3.320000, 3.020000, 2.730000, 2.490000, 2.290000, 2.110000, 1.970000, 1.850000, 1.740000, 1.640000, 1.550000, 1.120000, 0.970000, 0.920000, 0.870000, 0.820000, 0.790000, 0.750000, 0.710000, 0.690000, 0.660000, 0.630000, 0.610000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.520000, 0.510000, 0.500000, 0.490000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.310000, 0.320000, 0.360000, 0.330000, 0.350000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.360000, 0.320000, 0.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054216, 609056 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.741000, -0.841000, 2.882251 ], "estimate": [ 4.741000, -0.841000, 2.882251 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 5.030000, 6.200000, 6.180000, 6.180000, 6.160000, 6.150000, 6.160000, 6.570000, 6.600000, 6.610000, 4.440000, 4.440000, 4.910000, 4.280000, 4.060000, 3.890000, 3.820000, 3.670000, 4.470000, 4.510000, 3.000000, 4.560000, 4.600000, 6.690000, 6.900000, 2.510000, 6.660000, 6.500000, 6.310000, 3.890000, 5.960000, 1.870000, 1.900000, 5.490000, 3.860000, 5.250000, 2.190000, 2.150000, 2.120000, 2.170000, 2.200000, 2.230000, 2.230000, 2.270000, 2.290000, 2.330000, 2.410000, 2.480000, 4.170000, 4.110000, 4.060000, 2.050000, 3.950000, 2.790000, 3.050000, 3.820000, 3.780000, 3.740000, 3.700000, 3.660000, 3.620000, 3.600000, 3.570000, 3.550000, 3.520000, 3.500000, 3.470000, 3.440000, 3.420000, 3.400000, 3.380000, 3.360000, 3.350000, 3.340000, 3.320000, 3.310000, 3.290000, 3.280000, 3.270000, 3.270000, 3.260000, 3.260000, 3.250000, 3.240000, 3.240000, 3.240000, 3.230000, 3.230000, 3.240000, 3.230000, 3.230000, 3.240000, 3.250000, 3.240000, 3.250000, 3.250000, 3.160000, 2.840000, 2.580000, 2.360000, 2.180000, 2.020000, 1.890000, 1.780000, 1.670000, 1.580000, 1.490000, 1.430000, 0.930000, 0.880000, 0.840000, 0.790000, 0.760000, 0.730000, 0.700000, 0.670000, 0.650000, 0.630000, 0.610000, 0.590000, 0.570000, 0.550000, 0.550000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.470000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.370000, 0.350000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.270000, 0.350000, 0.320000, 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": [ 976054216, 839540 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.675000, -0.823000, 2.876106 ], "estimate": [ 4.675000, -0.823000, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.020000, 6.200000, 6.180000, 6.170000, 6.160000, 6.150000, 6.170000, 6.560000, 6.570000, 6.600000, 4.440000, 4.630000, 6.660000, 4.060000, 3.870000, 4.070000, 4.110000, 4.450000, 4.470000, 2.970000, 3.000000, 4.570000, 4.600000, 6.690000, 2.490000, 4.830000, 6.620000, 6.460000, 6.270000, 3.370000, 1.830000, 4.020000, 4.030000, 3.840000, 5.310000, 2.140000, 2.080000, 2.090000, 2.150000, 2.160000, 2.180000, 2.190000, 2.210000, 2.230000, 2.250000, 2.320000, 2.390000, 2.480000, 4.110000, 4.060000, 2.000000, 3.940000, 3.900000, 2.920000, 3.810000, 3.760000, 3.720000, 3.670000, 3.640000, 3.610000, 3.580000, 3.540000, 3.520000, 3.490000, 3.470000, 3.440000, 3.400000, 3.380000, 3.360000, 3.340000, 3.330000, 3.310000, 3.290000, 3.270000, 3.260000, 3.240000, 3.230000, 3.220000, 3.210000, 3.200000, 3.200000, 3.190000, 3.190000, 3.170000, 3.180000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.170000, 3.180000, 3.190000, 3.190000, 3.200000, 2.970000, 2.690000, 2.460000, 2.270000, 2.080000, 1.930000, 1.820000, 1.710000, 1.600000, 1.530000, 1.440000, 1.390000, 1.270000, 0.870000, 0.810000, 0.790000, 0.750000, 0.710000, 0.690000, 0.660000, 0.640000, 0.620000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.520000, 0.510000, 0.510000, 0.480000, 0.470000, 0.460000, 0.460000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000 ], "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": [ 976054217, 395779 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.620000, -0.809000, 2.876106 ], "estimate": [ 4.620000, -0.809000, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.200000, 6.180000, 6.170000, 6.160000, 6.150000, 6.150000, 6.560000, 6.570000, 6.600000, 4.410000, 4.610000, 6.650000, 4.010000, 3.860000, 4.070000, 3.530000, 4.440000, 4.470000, 2.970000, 4.520000, 4.550000, 4.580000, 2.450000, 6.830000, 4.810000, 6.410000, 6.490000, 3.320000, 1.820000, 5.910000, 4.000000, 4.010000, 3.780000, 2.190000, 2.120000, 2.060000, 2.110000, 2.120000, 2.140000, 2.150000, 2.170000, 2.200000, 2.210000, 2.250000, 2.300000, 2.370000, 4.140000, 4.070000, 4.010000, 1.950000, 3.920000, 3.860000, 2.740000, 3.760000, 3.730000, 3.680000, 3.640000, 3.600000, 3.570000, 3.530000, 3.500000, 3.480000, 3.450000, 3.420000, 3.390000, 3.360000, 3.340000, 3.320000, 3.300000, 3.280000, 3.260000, 3.240000, 3.220000, 3.210000, 3.190000, 3.180000, 3.170000, 3.160000, 3.160000, 3.150000, 3.130000, 3.130000, 3.130000, 3.120000, 3.120000, 3.110000, 3.110000, 3.110000, 3.110000, 3.110000, 3.110000, 3.110000, 3.120000, 3.120000, 3.130000, 3.140000, 3.140000, 2.840000, 2.580000, 2.350000, 2.180000, 2.020000, 1.880000, 1.760000, 1.660000, 1.570000, 1.480000, 1.410000, 1.340000, 1.290000, 0.860000, 0.800000, 0.770000, 0.730000, 0.710000, 0.680000, 0.650000, 0.630000, 0.600000, 0.590000, 0.580000, 0.570000, 0.540000, 0.530000, 0.520000, 0.500000, 0.500000, 0.480000, 0.470000, 0.450000, 0.450000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.370000, 0.380000, 0.360000, 0.360000, 0.360000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.270000, 0.270000 ], "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": [ 976054217, 396937 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.572000, -0.796000, 2.876106 ], "estimate": [ 4.572000, -0.796000, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.180000, 6.170000, 6.150000, 6.140000, 6.180000, 6.560000, 6.570000, 6.590000, 4.440000, 4.810000, 6.650000, 3.920000, 3.830000, 3.520000, 4.400000, 4.430000, 2.950000, 2.950000, 4.510000, 4.530000, 4.580000, 2.410000, 6.820000, 6.710000, 6.390000, 6.460000, 1.810000, 6.060000, 5.890000, 3.970000, 5.550000, 5.440000, 2.090000, 2.050000, 2.060000, 2.090000, 2.100000, 2.110000, 2.130000, 2.150000, 2.160000, 2.200000, 2.260000, 2.320000, 2.400000, 4.090000, 4.040000, 1.920000, 3.920000, 3.870000, 3.810000, 2.660000, 3.720000, 3.680000, 3.640000, 3.600000, 3.560000, 3.520000, 3.490000, 3.460000, 3.430000, 3.400000, 3.370000, 3.350000, 3.330000, 3.300000, 3.280000, 3.250000, 3.230000, 3.210000, 3.190000, 3.180000, 3.160000, 3.150000, 3.130000, 3.120000, 3.110000, 3.090000, 3.100000, 3.090000, 3.090000, 3.080000, 3.070000, 3.070000, 3.070000, 3.060000, 3.060000, 3.060000, 3.060000, 3.060000, 3.070000, 3.070000, 3.070000, 3.080000, 3.080000, 3.100000, 2.930000, 2.650000, 2.420000, 2.220000, 2.050000, 1.920000, 1.790000, 1.690000, 1.590000, 1.500000, 1.430000, 1.360000, 1.310000, 1.240000, 1.190000, 0.780000, 0.740000, 0.710000, 0.700000, 0.660000, 0.630000, 0.620000, 0.590000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000, 0.270000, 0.260000 ], "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": [ 976054217, 397876 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.520000, -0.782000, 2.869960 ], "estimate": [ 4.520000, -0.782000, 2.869960 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.180000, 6.160000, 6.140000, 6.150000, 6.550000, 6.520000, 6.570000, 4.430000, 4.620000, 4.650000, 3.950000, 3.830000, 3.870000, 3.870000, 4.420000, 4.430000, 2.930000, 4.480000, 4.510000, 2.440000, 2.470000, 6.210000, 4.760000, 6.690000, 6.380000, 1.780000, 4.320000, 5.960000, 3.940000, 3.950000, 5.550000, 2.040000, 2.000000, 2.050000, 2.070000, 2.090000, 2.100000, 2.110000, 2.120000, 2.150000, 2.170000, 2.240000, 2.290000, 2.340000, 4.090000, 4.030000, 1.880000, 3.920000, 3.860000, 3.810000, 2.840000, 3.710000, 3.670000, 3.620000, 3.580000, 3.540000, 3.500000, 3.470000, 3.430000, 3.410000, 3.370000, 3.350000, 3.330000, 3.300000, 3.270000, 3.250000, 3.220000, 3.200000, 3.190000, 3.160000, 3.140000, 3.120000, 3.110000, 3.090000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.020000, 3.020000, 3.010000, 3.010000, 3.010000, 3.020000, 3.020000, 3.020000, 3.020000, 3.020000, 3.030000, 3.040000, 3.050000, 2.890000, 2.600000, 2.380000, 2.190000, 2.030000, 1.890000, 1.770000, 1.650000, 1.580000, 1.480000, 1.410000, 1.340000, 1.290000, 1.230000, 1.180000, 1.130000, 0.740000, 0.710000, 0.680000, 0.660000, 0.630000, 0.610000, 0.590000, 0.570000, 0.570000, 0.550000, 0.540000, 0.520000, 0.500000, 0.500000, 0.480000, 0.470000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.370000, 0.370000, 0.360000, 0.350000, 0.360000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.300000, 0.290000, 0.280000, 0.270000, 0.260000, 0.260000 ], "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": [ 976054217, 594401 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.458000, -0.765000, 2.857669 ], "estimate": [ 4.458000, -0.765000, 2.857669 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.180000, 6.160000, 6.140000, 6.130000, 6.540000, 6.550000, 6.570000, 4.410000, 4.760000, 4.150000, 3.810000, 3.830000, 3.570000, 4.380000, 4.400000, 2.900000, 4.460000, 4.470000, 2.420000, 4.540000, 6.490000, 6.870000, 4.750000, 1.760000, 6.530000, 3.370000, 4.270000, 5.900000, 3.900000, 2.090000, 2.020000, 1.960000, 2.010000, 2.030000, 2.040000, 2.050000, 2.070000, 2.100000, 2.110000, 2.130000, 2.180000, 2.230000, 2.300000, 4.100000, 4.040000, 1.840000, 3.920000, 3.860000, 3.800000, 2.670000, 3.660000, 3.650000, 3.600000, 3.560000, 3.520000, 3.480000, 3.440000, 3.400000, 3.370000, 3.350000, 3.320000, 3.290000, 3.260000, 3.230000, 3.210000, 3.190000, 3.160000, 3.140000, 3.120000, 3.090000, 3.080000, 3.070000, 3.050000, 3.040000, 3.020000, 3.020000, 3.010000, 2.990000, 2.990000, 2.980000, 2.970000, 2.960000, 2.960000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.960000, 2.960000, 2.960000, 2.970000, 2.980000, 2.710000, 2.470000, 2.260000, 2.080000, 1.940000, 1.810000, 1.710000, 1.600000, 1.520000, 1.440000, 1.360000, 1.300000, 1.250000, 1.200000, 1.150000, 1.100000, 1.060000, 0.710000, 0.670000, 0.640000, 0.630000, 0.600000, 0.580000, 0.580000, 0.560000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.490000, 0.470000, 0.450000, 0.450000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.370000, 0.370000, 0.360000, 0.350000, 0.350000, 0.340000, 0.350000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.280000, 0.280000, 0.280000, 0.280000, 0.270000 ], "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": [ 976054217, 935461 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.396000, -0.745000, 2.808505 ], "estimate": [ 4.396000, -0.745000, 2.808505 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.210000, 6.190000, 6.170000, 6.150000, 6.140000, 6.540000, 6.550000, 6.560000, 4.400000, 4.580000, 6.590000, 3.910000, 3.810000, 3.490000, 4.320000, 4.390000, 2.870000, 4.430000, 4.460000, 2.390000, 4.510000, 6.970000, 6.160000, 6.910000, 1.720000, 6.320000, 3.240000, 6.260000, 6.020000, 3.870000, 2.020000, 1.980000, 1.950000, 1.980000, 2.000000, 2.010000, 2.010000, 2.030000, 2.050000, 2.060000, 2.100000, 2.140000, 2.190000, 2.250000, 4.110000, 4.040000, 1.790000, 3.910000, 3.850000, 3.790000, 3.730000, 2.520000, 3.640000, 3.590000, 3.540000, 3.500000, 3.460000, 3.420000, 3.380000, 3.350000, 3.320000, 3.290000, 3.250000, 3.220000, 3.200000, 3.170000, 3.150000, 3.120000, 3.100000, 3.080000, 3.060000, 3.040000, 3.030000, 3.010000, 3.000000, 2.980000, 2.970000, 2.960000, 2.950000, 2.950000, 2.930000, 2.920000, 2.910000, 2.910000, 2.900000, 2.900000, 2.890000, 2.890000, 2.880000, 2.880000, 2.880000, 2.890000, 2.890000, 2.890000, 2.890000, 2.900000, 2.900000, 2.910000, 2.920000, 2.810000, 2.550000, 2.320000, 2.140000, 1.980000, 1.860000, 1.740000, 1.630000, 1.540000, 1.460000, 1.390000, 1.320000, 1.260000, 1.210000, 1.160000, 1.120000, 1.070000, 1.040000, 1.000000, 0.960000, 0.640000, 0.620000, 0.600000, 0.580000, 0.580000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.370000, 0.380000, 0.370000, 0.360000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.290000, 0.300000, 0.290000, 0.290000, 0.290000, 0.300000, 0.290000 ], "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": [ 976054217, 999613 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.343000, -0.726000, 2.753196 ], "estimate": [ 4.343000, -0.726000, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.030000, 5.000000, 6.200000, 6.200000, 6.190000, 6.170000, 6.140000, 6.130000, 6.520000, 6.540000, 6.500000, 4.390000, 4.580000, 4.590000, 3.800000, 3.840000, 3.470000, 4.320000, 2.860000, 4.390000, 4.400000, 4.410000, 2.390000, 4.470000, 6.920000, 6.960000, 1.680000, 6.740000, 6.640000, 6.450000, 4.210000, 6.020000, 2.000000, 1.930000, 1.910000, 1.940000, 1.950000, 1.960000, 1.970000, 1.990000, 2.010000, 2.010000, 2.030000, 2.070000, 2.120000, 2.180000, 2.230000, 4.060000, 1.750000, 1.750000, 3.860000, 3.810000, 3.740000, 3.680000, 2.500000, 3.590000, 3.540000, 3.490000, 3.450000, 3.410000, 3.360000, 3.340000, 3.310000, 3.270000, 3.240000, 3.210000, 3.180000, 3.150000, 3.120000, 3.090000, 3.070000, 3.050000, 3.030000, 3.010000, 2.980000, 2.970000, 2.950000, 2.940000, 2.940000, 2.920000, 2.900000, 2.890000, 2.880000, 2.870000, 2.860000, 2.850000, 2.850000, 2.840000, 2.840000, 2.830000, 2.830000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.850000, 2.850000, 2.740000, 2.490000, 2.280000, 2.100000, 1.950000, 1.840000, 1.710000, 1.620000, 1.530000, 1.450000, 1.380000, 1.310000, 1.250000, 1.210000, 1.160000, 1.110000, 1.070000, 1.040000, 1.000000, 0.960000, 0.940000, 0.900000, 0.880000, 0.600000, 0.580000, 0.570000, 0.550000, 0.540000, 0.530000, 0.510000, 0.510000, 0.490000, 0.490000, 0.480000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.310000, 0.310000, 0.310000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000, 0.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054218, 421826 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.295000, -0.705000, 2.704031 ], "estimate": [ 4.295000, -0.705000, 2.704031 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.240000, 5.090000, 5.050000, 5.000000, 5.150000, 6.210000, 6.180000, 6.160000, 6.140000, 6.120000, 6.120000, 6.520000, 6.530000, 4.380000, 4.550000, 4.800000, 3.810000, 3.780000, 3.450000, 4.290000, 2.850000, 4.370000, 4.380000, 2.340000, 4.430000, 4.440000, 6.900000, 1.680000, 6.880000, 4.650000, 6.570000, 3.230000, 6.290000, 6.040000, 1.930000, 1.870000, 1.880000, 1.920000, 1.930000, 1.940000, 1.940000, 1.950000, 1.970000, 1.990000, 2.000000, 2.040000, 2.100000, 2.140000, 2.200000, 4.050000, 1.710000, 3.900000, 3.850000, 3.790000, 3.720000, 3.660000, 2.410000, 3.560000, 3.510000, 3.470000, 3.420000, 3.380000, 3.340000, 3.310000, 3.270000, 3.240000, 3.200000, 3.170000, 3.140000, 3.100000, 3.090000, 3.060000, 3.040000, 3.010000, 2.990000, 2.970000, 2.940000, 2.930000, 2.930000, 2.910000, 2.890000, 2.870000, 2.860000, 2.850000, 2.840000, 2.830000, 2.820000, 2.810000, 2.800000, 2.800000, 2.790000, 2.790000, 2.780000, 2.780000, 2.780000, 2.780000, 2.780000, 2.780000, 2.780000, 2.780000, 2.780000, 2.790000, 2.790000, 2.790000, 2.800000, 2.820000, 2.690000, 2.460000, 2.250000, 2.080000, 1.930000, 1.820000, 1.710000, 1.610000, 1.530000, 1.440000, 1.380000, 1.310000, 1.250000, 1.210000, 1.160000, 1.120000, 1.070000, 1.040000, 1.010000, 0.960000, 0.940000, 0.910000, 0.890000, 0.860000, 0.840000, 0.740000, 0.570000, 0.550000, 0.540000, 0.530000, 0.520000, 0.500000, 0.500000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.410000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.330000, 0.330000, 0.330000, 0.330000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.320000, 0.310000, 0.320000 ], "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": [ 976054218, 439995 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.247000, -0.681000, 2.642576 ], "estimate": [ 4.247000, -0.681000, 2.642576 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.110000, 3.490000, 3.950000, 4.590000, 5.050000, 5.030000, 5.030000, 6.210000, 6.190000, 6.160000, 6.140000, 6.120000, 6.100000, 6.490000, 6.500000, 4.350000, 4.350000, 4.750000, 6.540000, 3.770000, 3.420000, 4.290000, 2.790000, 4.320000, 4.340000, 2.320000, 4.380000, 4.400000, 4.430000, 1.620000, 6.350000, 6.770000, 6.690000, 3.180000, 6.400000, 4.180000, 1.910000, 1.840000, 1.840000, 1.880000, 1.890000, 1.900000, 1.910000, 1.920000, 1.940000, 1.940000, 1.960000, 1.990000, 2.030000, 2.080000, 2.130000, 4.050000, 1.670000, 1.690000, 3.840000, 3.790000, 3.730000, 3.660000, 2.670000, 3.560000, 3.510000, 3.460000, 3.410000, 3.360000, 3.330000, 3.290000, 3.260000, 3.220000, 3.190000, 3.150000, 3.110000, 3.090000, 3.060000, 3.040000, 3.010000, 2.980000, 2.960000, 2.940000, 2.920000, 2.910000, 2.890000, 2.870000, 2.850000, 2.840000, 2.830000, 2.810000, 2.790000, 2.780000, 2.780000, 2.770000, 2.760000, 2.750000, 2.740000, 2.740000, 2.730000, 2.730000, 2.720000, 2.720000, 2.720000, 2.720000, 2.720000, 2.720000, 2.720000, 2.730000, 2.730000, 2.730000, 2.740000, 2.750000, 2.760000, 2.770000, 2.580000, 2.360000, 2.180000, 2.030000, 1.890000, 1.790000, 1.680000, 1.590000, 1.500000, 1.440000, 1.370000, 1.300000, 1.260000, 1.210000, 1.170000, 1.120000, 1.080000, 1.050000, 1.010000, 0.970000, 0.950000, 0.910000, 0.890000, 0.870000, 0.840000, 0.820000, 0.810000, 0.800000, 0.770000, 0.560000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.360000, 0.360000, 0.360000, 0.350000, 0.350000, 0.350000, 0.350000, 0.340000, 0.340000, 0.340000, 0.340000, 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": [ 976054218, 619361 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.194000, -0.650000, 2.587266 ], "estimate": [ 4.194000, -0.650000, 2.587266 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.490000, 2.700000, 2.960000, 3.270000, 3.630000, 4.100000, 4.700000, 5.050000, 5.030000, 5.030000, 6.200000, 6.170000, 6.150000, 6.120000, 6.110000, 6.090000, 6.470000, 6.480000, 4.330000, 4.500000, 4.730000, 4.010000, 3.740000, 3.400000, 4.240000, 2.790000, 4.310000, 4.320000, 2.320000, 4.360000, 1.640000, 1.640000, 6.810000, 6.260000, 4.620000, 6.690000, 3.180000, 6.220000, 1.870000, 1.840000, 1.820000, 1.820000, 1.840000, 1.860000, 1.860000, 1.890000, 1.890000, 1.900000, 1.920000, 1.940000, 1.970000, 2.030000, 2.070000, 2.110000, 4.000000, 1.620000, 3.870000, 3.810000, 3.740000, 3.670000, 3.610000, 2.320000, 3.510000, 3.470000, 3.410000, 3.360000, 3.330000, 3.280000, 3.250000, 3.210000, 3.180000, 3.130000, 3.100000, 3.070000, 3.040000, 3.010000, 2.980000, 2.960000, 2.940000, 2.910000, 2.890000, 2.880000, 2.850000, 2.840000, 2.820000, 2.800000, 2.790000, 2.780000, 2.760000, 2.750000, 2.740000, 2.730000, 2.720000, 2.710000, 2.700000, 2.700000, 2.700000, 2.690000, 2.680000, 2.680000, 2.680000, 2.670000, 2.670000, 2.670000, 2.680000, 2.680000, 2.680000, 2.680000, 2.690000, 2.690000, 2.700000, 2.700000, 2.700000, 2.710000, 2.510000, 2.310000, 2.150000, 2.000000, 1.870000, 1.780000, 1.680000, 1.590000, 1.510000, 1.440000, 1.370000, 1.310000, 1.270000, 1.210000, 1.170000, 1.130000, 1.090000, 1.050000, 1.010000, 0.980000, 0.960000, 0.920000, 0.900000, 0.890000, 0.860000, 0.840000, 0.810000, 0.810000, 0.790000, 0.760000, 0.750000, 0.740000, 0.720000, 0.580000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000 ], "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": [ 976054219, 102588 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.143000, -0.618000, 2.581121 ], "estimate": [ 4.143000, -0.618000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.540000, 2.740000, 2.980000, 3.250000, 3.580000, 3.980000, 4.470000, 5.040000, 5.010000, 5.010000, 5.190000, 6.170000, 6.140000, 6.120000, 6.110000, 6.080000, 6.070000, 6.460000, 4.310000, 4.310000, 4.910000, 3.990000, 3.720000, 3.370000, 4.250000, 2.770000, 4.260000, 2.240000, 4.300000, 1.600000, 1.600000, 4.370000, 6.590000, 6.820000, 6.080000, 4.560000, 3.100000, 6.160000, 1.800000, 1.780000, 1.750000, 1.780000, 1.800000, 1.820000, 1.820000, 1.840000, 1.840000, 1.860000, 1.870000, 1.890000, 1.930000, 1.970000, 2.000000, 2.060000, 1.570000, 1.570000, 3.850000, 3.780000, 3.710000, 3.650000, 3.580000, 2.430000, 2.330000, 3.420000, 3.370000, 3.330000, 3.280000, 3.250000, 3.210000, 3.170000, 3.130000, 3.090000, 3.060000, 3.030000, 3.000000, 2.970000, 2.940000, 2.910000, 2.890000, 2.860000, 2.840000, 2.820000, 2.810000, 2.790000, 2.770000, 2.760000, 2.740000, 2.720000, 2.710000, 2.700000, 2.690000, 2.680000, 2.660000, 2.650000, 2.650000, 2.640000, 2.630000, 2.620000, 2.620000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.630000, 2.640000, 2.640000, 2.660000, 2.560000, 2.350000, 2.180000, 2.040000, 1.910000, 1.800000, 1.710000, 1.610000, 1.540000, 1.470000, 1.400000, 1.340000, 1.300000, 1.240000, 1.190000, 1.150000, 1.110000, 1.070000, 1.040000, 1.010000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.600000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054219, 103716 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.093000, -0.588000, 2.581121 ], "estimate": [ 4.093000, -0.588000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.860000, 3.090000, 3.350000, 3.670000, 4.060000, 4.550000, 5.040000, 5.020000, 5.000000, 5.500000, 6.170000, 6.130000, 6.120000, 6.090000, 6.070000, 6.060000, 6.460000, 4.290000, 4.290000, 4.700000, 3.880000, 3.390000, 3.360000, 2.730000, 4.220000, 4.250000, 2.250000, 1.570000, 1.570000, 4.310000, 4.330000, 6.680000, 6.780000, 6.100000, 4.510000, 3.110000, 1.780000, 1.730000, 1.740000, 1.730000, 1.750000, 1.760000, 1.770000, 1.800000, 1.800000, 1.820000, 1.830000, 1.840000, 1.860000, 1.910000, 1.950000, 1.990000, 2.040000, 1.490000, 3.900000, 3.810000, 3.750000, 3.680000, 3.610000, 3.550000, 2.320000, 2.400000, 3.390000, 3.340000, 3.300000, 3.250000, 3.200000, 3.170000, 3.130000, 3.090000, 3.060000, 3.030000, 2.990000, 2.960000, 2.930000, 2.900000, 2.870000, 2.840000, 2.820000, 2.810000, 2.780000, 2.760000, 2.740000, 2.720000, 2.710000, 2.700000, 2.680000, 2.670000, 2.650000, 2.640000, 2.620000, 2.610000, 2.610000, 2.600000, 2.590000, 2.590000, 2.580000, 2.570000, 2.570000, 2.570000, 2.570000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.560000, 2.570000, 2.570000, 2.570000, 2.580000, 2.590000, 2.600000, 2.600000, 2.610000, 2.520000, 2.330000, 2.170000, 2.030000, 1.910000, 1.800000, 1.710000, 1.620000, 1.540000, 1.470000, 1.410000, 1.350000, 1.300000, 1.250000, 1.200000, 1.160000, 1.120000, 1.080000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.810000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.480000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054219, 197118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.045000, -0.558000, 2.581121 ], "estimate": [ 4.045000, -0.558000, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.590000, 3.930000, 4.340000, 4.830000, 5.020000, 4.980000, 5.020000, 6.170000, 6.140000, 6.120000, 6.090000, 6.070000, 6.050000, 6.040000, 6.440000, 4.280000, 4.470000, 3.830000, 3.690000, 3.320000, 2.710000, 4.170000, 2.220000, 2.230000, 1.540000, 4.260000, 4.280000, 4.310000, 4.330000, 6.570000, 6.780000, 4.500000, 3.030000, 1.750000, 1.720000, 1.710000, 1.690000, 1.690000, 1.710000, 1.730000, 1.750000, 1.770000, 1.770000, 1.790000, 1.800000, 1.830000, 1.860000, 1.910000, 1.950000, 1.600000, 1.460000, 3.890000, 3.810000, 3.740000, 3.680000, 3.610000, 3.540000, 3.480000, 2.190000, 3.370000, 3.330000, 3.280000, 3.230000, 3.180000, 3.150000, 3.100000, 3.070000, 3.030000, 2.990000, 2.960000, 2.930000, 2.900000, 2.860000, 2.840000, 2.810000, 2.780000, 2.760000, 2.750000, 2.720000, 2.700000, 2.690000, 2.670000, 2.650000, 2.630000, 2.620000, 2.610000, 2.600000, 2.580000, 2.580000, 2.570000, 2.550000, 2.540000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.510000, 2.510000, 2.520000, 2.520000, 2.530000, 2.540000, 2.550000, 2.560000, 2.420000, 2.250000, 2.090000, 1.960000, 1.860000, 1.770000, 1.670000, 1.590000, 1.520000, 1.440000, 1.390000, 1.330000, 1.290000, 1.240000, 1.200000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.470000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000 ], "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": [ 976054219, 636989 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.997000, -0.528000, 2.574975 ], "estimate": [ 3.997000, -0.528000, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.190000, 3.450000, 3.720000, 4.070000, 4.470000, 4.980000, 5.020000, 4.990000, 5.060000, 6.150000, 6.120000, 6.110000, 6.080000, 6.060000, 6.020000, 6.130000, 4.270000, 4.250000, 4.430000, 3.690000, 3.300000, 6.450000, 2.690000, 4.150000, 1.520000, 1.480000, 4.230000, 4.240000, 4.260000, 4.280000, 4.290000, 6.540000, 6.740000, 3.020000, 1.710000, 1.690000, 1.690000, 1.670000, 1.670000, 1.670000, 1.680000, 1.710000, 1.710000, 1.730000, 1.750000, 1.770000, 1.780000, 1.820000, 1.850000, 1.900000, 1.930000, 1.450000, 3.920000, 3.840000, 3.770000, 3.680000, 3.630000, 3.560000, 3.490000, 2.180000, 2.140000, 3.330000, 3.280000, 3.230000, 3.180000, 3.130000, 3.080000, 3.060000, 3.020000, 2.980000, 2.940000, 2.910000, 2.880000, 2.840000, 2.820000, 2.790000, 2.770000, 2.740000, 2.720000, 2.700000, 2.680000, 2.660000, 2.640000, 2.620000, 2.610000, 2.590000, 2.580000, 2.560000, 2.540000, 2.530000, 2.530000, 2.510000, 2.500000, 2.490000, 2.490000, 2.490000, 2.490000, 2.480000, 2.470000, 2.460000, 2.470000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.470000, 2.470000, 2.470000, 2.480000, 2.490000, 2.490000, 2.490000, 2.500000, 2.510000, 2.350000, 2.190000, 2.050000, 1.930000, 1.830000, 1.740000, 1.650000, 1.590000, 1.500000, 1.440000, 1.380000, 1.340000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.080000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.450000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054219, 690057 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.947000, -0.497000, 2.568830 ], "estimate": [ 3.947000, -0.497000, 2.568830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.360000, 3.620000, 3.910000, 4.250000, 4.650000, 5.020000, 4.990000, 4.990000, 5.190000, 6.150000, 6.110000, 6.090000, 6.060000, 6.040000, 6.000000, 6.400000, 4.250000, 4.420000, 4.670000, 3.640000, 3.280000, 2.680000, 4.160000, 1.490000, 4.180000, 4.200000, 4.210000, 4.230000, 4.240000, 4.260000, 6.640000, 6.510000, 1.710000, 1.680000, 1.630000, 1.660000, 1.650000, 1.640000, 1.640000, 1.640000, 1.650000, 1.680000, 1.680000, 1.710000, 1.720000, 1.740000, 1.780000, 1.810000, 1.850000, 1.890000, 1.400000, 3.950000, 3.860000, 3.780000, 3.700000, 3.630000, 3.570000, 3.490000, 3.430000, 2.100000, 3.330000, 3.270000, 3.220000, 3.170000, 3.120000, 3.080000, 3.030000, 3.000000, 2.960000, 2.920000, 2.880000, 2.850000, 2.820000, 2.780000, 2.760000, 2.730000, 2.710000, 2.690000, 2.670000, 2.640000, 2.620000, 2.610000, 2.590000, 2.560000, 2.550000, 2.540000, 2.520000, 2.500000, 2.490000, 2.490000, 2.470000, 2.470000, 2.450000, 2.440000, 2.430000, 2.430000, 2.420000, 2.420000, 2.410000, 2.410000, 2.400000, 2.400000, 2.400000, 2.400000, 2.390000, 2.400000, 2.400000, 2.400000, 2.400000, 2.410000, 2.410000, 2.420000, 2.420000, 2.430000, 2.440000, 2.450000, 2.460000, 2.470000, 2.300000, 2.160000, 2.030000, 1.920000, 1.810000, 1.720000, 1.650000, 1.580000, 1.500000, 1.440000, 1.390000, 1.340000, 1.290000, 1.240000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.880000, 0.850000, 0.840000, 0.810000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054219, 794553 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.899000, -0.466000, 2.550393 ], "estimate": [ 3.899000, -0.466000, 2.550393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.410000, 3.660000, 3.940000, 4.270000, 4.650000, 5.020000, 4.980000, 4.980000, 5.150000, 6.140000, 6.110000, 6.090000, 6.050000, 6.030000, 5.990000, 6.260000, 4.240000, 4.410000, 4.640000, 3.560000, 2.680000, 1.480000, 1.480000, 4.110000, 4.140000, 4.180000, 4.190000, 4.210000, 4.220000, 4.230000, 6.600000, 6.460000, 1.650000, 1.620000, 1.630000, 1.620000, 1.630000, 1.630000, 1.620000, 1.610000, 1.610000, 1.620000, 1.660000, 1.680000, 1.700000, 1.730000, 1.740000, 1.790000, 1.810000, 1.350000, 1.380000, 3.930000, 3.840000, 3.760000, 3.680000, 3.600000, 3.540000, 3.470000, 3.410000, 2.070000, 3.300000, 3.240000, 3.180000, 3.140000, 3.080000, 3.040000, 3.010000, 2.960000, 2.920000, 2.890000, 2.850000, 2.820000, 2.780000, 2.760000, 2.730000, 2.690000, 2.670000, 2.640000, 2.620000, 2.600000, 2.590000, 2.560000, 2.540000, 2.530000, 2.510000, 2.490000, 2.490000, 2.470000, 2.450000, 2.440000, 2.430000, 2.420000, 2.410000, 2.400000, 2.390000, 2.380000, 2.380000, 2.370000, 2.360000, 2.360000, 2.350000, 2.350000, 2.350000, 2.350000, 2.350000, 2.340000, 2.350000, 2.350000, 2.350000, 2.350000, 2.350000, 2.360000, 2.370000, 2.370000, 2.380000, 2.390000, 2.400000, 2.410000, 2.420000, 2.300000, 2.160000, 2.040000, 1.940000, 1.830000, 1.740000, 1.650000, 1.580000, 1.510000, 1.450000, 1.400000, 1.350000, 1.310000, 1.260000, 1.210000, 1.180000, 1.140000, 1.110000, 1.070000, 1.050000, 1.020000, 0.990000, 0.960000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.840000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054220, 398926 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.852000, -0.434000, 2.550393 ], "estimate": [ 3.852000, -0.434000, 2.550393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.560000, 3.810000, 4.090000, 4.430000, 4.810000, 5.000000, 4.980000, 4.980000, 6.150000, 6.130000, 6.090000, 6.060000, 6.040000, 6.000000, 5.980000, 4.230000, 4.220000, 4.440000, 3.620000, 3.420000, 1.450000, 2.130000, 4.090000, 4.110000, 4.110000, 4.150000, 4.160000, 4.180000, 4.200000, 4.210000, 1.630000, 1.610000, 1.580000, 1.590000, 1.590000, 1.590000, 1.600000, 1.590000, 1.590000, 1.580000, 1.590000, 1.630000, 1.640000, 1.670000, 1.700000, 1.720000, 1.750000, 1.780000, 1.310000, 4.040000, 3.940000, 3.860000, 3.770000, 3.690000, 3.610000, 3.540000, 3.470000, 3.400000, 2.000000, 2.170000, 3.230000, 3.180000, 3.110000, 3.070000, 3.020000, 2.970000, 2.940000, 2.900000, 2.860000, 2.830000, 2.780000, 2.760000, 2.720000, 2.690000, 2.670000, 2.640000, 2.610000, 2.580000, 2.570000, 2.550000, 2.530000, 2.510000, 2.490000, 2.480000, 2.460000, 2.440000, 2.430000, 2.410000, 2.390000, 2.390000, 2.370000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.320000, 2.310000, 2.310000, 2.310000, 2.310000, 2.300000, 2.300000, 2.300000, 2.290000, 2.300000, 2.290000, 2.300000, 2.300000, 2.300000, 2.300000, 2.310000, 2.310000, 2.310000, 2.320000, 2.330000, 2.330000, 2.350000, 2.350000, 2.370000, 2.250000, 2.110000, 1.990000, 1.890000, 1.790000, 1.710000, 1.640000, 1.570000, 1.500000, 1.450000, 1.400000, 1.350000, 1.300000, 1.260000, 1.210000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000 ], "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": [ 976054220, 400171 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.804000, -0.402000, 2.538102 ], "estimate": [ 3.804000, -0.402000, 2.538102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.780000, 4.050000, 4.360000, 4.710000, 5.010000, 4.950000, 4.930000, 5.130000, 6.120000, 6.100000, 6.080000, 6.040000, 6.000000, 5.980000, 5.970000, 4.210000, 6.340000, 3.580000, 1.450000, 2.120000, 2.130000, 4.070000, 4.070000, 4.100000, 4.120000, 4.130000, 4.150000, 4.170000, 4.180000, 1.580000, 1.560000, 1.570000, 1.580000, 1.570000, 1.570000, 1.570000, 1.570000, 1.560000, 1.560000, 1.560000, 1.600000, 1.620000, 1.640000, 1.670000, 1.700000, 1.710000, 1.270000, 1.390000, 4.040000, 3.950000, 3.870000, 3.770000, 3.680000, 3.600000, 3.520000, 3.460000, 3.390000, 1.970000, 1.920000, 3.210000, 3.150000, 3.090000, 3.040000, 3.010000, 2.960000, 2.920000, 2.870000, 2.840000, 2.800000, 2.760000, 2.720000, 2.690000, 2.660000, 2.630000, 2.600000, 2.580000, 2.550000, 2.530000, 2.510000, 2.490000, 2.480000, 2.450000, 2.430000, 2.410000, 2.400000, 2.380000, 2.370000, 2.350000, 2.340000, 2.330000, 2.310000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.270000, 2.270000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 2.240000, 2.250000, 2.240000, 2.250000, 2.250000, 2.250000, 2.260000, 2.260000, 2.270000, 2.280000, 2.290000, 2.290000, 2.300000, 2.310000, 2.320000, 2.280000, 2.140000, 2.030000, 1.920000, 1.820000, 1.740000, 1.660000, 1.590000, 1.530000, 1.460000, 1.420000, 1.370000, 1.320000, 1.280000, 1.230000, 1.200000, 1.160000, 1.130000, 1.100000, 1.060000, 1.050000, 1.020000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000 ], "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": [ 976054220, 401144 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.755000, -0.368000, 2.531957 ], "estimate": [ 3.755000, -0.368000, 2.531957 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.020000, 4.300000, 4.630000, 5.020000, 4.970000, 4.950000, 5.050000, 6.130000, 6.110000, 6.070000, 6.040000, 6.000000, 5.980000, 5.970000, 4.180000, 1.430000, 1.440000, 2.600000, 2.090000, 6.350000, 4.060000, 4.050000, 4.060000, 4.100000, 4.100000, 4.120000, 4.130000, 1.550000, 1.520000, 1.540000, 1.540000, 1.540000, 1.550000, 1.550000, 1.540000, 1.550000, 1.550000, 1.520000, 1.570000, 1.580000, 1.610000, 1.610000, 1.640000, 1.650000, 1.220000, 1.290000, 1.780000, 4.030000, 3.940000, 3.840000, 3.750000, 3.650000, 3.580000, 3.490000, 3.440000, 3.350000, 1.890000, 1.910000, 3.180000, 3.120000, 3.070000, 3.010000, 2.960000, 2.920000, 2.880000, 2.840000, 2.790000, 2.760000, 2.720000, 2.690000, 2.650000, 2.620000, 2.590000, 2.560000, 2.530000, 2.510000, 2.490000, 2.480000, 2.450000, 2.430000, 2.410000, 2.390000, 2.370000, 2.350000, 2.330000, 2.310000, 2.310000, 2.300000, 2.290000, 2.270000, 2.260000, 2.250000, 2.240000, 2.230000, 2.220000, 2.210000, 2.200000, 2.200000, 2.200000, 2.200000, 2.190000, 2.190000, 2.190000, 2.190000, 2.190000, 2.190000, 2.180000, 2.190000, 2.190000, 2.190000, 2.190000, 2.190000, 2.200000, 2.200000, 2.210000, 2.220000, 2.230000, 2.240000, 2.250000, 2.260000, 2.270000, 2.200000, 2.060000, 1.960000, 1.860000, 1.790000, 1.700000, 1.620000, 1.560000, 1.500000, 1.440000, 1.390000, 1.350000, 1.310000, 1.270000, 1.220000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054220, 609835 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.708000, -0.335000, 2.525811 ], "estimate": [ 3.708000, -0.335000, 2.525811 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.210000, 4.520000, 4.850000, 4.990000, 4.940000, 4.960000, 6.100000, 6.120000, 6.080000, 6.050000, 6.010000, 5.990000, 5.960000, 1.400000, 1.420000, 3.550000, 2.060000, 2.100000, 3.740000, 4.020000, 4.030000, 4.030000, 4.050000, 4.070000, 4.100000, 1.530000, 1.510000, 1.490000, 1.520000, 1.520000, 1.520000, 1.520000, 1.520000, 1.510000, 1.520000, 1.520000, 1.500000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.190000, 1.160000, 1.700000, 1.730000, 4.060000, 3.950000, 3.860000, 3.760000, 3.660000, 3.580000, 3.490000, 3.420000, 3.350000, 1.880000, 1.850000, 3.170000, 3.100000, 3.050000, 2.990000, 2.940000, 2.900000, 2.850000, 2.810000, 2.770000, 2.730000, 2.690000, 2.660000, 2.620000, 2.590000, 2.560000, 2.530000, 2.500000, 2.480000, 2.470000, 2.440000, 2.410000, 2.390000, 2.370000, 2.350000, 2.330000, 2.310000, 2.310000, 2.290000, 2.270000, 2.250000, 2.240000, 2.220000, 2.220000, 2.200000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.160000, 2.160000, 2.170000, 2.180000, 2.190000, 2.200000, 2.210000, 2.210000, 2.220000, 2.100000, 2.000000, 1.900000, 1.810000, 1.740000, 1.660000, 1.600000, 1.530000, 1.470000, 1.420000, 1.370000, 1.330000, 1.290000, 1.250000, 1.210000, 1.180000, 1.150000, 1.110000, 1.090000, 1.060000, 1.040000, 1.020000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054220, 921404 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.661000, -0.303000, 2.519666 ], "estimate": [ 3.661000, -0.303000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.540000, 4.870000, 4.980000, 4.930000, 4.960000, 5.710000, 6.110000, 6.090000, 6.040000, 6.010000, 5.960000, 1.420000, 4.160000, 4.200000, 2.150000, 2.090000, 3.710000, 6.310000, 4.030000, 4.030000, 4.010000, 4.020000, 4.050000, 1.510000, 1.480000, 1.460000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.480000, 1.510000, 1.520000, 1.540000, 1.560000, 1.410000, 1.180000, 1.510000, 1.640000, 1.700000, 2.190000, 4.020000, 3.920000, 3.810000, 3.720000, 3.630000, 3.550000, 3.460000, 3.390000, 3.320000, 1.800000, 1.820000, 3.120000, 3.060000, 3.000000, 2.940000, 2.900000, 2.850000, 2.810000, 2.770000, 2.720000, 2.690000, 2.640000, 2.610000, 2.580000, 2.540000, 2.510000, 2.480000, 2.460000, 2.430000, 2.410000, 2.390000, 2.370000, 2.340000, 2.320000, 2.310000, 2.290000, 2.270000, 2.250000, 2.230000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.150000, 2.140000, 2.130000, 2.120000, 2.110000, 2.110000, 2.100000, 2.090000, 2.090000, 2.100000, 2.080000, 2.080000, 2.080000, 2.080000, 2.070000, 2.080000, 2.080000, 2.080000, 2.070000, 2.080000, 2.080000, 2.080000, 2.090000, 2.090000, 2.100000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.150000, 2.160000, 2.180000, 2.120000, 2.020000, 1.920000, 1.830000, 1.750000, 1.680000, 1.600000, 1.550000, 1.480000, 1.440000, 1.400000, 1.350000, 1.310000, 1.270000, 1.230000, 1.200000, 1.170000, 1.140000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.960000, 0.960000, 0.940000, 0.920000, 0.900000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000 ], "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": [ 976054221, 700000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.613000, -0.269000, 2.519666 ], "estimate": [ 3.613000, -0.269000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.860000, 4.980000, 4.940000, 4.950000, 5.550000, 6.110000, 6.080000, 6.050000, 1.400000, 1.350000, 5.940000, 4.140000, 4.220000, 2.060000, 3.530000, 3.700000, 6.300000, 4.020000, 4.020000, 4.000000, 1.510000, 1.490000, 1.450000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.130000, 1.130000, 1.590000, 1.620000, 1.640000, 2.160000, 2.190000, 4.000000, 3.890000, 3.790000, 3.690000, 3.590000, 3.500000, 3.430000, 3.340000, 3.250000, 1.780000, 3.140000, 3.080000, 3.020000, 2.960000, 2.910000, 2.860000, 2.820000, 2.770000, 2.720000, 2.690000, 2.640000, 2.600000, 2.570000, 2.530000, 2.500000, 2.480000, 2.440000, 2.410000, 2.380000, 2.360000, 2.340000, 2.320000, 2.300000, 2.280000, 2.260000, 2.230000, 2.220000, 2.200000, 2.190000, 2.170000, 2.160000, 2.140000, 2.130000, 2.120000, 2.110000, 2.090000, 2.090000, 2.080000, 2.070000, 2.060000, 2.060000, 2.060000, 2.050000, 2.050000, 2.050000, 2.040000, 2.040000, 2.030000, 2.030000, 2.040000, 2.030000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.050000, 2.050000, 2.060000, 2.060000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.110000, 2.010000, 1.910000, 1.820000, 1.750000, 1.680000, 1.600000, 1.550000, 1.490000, 1.440000, 1.400000, 1.360000, 1.310000, 1.280000, 1.240000, 1.200000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.810000, 0.790000, 0.790000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000 ], "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": [ 976054221, 431056 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.566000, -0.235000, 2.519666 ], "estimate": [ 3.566000, -0.235000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.990000, 4.930000, 4.940000, 5.470000, 6.110000, 1.400000, 1.400000, 6.000000, 5.970000, 5.940000, 4.140000, 2.060000, 2.900000, 3.730000, 3.680000, 6.100000, 4.010000, 4.000000, 1.480000, 1.460000, 1.420000, 1.420000, 1.430000, 1.420000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.400000, 1.450000, 1.470000, 1.490000, 1.110000, 1.090000, 1.500000, 1.560000, 1.580000, 1.610000, 4.380000, 2.120000, 4.100000, 3.970000, 3.860000, 3.760000, 3.660000, 3.560000, 3.460000, 3.380000, 3.310000, 1.730000, 1.750000, 3.090000, 3.040000, 2.980000, 2.920000, 2.860000, 2.820000, 2.770000, 2.720000, 2.680000, 2.630000, 2.590000, 2.560000, 2.520000, 2.480000, 2.450000, 2.420000, 2.390000, 2.360000, 2.330000, 2.310000, 2.290000, 2.280000, 2.250000, 2.230000, 2.200000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.100000, 2.090000, 2.070000, 2.060000, 2.060000, 2.050000, 2.040000, 2.030000, 2.020000, 2.010000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 1.980000, 1.980000, 1.980000, 1.980000, 1.980000, 1.980000, 1.970000, 1.970000, 1.980000, 1.980000, 1.980000, 1.970000, 1.980000, 1.980000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.030000, 2.040000, 2.060000, 2.060000, 2.070000, 2.030000, 1.930000, 1.840000, 1.770000, 1.700000, 1.620000, 1.570000, 1.510000, 1.450000, 1.410000, 1.370000, 1.330000, 1.300000, 1.250000, 1.220000, 1.200000, 1.160000, 1.140000, 1.110000, 1.080000, 1.050000, 1.050000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054221, 432217 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.519000, -0.201000, 2.507374 ], "estimate": [ 3.519000, -0.201000, 2.507374 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.960000, 4.930000, 5.040000, 1.390000, 1.390000, 6.060000, 6.020000, 5.980000, 5.940000, 2.060000, 2.040000, 3.160000, 3.680000, 3.680000, 6.070000, 3.980000, 1.500000, 1.450000, 1.440000, 1.400000, 1.390000, 1.390000, 1.390000, 1.400000, 1.410000, 1.410000, 1.410000, 1.410000, 1.380000, 1.420000, 1.440000, 1.450000, 1.050000, 1.070000, 1.480000, 1.510000, 1.530000, 1.550000, 1.570000, 4.430000, 2.080000, 4.130000, 3.990000, 3.870000, 3.770000, 3.660000, 3.570000, 3.460000, 3.390000, 3.300000, 1.680000, 1.710000, 3.080000, 3.020000, 2.960000, 2.910000, 2.850000, 2.790000, 2.750000, 2.690000, 2.650000, 2.610000, 2.570000, 2.530000, 2.490000, 2.460000, 2.420000, 2.390000, 2.360000, 2.320000, 2.300000, 2.280000, 2.260000, 2.230000, 2.210000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.090000, 2.080000, 2.060000, 2.060000, 2.040000, 2.030000, 2.020000, 2.000000, 1.990000, 1.980000, 1.970000, 1.970000, 1.960000, 1.950000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.940000, 1.930000, 1.930000, 1.930000, 1.930000, 1.930000, 1.930000, 1.930000, 1.930000, 1.940000, 1.930000, 1.930000, 1.930000, 1.940000, 1.940000, 1.940000, 1.950000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.020000, 2.030000, 2.040000, 1.960000, 1.870000, 1.790000, 1.730000, 1.660000, 1.600000, 1.540000, 1.480000, 1.450000, 1.400000, 1.360000, 1.320000, 1.280000, 1.240000, 1.210000, 1.190000, 1.170000, 1.130000, 1.100000, 1.080000, 1.050000, 1.040000, 1.010000, 1.000000, 0.980000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054221, 659731 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.473000, -0.168000, 2.501229 ], "estimate": [ 3.473000, -0.168000, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.950000, 1.370000, 1.390000, 6.110000, 6.070000, 6.020000, 5.990000, 5.940000, 2.020000, 2.560000, 3.320000, 3.690000, 6.270000, 6.260000, 1.450000, 1.430000, 1.420000, 1.400000, 1.380000, 1.370000, 1.360000, 1.360000, 1.380000, 1.380000, 1.380000, 1.380000, 1.360000, 1.390000, 1.410000, 1.050000, 1.030000, 1.380000, 1.460000, 1.490000, 1.510000, 1.510000, 1.530000, 4.620000, 2.060000, 2.010000, 4.120000, 3.990000, 3.870000, 3.750000, 3.640000, 3.550000, 3.450000, 3.360000, 3.260000, 1.620000, 3.130000, 3.050000, 2.990000, 2.920000, 2.870000, 2.810000, 2.760000, 2.710000, 2.670000, 2.610000, 2.570000, 2.530000, 2.490000, 2.460000, 2.410000, 2.380000, 2.350000, 2.310000, 2.290000, 2.260000, 2.230000, 2.210000, 2.190000, 2.170000, 2.140000, 2.120000, 2.100000, 2.080000, 2.070000, 2.060000, 2.030000, 2.020000, 2.000000, 1.990000, 1.970000, 1.960000, 1.950000, 1.940000, 1.940000, 1.930000, 1.920000, 1.910000, 1.890000, 1.890000, 1.880000, 1.890000, 1.880000, 1.880000, 1.880000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.860000, 1.870000, 1.870000, 1.880000, 1.880000, 1.890000, 1.900000, 1.910000, 1.920000, 1.930000, 1.940000, 1.940000, 1.950000, 1.970000, 1.980000, 1.990000, 1.910000, 1.820000, 1.750000, 1.680000, 1.620000, 1.570000, 1.510000, 1.460000, 1.420000, 1.380000, 1.340000, 1.310000, 1.270000, 1.230000, 1.210000, 1.180000, 1.150000, 1.130000, 1.100000, 1.070000, 1.050000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000 ], "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": [ 976054221, 979676 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.427000, -0.134000, 2.495083 ], "estimate": [ 3.427000, -0.134000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.960000, 5.480000, 6.110000, 6.080000, 6.030000, 6.000000, 2.030000, 4.120000, 2.550000, 3.300000, 3.630000, 3.650000, 1.430000, 1.410000, 1.410000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.330000, 1.360000, 1.310000, 1.010000, 1.020000, 1.430000, 1.440000, 1.460000, 1.470000, 1.500000, 1.510000, 1.540000, 4.670000, 1.980000, 4.290000, 4.140000, 4.000000, 3.870000, 3.750000, 3.640000, 3.540000, 3.440000, 3.340000, 1.640000, 1.610000, 3.100000, 3.030000, 2.960000, 2.900000, 2.840000, 2.780000, 2.720000, 2.680000, 2.630000, 2.590000, 2.540000, 2.490000, 2.460000, 2.420000, 2.380000, 2.340000, 2.310000, 2.280000, 2.260000, 2.220000, 2.190000, 2.170000, 2.150000, 2.120000, 2.100000, 2.080000, 2.060000, 2.050000, 2.030000, 2.010000, 1.990000, 1.980000, 1.960000, 1.940000, 1.940000, 1.930000, 1.910000, 1.900000, 1.890000, 1.870000, 1.870000, 1.860000, 1.860000, 1.850000, 1.850000, 1.840000, 1.840000, 1.840000, 1.830000, 1.830000, 1.830000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.820000, 1.830000, 1.830000, 1.840000, 1.840000, 1.850000, 1.860000, 1.860000, 1.870000, 1.880000, 1.890000, 1.910000, 1.910000, 1.930000, 1.940000, 1.920000, 1.840000, 1.770000, 1.700000, 1.640000, 1.580000, 1.520000, 1.470000, 1.440000, 1.400000, 1.350000, 1.320000, 1.280000, 1.250000, 1.210000, 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.060000, 1.050000, 1.040000, 1.010000, 0.990000, 0.970000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054221, 997313 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.380000, -0.099000, 2.488938 ], "estimate": [ 3.380000, -0.099000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.050000, 6.150000, 6.100000, 6.050000, 5.990000, 2.020000, 2.550000, 2.520000, 3.220000, 3.480000, 1.430000, 1.410000, 1.390000, 1.390000, 1.380000, 1.380000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.330000, 1.320000, 1.320000, 0.980000, 0.970000, 1.370000, 1.400000, 1.400000, 1.420000, 1.430000, 1.460000, 1.470000, 1.490000, 4.980000, 4.750000, 2.000000, 4.350000, 4.180000, 4.020000, 3.890000, 3.760000, 3.650000, 3.550000, 3.440000, 3.330000, 1.560000, 1.560000, 3.090000, 3.020000, 2.950000, 2.880000, 2.810000, 2.760000, 2.700000, 2.650000, 2.590000, 2.550000, 2.510000, 2.470000, 2.420000, 2.380000, 2.350000, 2.310000, 2.280000, 2.250000, 2.210000, 2.180000, 2.160000, 2.130000, 2.100000, 2.080000, 2.060000, 2.050000, 2.030000, 2.000000, 1.980000, 1.960000, 1.940000, 1.940000, 1.920000, 1.900000, 1.880000, 1.870000, 1.860000, 1.860000, 1.840000, 1.830000, 1.820000, 1.810000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.780000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.760000, 1.760000, 1.760000, 1.760000, 1.760000, 1.770000, 1.770000, 1.770000, 1.770000, 1.770000, 1.780000, 1.780000, 1.790000, 1.790000, 1.790000, 1.800000, 1.810000, 1.820000, 1.840000, 1.840000, 1.860000, 1.860000, 1.870000, 1.890000, 1.890000, 1.800000, 1.740000, 1.680000, 1.610000, 1.570000, 1.510000, 1.470000, 1.430000, 1.390000, 1.350000, 1.310000, 1.280000, 1.240000, 1.210000, 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.060000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054222, 407091 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.333000, -0.063000, 2.495083 ], "estimate": [ 3.333000, -0.063000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.140000, 6.100000, 6.060000, 2.020000, 5.980000, 5.900000, 4.100000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.350000, 1.330000, 1.320000, 1.320000, 1.310000, 1.330000, 1.270000, 0.960000, 0.970000, 1.350000, 1.380000, 1.370000, 1.380000, 1.400000, 1.410000, 1.420000, 1.440000, 1.450000, 5.240000, 4.990000, 1.950000, 1.930000, 4.330000, 4.150000, 4.000000, 3.870000, 3.740000, 3.620000, 3.510000, 3.400000, 1.540000, 1.520000, 3.130000, 3.050000, 2.980000, 2.900000, 2.830000, 2.760000, 2.710000, 2.660000, 2.600000, 2.550000, 2.500000, 2.470000, 2.420000, 2.380000, 2.340000, 2.300000, 2.270000, 2.230000, 2.190000, 2.170000, 2.140000, 2.100000, 2.080000, 2.050000, 2.040000, 2.020000, 2.000000, 1.970000, 1.950000, 1.940000, 1.920000, 1.900000, 1.880000, 1.870000, 1.860000, 1.840000, 1.830000, 1.810000, 1.800000, 1.790000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.740000, 1.730000, 1.720000, 1.720000, 1.720000, 1.720000, 1.720000, 1.720000, 1.710000, 1.710000, 1.710000, 1.710000, 1.720000, 1.720000, 1.720000, 1.720000, 1.720000, 1.720000, 1.710000, 1.720000, 1.730000, 1.730000, 1.730000, 1.750000, 1.750000, 1.770000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.830000, 1.840000, 1.860000, 1.820000, 1.750000, 1.690000, 1.620000, 1.580000, 1.520000, 1.480000, 1.440000, 1.400000, 1.360000, 1.320000, 1.290000, 1.250000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.020000, 1.000000, 0.970000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.850000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054222, 430114 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.287000, -0.029000, 2.495083 ], "estimate": [ 3.287000, -0.029000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.110000, 2.030000, 6.030000, 2.560000, 2.540000, 1.410000, 1.390000, 1.370000, 1.370000, 1.360000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.290000, 0.980000, 0.950000, 1.260000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.420000, 1.450000, 5.610000, 5.300000, 5.050000, 1.880000, 4.570000, 4.350000, 4.170000, 4.000000, 3.860000, 3.720000, 3.590000, 3.480000, 1.470000, 1.490000, 3.180000, 3.100000, 3.020000, 2.950000, 2.870000, 2.800000, 2.730000, 2.680000, 2.620000, 2.560000, 2.510000, 2.480000, 2.430000, 2.380000, 2.330000, 2.300000, 2.260000, 2.220000, 2.190000, 2.150000, 2.110000, 2.090000, 2.060000, 2.040000, 2.010000, 1.990000, 1.970000, 1.940000, 1.930000, 1.910000, 1.880000, 1.870000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.710000, 1.700000, 1.700000, 1.690000, 1.680000, 1.680000, 1.680000, 1.670000, 1.660000, 1.660000, 1.660000, 1.650000, 1.660000, 1.650000, 1.650000, 1.650000, 1.640000, 1.650000, 1.660000, 1.650000, 1.660000, 1.660000, 1.660000, 1.660000, 1.660000, 1.670000, 1.680000, 1.680000, 1.690000, 1.700000, 1.710000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.790000, 1.800000, 1.770000, 1.710000, 1.650000, 1.600000, 1.540000, 1.490000, 1.450000, 1.420000, 1.380000, 1.350000, 1.310000, 1.280000, 1.240000, 1.210000, 1.190000, 1.170000, 1.140000, 1.120000, 1.100000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000 ], "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": [ 976054222, 579956 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.245000, 0.003000, 2.495083 ], "estimate": [ 3.245000, 0.003000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.020000, 6.050000, 2.530000, 1.390000, 1.380000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.320000, 1.300000, 1.300000, 0.990000, 0.930000, 1.190000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.370000, 1.380000, 1.390000, 1.420000, 2.350000, 5.730000, 5.390000, 1.910000, 1.850000, 4.610000, 4.400000, 4.200000, 4.010000, 3.870000, 3.730000, 3.600000, 3.470000, 1.450000, 1.470000, 3.170000, 3.080000, 3.000000, 2.920000, 2.850000, 2.770000, 2.700000, 2.650000, 2.590000, 2.540000, 2.470000, 2.440000, 2.400000, 2.340000, 2.300000, 2.270000, 2.220000, 2.190000, 2.150000, 2.120000, 2.080000, 2.050000, 2.030000, 2.000000, 1.970000, 1.950000, 1.940000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.710000, 1.710000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.640000, 1.640000, 1.640000, 1.630000, 1.630000, 1.620000, 1.620000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.610000, 1.620000, 1.630000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.760000, 1.780000, 1.720000, 1.670000, 1.600000, 1.560000, 1.500000, 1.460000, 1.430000, 1.400000, 1.350000, 1.320000, 1.290000, 1.260000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054223, 197370 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.199000, 0.037000, 2.495083 ], "estimate": [ 3.199000, 0.037000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.070000, 1.370000, 1.370000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 1.310000, 1.300000, 1.300000, 1.140000, 0.910000, 1.030000, 1.260000, 1.280000, 1.290000, 1.310000, 1.310000, 1.320000, 1.340000, 1.330000, 1.340000, 1.360000, 1.360000, 1.390000, 2.410000, 2.350000, 5.570000, 5.570000, 1.860000, 1.930000, 4.720000, 4.480000, 4.270000, 4.080000, 3.900000, 3.750000, 3.620000, 1.430000, 1.420000, 3.280000, 3.170000, 3.080000, 3.000000, 2.910000, 2.840000, 2.760000, 2.690000, 2.630000, 2.570000, 2.510000, 2.470000, 2.410000, 2.360000, 2.320000, 2.280000, 2.240000, 2.190000, 2.160000, 2.120000, 2.090000, 2.050000, 2.030000, 2.000000, 1.970000, 1.930000, 1.920000, 1.900000, 1.870000, 1.860000, 1.840000, 1.820000, 1.800000, 1.780000, 1.760000, 1.750000, 1.730000, 1.710000, 1.700000, 1.690000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.600000, 1.600000, 1.600000, 1.600000, 1.590000, 1.590000, 1.580000, 1.580000, 1.570000, 1.570000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.560000, 1.570000, 1.560000, 1.570000, 1.570000, 1.570000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.650000, 1.670000, 1.680000, 1.700000, 1.710000, 1.720000, 1.740000, 1.690000, 1.630000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.380000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.170000, 1.150000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054223, 198524 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.149000, 0.075000, 2.495083 ], "estimate": [ 3.149000, 0.075000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.370000, 1.360000, 1.340000, 1.320000, 1.320000, 1.310000, 1.300000, 1.030000, 0.910000, 0.940000, 1.280000, 1.250000, 1.270000, 1.290000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.330000, 1.340000, 1.340000, 1.370000, 2.870000, 2.870000, 2.350000, 5.780000, 5.760000, 1.850000, 5.140000, 4.860000, 4.600000, 4.370000, 4.160000, 3.970000, 3.810000, 3.660000, 1.380000, 1.410000, 3.300000, 3.180000, 3.090000, 3.000000, 2.910000, 2.830000, 2.760000, 2.680000, 2.620000, 2.560000, 2.500000, 2.450000, 2.390000, 2.340000, 2.290000, 2.260000, 2.210000, 2.170000, 2.130000, 2.090000, 2.050000, 2.020000, 1.990000, 1.960000, 1.930000, 1.910000, 1.880000, 1.850000, 1.830000, 1.820000, 1.790000, 1.780000, 1.760000, 1.740000, 1.720000, 1.710000, 1.690000, 1.680000, 1.650000, 1.640000, 1.630000, 1.620000, 1.600000, 1.600000, 1.590000, 1.580000, 1.580000, 1.570000, 1.560000, 1.550000, 1.550000, 1.540000, 1.540000, 1.530000, 1.530000, 1.520000, 1.520000, 1.510000, 1.510000, 1.500000, 1.510000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.520000, 1.520000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.670000, 1.610000, 1.570000, 1.520000, 1.470000, 1.450000, 1.410000, 1.370000, 1.330000, 1.310000, 1.280000, 1.240000, 1.210000, 1.200000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000 ], "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": [ 976054223, 199470 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.102000, 0.109000, 2.495083 ], "estimate": [ 3.102000, 0.109000, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 0.890000, 0.910000, 1.170000, 1.230000, 1.260000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.290000, 1.310000, 1.310000, 1.320000, 1.340000, 1.340000, 3.480000, 2.810000, 2.320000, 6.100000, 5.880000, 1.800000, 1.800000, 5.210000, 4.910000, 4.640000, 4.400000, 4.170000, 3.990000, 3.820000, 1.340000, 1.350000, 3.390000, 3.280000, 3.170000, 3.060000, 2.980000, 2.890000, 2.800000, 2.730000, 2.660000, 2.580000, 2.510000, 2.460000, 2.410000, 2.350000, 2.300000, 2.260000, 2.210000, 2.170000, 2.130000, 2.090000, 2.050000, 2.020000, 1.980000, 1.950000, 1.930000, 1.890000, 1.860000, 1.840000, 1.810000, 1.780000, 1.780000, 1.750000, 1.740000, 1.710000, 1.700000, 1.680000, 1.660000, 1.640000, 1.620000, 1.610000, 1.600000, 1.590000, 1.580000, 1.560000, 1.550000, 1.550000, 1.540000, 1.530000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.630000, 1.580000, 1.540000, 1.500000, 1.460000, 1.430000, 1.390000, 1.350000, 1.320000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054223, 420022 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.059000, 0.142000, 2.488938 ], "estimate": [ 3.059000, 0.142000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.310000, 0.860000, 0.910000, 1.160000, 1.260000, 1.230000, 1.260000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.280000, 1.290000, 1.290000, 1.310000, 1.320000, 1.340000, 6.180000, 3.110000, 2.840000, 2.310000, 6.260000, 6.010000, 1.770000, 5.720000, 5.370000, 5.030000, 4.740000, 4.490000, 4.260000, 4.040000, 1.340000, 1.330000, 3.530000, 3.390000, 3.280000, 3.160000, 3.050000, 2.960000, 2.870000, 2.790000, 2.710000, 2.640000, 2.570000, 2.500000, 2.440000, 2.380000, 2.330000, 2.280000, 2.230000, 2.180000, 2.130000, 2.100000, 2.060000, 2.020000, 1.990000, 1.950000, 1.920000, 1.890000, 1.850000, 1.830000, 1.800000, 1.780000, 1.750000, 1.740000, 1.720000, 1.700000, 1.680000, 1.660000, 1.640000, 1.620000, 1.600000, 1.590000, 1.580000, 1.570000, 1.550000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.450000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.410000, 1.420000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.410000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.600000, 1.560000, 1.510000, 1.480000, 1.450000, 1.400000, 1.370000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.110000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054223, 655179 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.014000, 0.176000, 2.488938 ], "estimate": [ 3.014000, 0.176000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.140000, 1.270000, 1.250000, 1.230000, 1.250000, 1.250000, 1.240000, 1.230000, 1.230000, 1.240000, 1.260000, 1.260000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 6.160000, 3.970000, 6.200000, 2.800000, 2.590000, 6.240000, 1.780000, 1.780000, 5.490000, 5.490000, 5.140000, 4.820000, 4.560000, 4.300000, 4.120000, 1.310000, 1.340000, 3.540000, 3.400000, 3.280000, 3.160000, 3.040000, 2.950000, 2.850000, 2.770000, 2.680000, 2.610000, 2.540000, 2.470000, 2.410000, 2.350000, 2.300000, 2.250000, 2.190000, 2.150000, 2.100000, 2.060000, 2.030000, 1.990000, 1.950000, 1.920000, 1.880000, 1.850000, 1.820000, 1.780000, 1.770000, 1.750000, 1.730000, 1.710000, 1.680000, 1.660000, 1.640000, 1.620000, 1.600000, 1.590000, 1.570000, 1.550000, 1.540000, 1.520000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.440000, 1.440000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.410000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.360000, 1.370000, 1.360000, 1.370000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.440000, 1.440000, 1.460000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.580000, 1.530000, 1.490000, 1.450000, 1.420000, 1.380000, 1.350000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.080000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054223, 710126 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.965000, 0.212000, 2.488938 ], "estimate": [ 2.965000, 0.212000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.250000, 1.250000, 1.260000, 1.250000, 1.250000, 1.240000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.330000, 6.150000, 6.160000, 3.950000, 6.160000, 2.270000, 2.260000, 6.210000, 1.750000, 6.010000, 5.610000, 5.570000, 5.190000, 4.860000, 4.560000, 1.290000, 1.270000, 3.860000, 3.670000, 3.520000, 3.380000, 3.250000, 3.120000, 3.020000, 2.910000, 2.810000, 2.730000, 2.650000, 2.560000, 2.500000, 2.440000, 2.370000, 2.300000, 2.260000, 2.190000, 2.150000, 2.100000, 2.050000, 2.020000, 1.980000, 1.940000, 1.910000, 1.860000, 1.840000, 1.800000, 1.780000, 1.750000, 1.720000, 1.700000, 1.670000, 1.640000, 1.630000, 1.610000, 1.600000, 1.580000, 1.550000, 1.540000, 1.520000, 1.500000, 1.490000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.410000, 1.400000, 1.380000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.340000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.430000, 1.440000, 1.440000, 1.460000, 1.480000, 1.490000, 1.500000, 1.530000, 1.540000, 1.540000, 1.500000, 1.460000, 1.430000, 1.400000, 1.370000, 1.330000, 1.310000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054224, 133636 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.918000, 0.248000, 2.488938 ], "estimate": [ 2.918000, 0.248000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.240000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.250000, 1.250000, 1.240000, 1.230000, 1.260000, 1.290000, 1.290000, 1.310000, 6.130000, 6.140000, 6.140000, 6.130000, 3.010000, 2.250000, 5.980000, 1.730000, 6.040000, 5.950000, 5.780000, 5.450000, 5.350000, 4.980000, 1.260000, 1.230000, 4.130000, 3.900000, 3.710000, 3.530000, 3.380000, 3.240000, 3.110000, 2.990000, 2.890000, 2.800000, 2.700000, 2.610000, 2.540000, 2.460000, 2.400000, 2.330000, 2.280000, 2.210000, 2.170000, 2.110000, 2.060000, 2.020000, 1.970000, 1.930000, 1.910000, 1.860000, 1.830000, 1.790000, 1.770000, 1.730000, 1.700000, 1.680000, 1.650000, 1.620000, 1.590000, 1.590000, 1.570000, 1.550000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.440000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.260000, 1.250000, 1.250000, 1.260000, 1.250000, 1.250000, 1.250000, 1.260000, 1.250000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.390000, 1.410000, 1.430000, 1.440000, 1.440000, 1.460000, 1.480000, 1.490000, 1.510000, 1.480000, 1.450000, 1.410000, 1.380000, 1.350000, 1.310000, 1.290000, 1.270000, 1.240000, 1.210000, 1.200000, 1.170000, 1.150000, 1.140000, 1.110000, 1.100000, 1.080000, 1.060000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000 ], "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": [ 976054224, 134863 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.896000, 0.264000, 2.488938 ], "estimate": [ 2.896000, 0.264000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.250000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.250000, 1.230000, 1.250000, 1.270000, 1.300000, 3.800000, 3.820000, 6.120000, 6.130000, 6.120000, 3.950000, 2.990000, 2.240000, 1.720000, 1.680000, 6.180000, 5.950000, 5.780000, 5.420000, 5.440000, 1.220000, 1.210000, 4.410000, 4.150000, 3.920000, 3.720000, 3.530000, 3.370000, 3.220000, 3.090000, 2.960000, 2.860000, 2.760000, 2.670000, 2.580000, 2.500000, 2.430000, 2.360000, 2.290000, 2.230000, 2.170000, 2.110000, 2.070000, 2.030000, 1.970000, 1.920000, 1.890000, 1.850000, 1.820000, 1.780000, 1.750000, 1.720000, 1.690000, 1.660000, 1.620000, 1.600000, 1.590000, 1.560000, 1.550000, 1.530000, 1.500000, 1.480000, 1.470000, 1.440000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.350000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.450000, 1.470000, 1.460000, 1.430000, 1.390000, 1.360000, 1.330000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054224, 254940 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.852000, 0.298000, 2.488938 ], "estimate": [ 2.852000, 0.298000, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.250000, 1.240000, 1.250000, 1.260000, 1.260000, 1.250000, 1.230000, 1.260000, 1.290000, 3.810000, 3.810000, 3.820000, 6.100000, 6.110000, 6.110000, 6.090000, 2.980000, 2.220000, 1.700000, 5.550000, 5.600000, 6.010000, 5.850000, 5.710000, 1.220000, 1.200000, 4.900000, 4.560000, 4.280000, 4.010000, 3.780000, 3.580000, 3.420000, 3.250000, 3.120000, 2.970000, 2.870000, 2.760000, 2.660000, 2.580000, 2.490000, 2.420000, 2.350000, 2.280000, 2.210000, 2.150000, 2.080000, 2.040000, 2.000000, 1.940000, 1.900000, 1.850000, 1.820000, 1.780000, 1.750000, 1.720000, 1.690000, 1.650000, 1.620000, 1.600000, 1.570000, 1.540000, 1.520000, 1.510000, 1.480000, 1.460000, 1.450000, 1.440000, 1.420000, 1.390000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.270000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.150000, 1.120000, 1.110000, 1.090000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054224, 694129 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.806000, 0.333000, 2.482792 ], "estimate": [ 2.806000, 0.333000, 2.482792 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.240000, 1.250000, 1.250000, 1.260000, 1.240000, 1.260000, 1.290000, 3.790000, 3.790000, 3.810000, 3.810000, 3.830000, 5.860000, 6.090000, 6.110000, 2.930000, 1.700000, 1.680000, 5.950000, 5.320000, 6.140000, 5.970000, 1.170000, 1.180000, 5.530000, 5.110000, 4.740000, 4.400000, 4.120000, 3.870000, 3.660000, 3.450000, 3.280000, 3.130000, 2.990000, 2.860000, 2.760000, 2.650000, 2.570000, 2.470000, 2.400000, 2.320000, 2.250000, 2.180000, 2.120000, 2.060000, 2.010000, 1.950000, 1.920000, 1.870000, 1.830000, 1.780000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.590000, 1.560000, 1.540000, 1.510000, 1.480000, 1.460000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.340000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.250000, 1.240000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.360000, 1.380000, 1.390000, 1.410000, 1.410000, 1.370000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.140000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.020000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 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": [ 976054224, 695358 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.757000, 0.371000, 2.470501 ], "estimate": [ 2.757000, 0.371000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.230000, 1.250000, 1.280000, 3.820000, 2.850000, 3.780000, 3.780000, 3.780000, 3.810000, 6.100000, 6.100000, 6.090000, 6.090000, 1.640000, 3.310000, 6.110000, 5.940000, 5.340000, 1.170000, 1.160000, 5.820000, 5.420000, 5.420000, 5.000000, 4.630000, 4.290000, 4.000000, 3.750000, 3.540000, 3.350000, 3.180000, 3.020000, 2.890000, 2.760000, 2.650000, 2.560000, 2.460000, 2.390000, 2.300000, 2.240000, 2.170000, 2.100000, 2.040000, 1.980000, 1.930000, 1.890000, 1.840000, 1.790000, 1.750000, 1.710000, 1.690000, 1.650000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.470000, 1.440000, 1.430000, 1.410000, 1.390000, 1.370000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.060000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.310000, 1.340000, 1.350000, 1.370000, 1.380000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054224, 879909 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.710000, 0.408000, 2.470501 ], "estimate": [ 2.710000, 0.408000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.230000, 1.260000, 1.270000, 2.660000, 3.820000, 2.820000, 3.790000, 3.770000, 3.760000, 3.770000, 3.830000, 5.800000, 6.080000, 1.610000, 1.650000, 2.670000, 6.090000, 1.180000, 1.160000, 1.160000, 5.990000, 5.770000, 5.700000, 5.340000, 5.260000, 4.830000, 4.460000, 4.130000, 3.850000, 3.600000, 3.400000, 3.210000, 3.050000, 2.890000, 2.760000, 2.640000, 2.550000, 2.450000, 2.350000, 2.270000, 2.200000, 2.130000, 2.060000, 2.010000, 1.940000, 1.900000, 1.840000, 1.800000, 1.760000, 1.710000, 1.670000, 1.630000, 1.590000, 1.570000, 1.540000, 1.500000, 1.470000, 1.440000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.000000, 1.010000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.330000, 1.340000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054225, 176818 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.665000, 0.444000, 2.464355 ], "estimate": [ 2.665000, 0.444000, 2.464355 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.510000, 2.660000, 2.760000, 3.810000, 3.790000, 3.760000, 3.750000, 3.760000, 3.790000, 6.090000, 1.660000, 1.650000, 2.710000, 3.320000, 1.120000, 1.090000, 5.900000, 5.560000, 6.100000, 6.020000, 5.790000, 5.430000, 5.450000, 4.960000, 4.550000, 4.200000, 3.880000, 3.630000, 3.400000, 3.210000, 3.020000, 2.880000, 2.730000, 2.620000, 2.500000, 2.410000, 2.310000, 2.230000, 2.150000, 2.080000, 2.010000, 1.950000, 1.900000, 1.840000, 1.790000, 1.740000, 1.690000, 1.660000, 1.620000, 1.580000, 1.540000, 1.520000, 1.480000, 1.440000, 1.430000, 1.400000, 1.370000, 1.350000, 1.320000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.250000, 1.280000, 1.290000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054225, 214923 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.643000, 0.461000, 2.464355 ], "estimate": [ 2.643000, 0.461000, 2.464355 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.500000, 2.660000, 2.750000, 3.820000, 3.800000, 3.760000, 3.750000, 3.740000, 3.770000, 6.060000, 1.660000, 2.150000, 1.140000, 1.110000, 1.130000, 6.060000, 6.060000, 5.910000, 5.250000, 6.080000, 5.880000, 5.660000, 5.300000, 5.240000, 4.760000, 4.370000, 4.020000, 3.730000, 3.480000, 3.260000, 3.060000, 2.890000, 2.740000, 2.610000, 2.500000, 2.390000, 2.300000, 2.210000, 2.120000, 2.050000, 1.980000, 1.920000, 1.850000, 1.810000, 1.760000, 1.700000, 1.660000, 1.620000, 1.580000, 1.540000, 1.500000, 1.450000, 1.440000, 1.420000, 1.380000, 1.350000, 1.330000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.170000, 1.200000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 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": [ 976054225, 776890 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.600000, 0.496000, 2.452065 ], "estimate": [ 2.600000, 0.496000, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.530000, 2.580000, 2.860000, 3.820000, 3.800000, 3.760000, 3.740000, 3.740000, 1.640000, 1.610000, 1.130000, 1.090000, 1.160000, 3.250000, 6.030000, 6.050000, 6.050000, 5.300000, 5.690000, 6.070000, 5.960000, 5.630000, 5.300000, 5.170000, 4.680000, 4.270000, 3.910000, 3.620000, 3.360000, 3.150000, 2.960000, 2.780000, 2.630000, 2.510000, 2.410000, 2.300000, 2.210000, 2.120000, 2.040000, 1.970000, 1.890000, 1.830000, 1.780000, 1.740000, 1.680000, 1.630000, 1.580000, 1.550000, 1.510000, 1.470000, 1.430000, 1.410000, 1.380000, 1.340000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.030000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000 ], "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": [ 976054225, 800183 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.553000, 0.535000, 2.439774 ], "estimate": [ 2.553000, 0.535000, 2.439774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.840000, 2.750000, 3.830000, 3.810000, 3.780000, 3.750000, 3.730000, 1.590000, 1.110000, 1.090000, 5.980000, 2.710000, 3.300000, 3.290000, 6.020000, 6.020000, 6.040000, 5.210000, 6.040000, 5.850000, 5.730000, 5.250000, 5.590000, 5.000000, 4.510000, 4.110000, 3.760000, 3.460000, 3.220000, 3.010000, 2.830000, 2.650000, 2.520000, 2.400000, 2.290000, 2.180000, 2.090000, 2.010000, 1.930000, 1.870000, 1.790000, 1.750000, 1.690000, 1.640000, 1.590000, 1.550000, 1.500000, 1.460000, 1.430000, 1.390000, 1.370000, 1.330000, 1.290000, 1.270000, 1.240000, 1.210000, 1.190000, 1.160000, 1.150000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.960000, 0.970000, 0.970000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054225, 801242 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.508000, 0.572000, 2.439774 ], "estimate": [ 2.508000, 0.572000, 2.439774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.820000, 3.830000, 3.810000, 3.800000, 3.770000, 1.130000, 1.070000, 2.140000, 2.140000, 6.030000, 2.660000, 3.850000, 3.280000, 6.020000, 6.020000, 6.010000, 5.850000, 5.190000, 6.030000, 6.030000, 5.720000, 5.240000, 5.350000, 4.750000, 4.280000, 3.870000, 3.550000, 3.270000, 3.040000, 2.840000, 2.660000, 2.500000, 2.370000, 2.250000, 2.150000, 2.050000, 1.970000, 1.880000, 1.820000, 1.750000, 1.700000, 1.640000, 1.590000, 1.540000, 1.490000, 1.440000, 1.420000, 1.380000, 1.340000, 1.300000, 1.280000, 1.240000, 1.210000, 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.080000, 1.050000, 1.040000, 1.030000, 1.000000, 0.990000, 0.970000, 0.960000, 0.940000, 0.940000, 0.920000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.730000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.930000, 0.950000, 0.950000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.120000, 1.140000, 1.170000, 1.190000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054226, 659000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.466000, 0.608000, 2.427483 ], "estimate": [ 2.466000, 0.608000, 2.427483 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.820000, 3.820000, 3.790000, 1.090000, 1.070000, 3.730000, 2.120000, 2.120000, 6.040000, 2.600000, 6.000000, 3.270000, 6.010000, 6.000000, 6.000000, 6.000000, 5.650000, 5.440000, 6.020000, 5.760000, 5.680000, 5.230000, 5.190000, 4.600000, 4.100000, 3.720000, 3.400000, 3.130000, 2.900000, 2.700000, 2.520000, 2.390000, 2.260000, 2.140000, 2.040000, 1.940000, 1.870000, 1.790000, 1.730000, 1.660000, 1.610000, 1.560000, 1.510000, 1.450000, 1.420000, 1.370000, 1.340000, 1.290000, 1.260000, 1.230000, 1.200000, 1.170000, 1.150000, 1.120000, 1.090000, 1.070000, 1.040000, 1.040000, 1.010000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 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, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.160000, 1.180000, 1.200000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054226, 322546 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.423000, 0.645000, 2.415191 ], "estimate": [ 2.423000, 0.645000, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.080000, 1.110000, 1.620000, 3.750000, 2.120000, 6.060000, 6.040000, 2.700000, 2.810000, 3.780000, 3.260000, 6.000000, 5.990000, 5.980000, 5.980000, 5.170000, 5.940000, 5.990000, 5.690000, 5.340000, 5.560000, 5.000000, 4.410000, 3.920000, 3.550000, 3.250000, 2.960000, 2.750000, 2.550000, 2.390000, 2.250000, 2.120000, 2.020000, 1.920000, 1.840000, 1.760000, 1.690000, 1.630000, 1.560000, 1.510000, 1.450000, 1.420000, 1.370000, 1.330000, 1.290000, 1.250000, 1.210000, 1.190000, 1.160000, 1.120000, 1.100000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 0.960000, 0.950000, 0.930000, 0.900000, 0.890000, 0.880000, 0.860000, 0.860000, 0.840000, 0.830000, 0.810000, 0.810000, 0.800000, 0.780000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.090000, 1.120000, 1.150000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054226, 334596 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.378000, 0.685000, 2.409046 ], "estimate": [ 2.378000, 0.685000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.610000, 3.790000, 3.770000, 2.120000, 3.710000, 4.250000, 6.010000, 2.580000, 5.800000, 3.740000, 5.990000, 5.980000, 5.980000, 5.960000, 5.960000, 5.550000, 5.980000, 5.810000, 5.660000, 5.190000, 5.500000, 4.790000, 4.190000, 3.730000, 3.360000, 3.060000, 2.800000, 2.580000, 2.400000, 2.250000, 2.110000, 1.990000, 1.880000, 1.790000, 1.720000, 1.640000, 1.570000, 1.520000, 1.450000, 1.410000, 1.360000, 1.310000, 1.270000, 1.240000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.850000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.770000, 0.790000, 0.800000, 0.800000, 0.820000, 0.830000, 0.840000, 0.870000, 0.870000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.080000, 1.110000, 1.140000, 1.170000, 1.140000, 1.140000, 1.120000, 1.120000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054226, 773504 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.335000, 0.723000, 2.409046 ], "estimate": [ 2.335000, 0.723000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.790000, 3.760000, 2.120000, 3.720000, 3.910000, 6.020000, 2.580000, 2.870000, 3.250000, 5.990000, 5.980000, 5.980000, 5.970000, 5.960000, 5.940000, 5.140000, 5.970000, 5.970000, 5.650000, 5.180000, 5.250000, 4.510000, 3.930000, 3.490000, 3.130000, 2.840000, 2.580000, 2.390000, 2.210000, 2.070000, 1.950000, 1.840000, 1.740000, 1.660000, 1.580000, 1.510000, 1.430000, 1.400000, 1.350000, 1.290000, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.060000, 1.040000, 1.010000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.880000, 0.900000, 0.930000, 0.950000, 0.970000, 1.000000, 1.040000, 1.060000, 1.090000, 1.120000, 1.160000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 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": [ 976054226, 774672 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.312000, 0.744000, 2.415191 ], "estimate": [ 2.312000, 0.744000, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.790000, 3.780000, 2.110000, 3.730000, 3.710000, 6.040000, 2.580000, 2.870000, 5.640000, 3.250000, 5.980000, 5.970000, 5.960000, 5.960000, 5.960000, 5.140000, 5.950000, 5.940000, 5.720000, 5.410000, 5.410000, 4.900000, 4.200000, 3.650000, 3.230000, 2.890000, 2.620000, 2.380000, 2.210000, 2.050000, 1.920000, 1.790000, 1.690000, 1.600000, 1.530000, 1.460000, 1.390000, 1.340000, 1.280000, 1.230000, 1.190000, 1.150000, 1.110000, 1.070000, 1.040000, 1.010000, 0.980000, 0.950000, 0.920000, 0.890000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.660000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.670000, 0.680000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.760000, 0.780000, 0.800000, 0.800000, 0.820000, 0.830000, 0.870000, 0.880000, 0.910000, 0.940000, 0.970000, 1.000000, 1.030000, 1.050000, 1.100000, 1.130000, 1.140000, 1.120000, 1.110000, 1.110000, 1.100000, 1.080000, 1.080000, 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": [ 976054226, 960132 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.308000, 0.747000, 2.402900 ], "estimate": [ 2.308000, 0.747000, 2.402900 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.790000, 2.100000, 3.750000, 3.730000, 3.990000, 2.570000, 2.850000, 6.010000, 3.230000, 5.980000, 5.970000, 5.970000, 5.960000, 5.950000, 5.950000, 5.340000, 5.930000, 5.940000, 5.740000, 5.130000, 5.600000, 4.740000, 4.040000, 3.510000, 3.100000, 2.780000, 2.500000, 2.310000, 2.120000, 1.970000, 1.830000, 1.720000, 1.630000, 1.530000, 1.460000, 1.390000, 1.330000, 1.290000, 1.230000, 1.190000, 1.140000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.940000, 0.900000, 0.870000, 0.850000, 0.820000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.610000, 0.590000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.760000, 0.780000, 0.800000, 0.790000, 0.820000, 0.840000, 0.870000, 0.890000, 0.930000, 0.950000, 0.980000, 1.010000, 1.030000, 1.080000, 1.110000, 1.130000, 1.120000, 1.120000, 1.100000, 1.100000, 1.090000, 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": [ 976054227, 703232 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.313000, 0.743000, 2.409046 ], "estimate": [ 2.313000, 0.743000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.780000, 2.100000, 3.740000, 3.700000, 3.730000, 2.610000, 2.820000, 6.010000, 3.230000, 5.980000, 5.980000, 5.970000, 5.960000, 5.950000, 5.950000, 5.130000, 5.940000, 5.940000, 5.710000, 5.170000, 5.500000, 4.840000, 4.110000, 3.560000, 3.150000, 2.830000, 2.550000, 2.330000, 2.160000, 2.000000, 1.850000, 1.750000, 1.640000, 1.550000, 1.480000, 1.400000, 1.350000, 1.290000, 1.240000, 1.190000, 1.150000, 1.110000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.870000, 0.890000, 0.920000, 0.950000, 0.980000, 1.010000, 1.040000, 1.080000, 1.110000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 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": [ 976054227, 704385 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.317000, 0.739000, 2.402900 ], "estimate": [ 2.317000, 0.739000, 2.402900 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.780000, 2.110000, 2.130000, 3.700000, 3.730000, 2.610000, 2.780000, 6.010000, 3.230000, 5.980000, 5.980000, 5.970000, 5.960000, 5.950000, 5.940000, 5.200000, 5.940000, 5.940000, 5.690000, 5.140000, 5.520000, 4.820000, 4.100000, 3.570000, 3.150000, 2.840000, 2.560000, 2.340000, 2.160000, 2.000000, 1.860000, 1.750000, 1.650000, 1.560000, 1.490000, 1.420000, 1.360000, 1.310000, 1.260000, 1.200000, 1.160000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.820000, 0.810000, 0.800000, 0.780000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.860000, 0.880000, 0.910000, 0.940000, 0.970000, 0.990000, 1.020000, 1.060000, 1.090000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 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": [ 976054227, 705085 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.338000, 0.720000, 2.409046 ], "estimate": [ 2.338000, 0.720000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.790000, 3.770000, 2.110000, 3.730000, 3.710000, 6.050000, 2.580000, 2.850000, 5.650000, 3.240000, 5.980000, 5.970000, 5.960000, 5.950000, 5.950000, 5.130000, 5.940000, 5.940000, 5.730000, 5.460000, 5.430000, 4.940000, 4.220000, 3.660000, 3.240000, 2.910000, 2.630000, 2.400000, 2.220000, 2.070000, 1.930000, 1.810000, 1.690000, 1.620000, 1.530000, 1.470000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.080000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.640000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.780000, 0.800000, 0.800000, 0.820000, 0.830000, 0.870000, 0.890000, 0.910000, 0.950000, 0.970000, 1.000000, 1.030000, 1.060000, 1.100000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 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": [ 976054227, 705988 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.384000, 0.679000, 2.415191 ], "estimate": [ 2.384000, 0.679000, 2.415191 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.600000, 3.800000, 3.780000, 3.770000, 2.110000, 3.710000, 4.220000, 2.640000, 2.760000, 5.700000, 3.230000, 5.980000, 5.980000, 5.980000, 5.970000, 5.960000, 5.370000, 5.690000, 5.960000, 5.760000, 5.610000, 5.160000, 5.130000, 4.410000, 3.850000, 3.420000, 3.090000, 2.800000, 2.570000, 2.380000, 2.210000, 2.060000, 1.940000, 1.830000, 1.730000, 1.650000, 1.580000, 1.520000, 1.450000, 1.400000, 1.350000, 1.290000, 1.260000, 1.200000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.980000, 0.950000, 0.930000, 0.910000, 0.880000, 0.880000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.840000, 0.840000, 0.880000, 0.880000, 0.910000, 0.930000, 0.950000, 0.980000, 1.020000, 1.040000, 1.070000, 1.090000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 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": [ 976054227, 855065 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.438000, 0.632000, 2.409046 ], "estimate": [ 2.438000, 0.632000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.120000, 1.600000, 3.790000, 3.770000, 2.110000, 3.720000, 6.060000, 2.410000, 2.550000, 4.040000, 3.280000, 5.930000, 5.990000, 5.990000, 5.980000, 5.970000, 5.160000, 5.990000, 5.990000, 5.680000, 5.320000, 5.430000, 4.710000, 4.170000, 3.710000, 3.360000, 3.070000, 2.810000, 2.580000, 2.420000, 2.270000, 2.130000, 2.010000, 1.910000, 1.820000, 1.740000, 1.660000, 1.600000, 1.540000, 1.490000, 1.430000, 1.400000, 1.340000, 1.300000, 1.270000, 1.220000, 1.180000, 1.160000, 1.130000, 1.100000, 1.060000, 1.040000, 1.020000, 0.990000, 0.970000, 0.950000, 0.940000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.090000, 1.120000, 1.150000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054228, 300570 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.478000, 0.596000, 2.396755 ], "estimate": [ 2.478000, 0.596000, 2.396755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.900000, 2.600000, 3.840000, 3.820000, 3.800000, 1.070000, 1.550000, 3.760000, 2.150000, 2.160000, 6.050000, 2.770000, 2.860000, 3.820000, 6.000000, 6.010000, 5.990000, 6.000000, 6.000000, 5.300000, 6.000000, 5.830000, 5.660000, 5.220000, 5.520000, 4.850000, 4.310000, 3.870000, 3.520000, 3.220000, 2.970000, 2.760000, 2.570000, 2.420000, 2.280000, 2.150000, 2.050000, 1.960000, 1.870000, 1.800000, 1.720000, 1.660000, 1.590000, 1.550000, 1.490000, 1.440000, 1.410000, 1.360000, 1.320000, 1.280000, 1.240000, 1.220000, 1.190000, 1.160000, 1.130000, 1.100000, 1.080000, 1.050000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.970000, 1.000000, 1.010000, 1.030000, 1.040000, 1.070000, 1.100000, 1.120000, 1.160000, 1.180000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054228, 301712 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.508000, 0.569000, 2.384464 ], "estimate": [ 2.508000, 0.569000, 2.384464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.460000, 2.530000, 2.550000, 3.840000, 3.830000, 3.810000, 3.800000, 1.110000, 1.100000, 3.740000, 2.130000, 6.050000, 6.040000, 2.640000, 3.810000, 3.270000, 6.020000, 6.000000, 6.000000, 6.010000, 5.190000, 6.020000, 5.910000, 5.680000, 5.220000, 5.550000, 4.940000, 4.400000, 3.970000, 3.610000, 3.310000, 3.060000, 2.850000, 2.660000, 2.490000, 2.350000, 2.230000, 2.130000, 2.030000, 1.940000, 1.860000, 1.790000, 1.720000, 1.660000, 1.600000, 1.560000, 1.510000, 1.460000, 1.420000, 1.380000, 1.340000, 1.300000, 1.280000, 1.240000, 1.200000, 1.180000, 1.160000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.960000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.160000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054228, 454915 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.545000, 0.534000, 2.378319 ], "estimate": [ 2.545000, 0.534000, 2.378319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.280000, 5.940000, 5.890000, 2.530000, 2.600000, 3.840000, 3.830000, 3.810000, 3.800000, 3.780000, 1.180000, 1.090000, 2.130000, 6.060000, 5.750000, 2.620000, 3.320000, 6.030000, 6.020000, 6.010000, 6.020000, 5.210000, 5.980000, 6.040000, 5.770000, 5.650000, 5.780000, 5.120000, 4.590000, 4.140000, 3.770000, 3.460000, 3.210000, 2.970000, 2.790000, 2.610000, 2.480000, 2.350000, 2.240000, 2.140000, 2.040000, 1.960000, 1.880000, 1.810000, 1.740000, 1.690000, 1.630000, 1.580000, 1.540000, 1.490000, 1.440000, 1.410000, 1.370000, 1.330000, 1.310000, 1.280000, 1.240000, 1.210000, 1.190000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.050000, 1.040000, 1.030000, 1.010000, 0.980000, 0.970000, 0.960000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.150000, 1.180000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054228, 944298 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.595000, 0.486000, 2.372173 ], "estimate": [ 2.595000, 0.486000, 2.372173 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.720000, 3.620000, 4.400000, 4.620000, 2.530000, 2.520000, 2.770000, 3.840000, 3.820000, 3.810000, 3.790000, 3.760000, 3.740000, 1.580000, 1.090000, 1.140000, 2.670000, 3.850000, 3.310000, 6.040000, 6.030000, 6.040000, 5.580000, 5.680000, 6.050000, 5.810000, 5.710000, 5.350000, 5.220000, 4.680000, 4.270000, 3.880000, 3.580000, 3.320000, 3.100000, 2.910000, 2.740000, 2.590000, 2.460000, 2.340000, 2.250000, 2.140000, 2.060000, 1.980000, 1.910000, 1.840000, 1.790000, 1.730000, 1.680000, 1.620000, 1.570000, 1.530000, 1.490000, 1.450000, 1.420000, 1.390000, 1.360000, 1.320000, 1.290000, 1.270000, 1.230000, 1.210000, 1.190000, 1.160000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054229, 154000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.642000, 0.440000, 2.359882 ], "estimate": [ 2.642000, 0.440000, 2.359882 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.280000, 1.280000, 1.250000, 1.290000, 1.340000, 4.680000, 3.950000, 2.530000, 2.550000, 2.790000, 3.850000, 3.830000, 3.800000, 3.760000, 3.760000, 3.790000, 1.660000, 2.160000, 6.050000, 1.100000, 3.330000, 6.050000, 6.070000, 6.070000, 5.270000, 6.070000, 6.090000, 6.090000, 5.590000, 5.670000, 5.170000, 4.700000, 4.290000, 3.940000, 3.650000, 3.400000, 3.200000, 3.000000, 2.840000, 2.690000, 2.560000, 2.450000, 2.350000, 2.260000, 2.160000, 2.090000, 2.020000, 1.950000, 1.880000, 1.830000, 1.760000, 1.720000, 1.670000, 1.620000, 1.590000, 1.550000, 1.510000, 1.470000, 1.440000, 1.420000, 1.380000, 1.350000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.230000, 1.250000, 1.230000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054229, 899359 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.675000, 0.408000, 2.353736 ], "estimate": [ 2.675000, 0.408000, 2.353736 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.280000, 1.290000, 1.290000, 1.270000, 1.310000, 1.360000, 3.900000, 2.570000, 3.860000, 2.810000, 3.840000, 3.820000, 3.790000, 3.780000, 3.800000, 6.110000, 6.100000, 1.660000, 2.970000, 2.680000, 1.130000, 6.070000, 6.090000, 5.930000, 5.280000, 6.100000, 5.860000, 5.810000, 5.320000, 5.340000, 4.850000, 4.450000, 4.100000, 3.800000, 3.540000, 3.320000, 3.120000, 2.960000, 2.810000, 2.670000, 2.550000, 2.440000, 2.360000, 2.260000, 2.180000, 2.100000, 2.020000, 1.970000, 1.910000, 1.850000, 1.800000, 1.750000, 1.690000, 1.660000, 1.620000, 1.580000, 1.540000, 1.510000, 1.470000, 1.440000, 1.420000, 1.380000, 1.360000, 1.330000, 1.310000, 1.290000, 1.260000, 1.250000, 1.230000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.970000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.250000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054229, 410081 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.698000, 0.384000, 2.347591 ], "estimate": [ 2.698000, 0.384000, 2.347591 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.290000, 1.290000, 1.290000, 1.290000, 1.280000, 1.300000, 3.900000, 2.780000, 2.810000, 2.650000, 3.840000, 3.810000, 3.790000, 3.780000, 3.780000, 6.110000, 5.780000, 1.680000, 3.890000, 2.700000, 1.180000, 1.160000, 6.100000, 5.300000, 6.120000, 5.930000, 5.930000, 5.340000, 5.590000, 5.090000, 4.650000, 4.290000, 3.970000, 3.710000, 3.470000, 3.260000, 3.090000, 2.930000, 2.790000, 2.660000, 2.550000, 2.440000, 2.360000, 2.270000, 2.180000, 2.120000, 2.040000, 1.990000, 1.920000, 1.870000, 1.810000, 1.770000, 1.730000, 1.680000, 1.630000, 1.590000, 1.570000, 1.540000, 1.500000, 1.460000, 1.440000, 1.410000, 1.380000, 1.360000, 1.330000, 1.310000, 1.290000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.150000, 1.140000, 1.130000, 1.110000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.230000, 1.250000, 1.280000, 1.300000, 1.250000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054229, 500108 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.729000, 0.353000, 2.335300 ], "estimate": [ 2.729000, 0.353000, 2.335300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.300000, 1.290000, 1.310000, 3.880000, 2.580000, 2.830000, 3.850000, 3.820000, 3.800000, 3.790000, 3.820000, 6.110000, 5.830000, 6.090000, 1.690000, 2.720000, 3.360000, 1.190000, 1.170000, 5.310000, 6.130000, 6.030000, 5.910000, 5.360000, 5.660000, 5.150000, 4.730000, 4.360000, 4.050000, 3.770000, 3.540000, 3.330000, 3.150000, 2.990000, 2.850000, 2.720000, 2.610000, 2.500000, 2.420000, 2.320000, 2.240000, 2.170000, 2.090000, 2.040000, 1.970000, 1.910000, 1.850000, 1.810000, 1.770000, 1.720000, 1.680000, 1.640000, 1.600000, 1.580000, 1.540000, 1.510000, 1.470000, 1.440000, 1.420000, 1.400000, 1.370000, 1.340000, 1.340000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.290000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054229, 865308 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.768000, 0.312000, 2.323009 ], "estimate": [ 2.768000, 0.312000, 2.323009 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.280000, 1.300000, 1.300000, 1.310000, 1.300000, 1.310000, 1.300000, 1.300000, 1.300000, 1.290000, 1.300000, 1.270000, 1.320000, 1.330000, 2.890000, 3.860000, 3.830000, 3.820000, 3.820000, 3.810000, 6.110000, 6.130000, 6.120000, 1.870000, 2.720000, 3.340000, 6.140000, 5.980000, 1.200000, 1.190000, 5.960000, 5.840000, 5.390000, 5.430000, 4.990000, 4.600000, 4.270000, 3.990000, 3.740000, 3.510000, 3.320000, 3.160000, 3.010000, 2.880000, 2.750000, 2.640000, 2.550000, 2.450000, 2.360000, 2.290000, 2.210000, 2.140000, 2.080000, 2.020000, 1.960000, 1.920000, 1.860000, 1.820000, 1.770000, 1.730000, 1.700000, 1.660000, 1.620000, 1.590000, 1.560000, 1.530000, 1.500000, 1.470000, 1.440000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000 ], "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": [ 976054229, 880157 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.796000, 0.282000, 2.304572 ], "estimate": [ 2.796000, 0.282000, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.330000, 1.320000, 1.290000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.300000, 1.310000, 1.330000, 1.380000, 3.850000, 3.850000, 3.850000, 3.850000, 6.150000, 6.150000, 6.140000, 6.160000, 2.230000, 1.730000, 6.150000, 6.000000, 5.360000, 6.180000, 1.220000, 5.870000, 5.420000, 5.480000, 5.060000, 4.670000, 4.350000, 4.070000, 3.820000, 3.590000, 3.410000, 3.250000, 3.100000, 2.950000, 2.830000, 2.720000, 2.630000, 2.530000, 2.440000, 2.360000, 2.280000, 2.220000, 2.150000, 2.080000, 2.030000, 1.980000, 1.930000, 1.880000, 1.840000, 1.790000, 1.760000, 1.720000, 1.690000, 1.640000, 1.620000, 1.590000, 1.560000, 1.530000, 1.500000, 1.470000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.370000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.240000, 1.230000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.080000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.340000, 1.340000, 1.350000, 1.310000, 1.290000, 1.260000, 1.230000, 1.220000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.010000, 1.010000, 0.990000, 0.980000, 0.980000, 0.960000, 0.950000, 0.930000, 0.930000, 0.920000, 0.900000, 0.900000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054230, 555089 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.801000, 0.276000, 2.304572 ], "estimate": [ 2.801000, 0.276000, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.370000, 1.340000, 1.340000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.310000, 1.310000, 1.300000, 1.320000, 1.340000, 3.860000, 3.860000, 3.860000, 3.860000, 6.150000, 6.150000, 6.150000, 6.170000, 2.270000, 1.750000, 6.160000, 6.140000, 5.370000, 6.210000, 1.270000, 1.240000, 5.430000, 5.440000, 5.030000, 4.650000, 4.360000, 4.070000, 3.830000, 3.600000, 3.420000, 3.260000, 3.120000, 2.970000, 2.860000, 2.740000, 2.650000, 2.550000, 2.450000, 2.380000, 2.300000, 2.240000, 2.180000, 2.110000, 2.050000, 2.010000, 1.950000, 1.910000, 1.860000, 1.820000, 1.780000, 1.740000, 1.700000, 1.680000, 1.640000, 1.600000, 1.580000, 1.550000, 1.530000, 1.500000, 1.470000, 1.460000, 1.450000, 1.430000, 1.400000, 1.380000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.350000, 1.320000, 1.290000, 1.260000, 1.240000, 1.220000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054230, 748185 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.281000, 2.298427 ], "estimate": [ 2.797000, 0.281000, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.380000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.290000, 1.320000, 1.340000, 3.870000, 3.850000, 3.840000, 3.860000, 3.860000, 5.840000, 6.150000, 6.160000, 6.160000, 1.740000, 1.780000, 6.020000, 5.370000, 6.190000, 1.260000, 1.230000, 5.430000, 5.610000, 5.160000, 4.770000, 4.450000, 4.160000, 3.900000, 3.660000, 3.480000, 3.290000, 3.150000, 3.000000, 2.890000, 2.770000, 2.660000, 2.570000, 2.470000, 2.400000, 2.320000, 2.260000, 2.180000, 2.120000, 2.060000, 2.020000, 1.960000, 1.920000, 1.860000, 1.820000, 1.780000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.590000, 1.550000, 1.530000, 1.500000, 1.470000, 1.460000, 1.450000, 1.430000, 1.400000, 1.380000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.100000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.350000, 1.310000, 1.290000, 1.250000, 1.230000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 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": [ 976054230, 848350 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.298427 ], "estimate": [ 2.797000, 0.280000, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.360000, 1.340000, 1.340000, 1.300000, 1.310000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.290000, 1.330000, 1.340000, 3.860000, 3.850000, 3.850000, 3.850000, 3.870000, 5.850000, 6.150000, 6.150000, 2.260000, 1.740000, 6.170000, 6.020000, 5.370000, 6.190000, 1.240000, 1.230000, 5.430000, 5.590000, 5.150000, 4.760000, 4.430000, 4.140000, 3.890000, 3.660000, 3.470000, 3.280000, 3.140000, 3.000000, 2.880000, 2.770000, 2.660000, 2.570000, 2.470000, 2.400000, 2.320000, 2.260000, 2.180000, 2.120000, 2.050000, 2.010000, 1.960000, 1.910000, 1.860000, 1.810000, 1.780000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.190000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.370000, 1.350000, 1.310000, 1.290000, 1.250000, 1.230000, 1.210000, 1.180000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.020000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054230, 860164 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.298427 ], "estimate": [ 2.797000, 0.280000, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.360000, 1.340000, 1.330000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.290000, 1.330000, 1.330000, 3.860000, 3.850000, 3.850000, 3.850000, 3.880000, 5.840000, 6.150000, 6.150000, 2.260000, 1.730000, 6.160000, 6.010000, 5.370000, 6.190000, 1.260000, 1.230000, 5.430000, 5.600000, 5.160000, 4.770000, 4.430000, 4.150000, 3.890000, 3.660000, 3.470000, 3.280000, 3.150000, 3.000000, 2.880000, 2.770000, 2.660000, 2.570000, 2.470000, 2.390000, 2.320000, 2.240000, 2.180000, 2.110000, 2.060000, 2.010000, 1.950000, 1.910000, 1.860000, 1.820000, 1.790000, 1.740000, 1.710000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.530000, 1.490000, 1.470000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.310000, 1.340000, 1.350000, 1.370000, 1.340000, 1.320000, 1.290000, 1.250000, 1.230000, 1.210000, 1.190000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 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": [ 976054230, 861217 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.286135 ], "estimate": [ 2.797000, 0.280000, 2.286135 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.380000, 1.350000, 1.350000, 1.330000, 1.310000, 1.300000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.290000, 1.320000, 1.340000, 3.870000, 3.850000, 3.850000, 3.850000, 3.860000, 5.960000, 6.140000, 6.160000, 3.950000, 1.700000, 1.750000, 6.170000, 5.360000, 6.190000, 6.100000, 1.240000, 5.430000, 5.670000, 5.210000, 4.820000, 4.480000, 4.190000, 3.920000, 3.690000, 3.490000, 3.320000, 3.160000, 3.020000, 2.900000, 2.790000, 2.670000, 2.570000, 2.490000, 2.410000, 2.320000, 2.250000, 2.190000, 2.130000, 2.060000, 2.020000, 1.960000, 1.920000, 1.860000, 1.820000, 1.780000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.590000, 1.550000, 1.530000, 1.500000, 1.470000, 1.460000, 1.450000, 1.420000, 1.410000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.310000, 1.310000, 1.330000, 1.350000, 1.370000, 1.350000, 1.320000, 1.290000, 1.260000, 1.230000, 1.220000, 1.190000, 1.170000, 1.150000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054231, 560439 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.273844 ], "estimate": [ 2.797000, 0.280000, 2.273844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.380000, 1.360000, 1.340000, 1.340000, 1.320000, 1.300000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.310000, 1.300000, 1.290000, 1.340000, 1.350000, 3.850000, 3.850000, 3.850000, 3.860000, 5.910000, 6.140000, 6.150000, 6.160000, 2.220000, 1.740000, 6.160000, 6.130000, 5.370000, 6.200000, 1.240000, 1.250000, 5.430000, 5.430000, 5.010000, 4.640000, 4.320000, 4.050000, 3.800000, 3.590000, 3.410000, 3.240000, 3.090000, 2.950000, 2.840000, 2.720000, 2.630000, 2.530000, 2.450000, 2.370000, 2.290000, 2.230000, 2.160000, 2.090000, 2.040000, 1.990000, 1.940000, 1.890000, 1.850000, 1.800000, 1.770000, 1.730000, 1.700000, 1.660000, 1.620000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.470000, 1.460000, 1.440000, 1.410000, 1.390000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.330000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054231, 532436 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.243117 ], "estimate": [ 2.797000, 0.280000, 2.243117 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.400000, 1.370000, 1.360000, 1.340000, 1.330000, 1.290000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.290000, 1.320000, 1.340000, 3.860000, 3.840000, 3.840000, 3.850000, 6.130000, 6.070000, 6.140000, 6.150000, 2.250000, 1.730000, 6.150000, 6.000000, 5.380000, 6.200000, 1.250000, 1.230000, 5.410000, 5.560000, 5.130000, 4.750000, 4.410000, 4.130000, 3.870000, 3.650000, 3.460000, 3.280000, 3.140000, 3.000000, 2.870000, 2.760000, 2.650000, 2.560000, 2.470000, 2.390000, 2.320000, 2.250000, 2.180000, 2.110000, 2.050000, 2.010000, 1.950000, 1.910000, 1.850000, 1.830000, 1.790000, 1.740000, 1.710000, 1.680000, 1.640000, 1.610000, 1.580000, 1.540000, 1.520000, 1.490000, 1.470000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.350000, 1.320000, 1.290000, 1.260000, 1.230000, 1.220000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000 ], "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": [ 976054231, 533189 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.280000, 2.212389 ], "estimate": [ 2.798000, 0.280000, 2.212389 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.420000, 1.410000, 1.380000, 1.370000, 1.340000, 1.330000, 1.320000, 1.280000, 1.310000, 1.310000, 1.310000, 1.300000, 1.310000, 1.300000, 1.300000, 1.310000, 1.300000, 1.290000, 1.300000, 1.320000, 3.860000, 3.840000, 3.840000, 3.840000, 3.830000, 5.850000, 6.150000, 6.150000, 3.950000, 2.260000, 1.740000, 6.170000, 6.000000, 5.730000, 6.180000, 1.230000, 1.270000, 5.780000, 5.350000, 4.920000, 4.580000, 4.270000, 4.000000, 3.750000, 3.550000, 3.370000, 3.210000, 3.070000, 2.930000, 2.820000, 2.710000, 2.600000, 2.520000, 2.440000, 2.350000, 2.290000, 2.210000, 2.150000, 2.080000, 2.040000, 1.980000, 1.930000, 1.880000, 1.840000, 1.800000, 1.770000, 1.720000, 1.690000, 1.660000, 1.620000, 1.590000, 1.570000, 1.540000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.330000, 1.320000, 1.310000, 1.290000, 1.270000, 1.260000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.200000, 1.190000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054231, 655555 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.280000, 2.163225 ], "estimate": [ 2.798000, 0.280000, 2.163225 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.510000, 1.000000, 0.990000, 1.250000, 1.420000, 1.390000, 1.360000, 1.350000, 1.330000, 1.320000, 1.280000, 1.300000, 1.300000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.300000, 1.280000, 1.310000, 1.320000, 3.850000, 3.830000, 3.840000, 3.840000, 6.140000, 6.140000, 6.150000, 6.150000, 2.250000, 1.720000, 6.150000, 6.010000, 5.360000, 6.200000, 1.250000, 1.220000, 5.420000, 5.590000, 5.160000, 4.760000, 4.430000, 4.140000, 3.880000, 3.660000, 3.470000, 3.280000, 3.140000, 3.000000, 2.880000, 2.760000, 2.660000, 2.570000, 2.480000, 2.400000, 2.330000, 2.260000, 2.180000, 2.110000, 2.050000, 2.010000, 1.950000, 1.910000, 1.860000, 1.830000, 1.790000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.500000, 1.470000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.100000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.360000, 1.330000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000 ], "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": [ 976054231, 870061 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.114061 ], "estimate": [ 2.797000, 0.280000, 2.114061 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.920000, 4.040000, 4.150000, 1.500000, 1.000000, 0.990000, 1.420000, 1.400000, 1.380000, 1.350000, 1.340000, 1.310000, 1.310000, 1.280000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.290000, 1.290000, 1.270000, 1.300000, 1.330000, 3.840000, 3.830000, 3.830000, 3.830000, 6.140000, 6.140000, 6.140000, 6.140000, 2.250000, 1.730000, 6.150000, 5.990000, 5.340000, 6.190000, 1.240000, 1.220000, 5.410000, 5.520000, 5.090000, 4.720000, 4.400000, 4.110000, 3.850000, 3.630000, 3.440000, 3.280000, 3.130000, 2.980000, 2.870000, 2.750000, 2.650000, 2.550000, 2.470000, 2.390000, 2.310000, 2.250000, 2.180000, 2.100000, 2.060000, 2.010000, 1.950000, 1.910000, 1.850000, 1.820000, 1.780000, 1.740000, 1.710000, 1.670000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.480000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.370000, 1.360000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.040000, 1.020000, 1.010000, 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": [ 976054232, 153982 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.280000, 2.058751 ], "estimate": [ 2.797000, 0.280000, 2.058751 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.630000, 3.720000, 3.810000, 3.920000, 4.020000, 4.160000, 1.490000, 0.990000, 0.960000, 1.410000, 1.400000, 1.380000, 1.350000, 1.340000, 1.320000, 1.310000, 1.260000, 1.290000, 1.290000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.290000, 1.260000, 1.300000, 1.320000, 3.840000, 3.820000, 3.830000, 3.820000, 6.130000, 6.140000, 6.130000, 6.140000, 2.210000, 1.720000, 6.140000, 5.980000, 5.350000, 6.190000, 5.990000, 1.200000, 5.420000, 5.540000, 5.110000, 4.720000, 4.410000, 4.120000, 3.860000, 3.630000, 3.440000, 3.280000, 3.140000, 2.990000, 2.880000, 2.750000, 2.660000, 2.560000, 2.470000, 2.390000, 2.320000, 2.250000, 2.180000, 2.110000, 2.060000, 2.010000, 1.950000, 1.910000, 1.870000, 1.820000, 1.790000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.530000, 1.500000, 1.480000, 1.470000, 1.450000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.380000, 1.340000, 1.320000, 1.290000, 1.250000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054232, 270198 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.797000, 0.281000, 1.997296 ], "estimate": [ 2.797000, 0.281000, 1.997296 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.390000, 3.450000, 3.530000, 3.620000, 3.690000, 3.800000, 3.900000, 4.010000, 4.140000, 1.490000, 1.030000, 0.980000, 1.220000, 1.400000, 1.370000, 1.360000, 1.330000, 1.310000, 1.310000, 1.270000, 1.280000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.280000, 1.290000, 1.290000, 1.280000, 1.260000, 1.300000, 1.320000, 3.850000, 3.830000, 3.830000, 3.830000, 6.130000, 6.140000, 6.130000, 6.130000, 3.940000, 1.730000, 1.750000, 6.020000, 5.340000, 6.180000, 6.070000, 1.210000, 5.410000, 5.610000, 5.170000, 4.770000, 4.450000, 4.160000, 3.910000, 3.670000, 3.490000, 3.310000, 3.160000, 3.020000, 2.890000, 2.780000, 2.680000, 2.570000, 2.490000, 2.410000, 2.340000, 2.270000, 2.190000, 2.140000, 2.080000, 2.030000, 1.970000, 1.930000, 1.880000, 1.840000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.610000, 1.590000, 1.560000, 1.530000, 1.520000, 1.480000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.230000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.230000, 1.230000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.350000, 1.320000, 1.300000, 1.270000, 1.240000, 1.220000, 1.200000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 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": [ 976054232, 588718 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.279000, 1.935841 ], "estimate": [ 2.798000, 0.279000, 1.935841 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.100000, 3.150000, 1.590000, 3.290000, 3.370000, 3.440000, 3.520000, 3.610000, 3.690000, 3.780000, 3.880000, 4.000000, 4.120000, 1.520000, 1.430000, 0.970000, 1.200000, 1.390000, 1.370000, 1.340000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.280000, 1.280000, 1.280000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.260000, 1.280000, 1.300000, 3.850000, 3.820000, 3.830000, 3.830000, 6.130000, 5.950000, 6.130000, 6.130000, 3.910000, 2.210000, 1.690000, 6.140000, 5.330000, 6.180000, 6.030000, 1.230000, 1.230000, 5.650000, 5.210000, 4.810000, 4.490000, 4.180000, 3.920000, 3.700000, 3.510000, 3.340000, 3.180000, 3.040000, 2.910000, 2.800000, 2.690000, 2.600000, 2.510000, 2.420000, 2.350000, 2.280000, 2.200000, 2.150000, 2.080000, 2.040000, 1.980000, 1.940000, 1.890000, 1.840000, 1.790000, 1.770000, 1.730000, 1.700000, 1.660000, 1.620000, 1.600000, 1.570000, 1.540000, 1.520000, 1.500000, 1.470000, 1.460000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.120000, 1.110000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.380000, 1.390000, 1.360000, 1.330000, 1.300000, 1.280000, 1.240000, 1.220000, 1.210000, 1.180000, 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": [ 976054232, 720343 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.278000, 1.892822 ], "estimate": [ 2.798000, 0.278000, 1.892822 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.950000, 3.000000, 3.060000, 3.110000, 3.160000, 1.580000, 3.310000, 3.380000, 3.460000, 3.540000, 3.620000, 3.710000, 3.810000, 3.920000, 4.030000, 4.160000, 1.480000, 0.980000, 0.960000, 1.210000, 1.380000, 1.350000, 1.330000, 1.320000, 1.310000, 1.280000, 1.250000, 1.270000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000, 1.280000, 1.270000, 1.250000, 1.290000, 1.300000, 3.820000, 3.830000, 3.830000, 3.800000, 6.130000, 6.120000, 6.120000, 6.130000, 2.240000, 1.710000, 1.730000, 5.990000, 5.330000, 6.180000, 5.940000, 1.210000, 1.210000, 5.480000, 5.060000, 4.690000, 4.370000, 4.090000, 3.850000, 3.630000, 3.440000, 3.280000, 3.140000, 3.000000, 2.880000, 2.770000, 2.660000, 2.570000, 2.480000, 2.410000, 2.330000, 2.260000, 2.190000, 2.130000, 2.070000, 2.020000, 1.970000, 1.930000, 1.870000, 1.840000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.590000, 1.560000, 1.540000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.410000, 1.400000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.370000, 1.400000, 1.380000, 1.350000, 1.320000, 1.300000, 1.270000, 1.240000, 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": [ 976054233, 154777 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.278000, 1.843657 ], "estimate": [ 2.798000, 0.278000, 1.843657 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.830000, 2.880000, 2.930000, 2.970000, 3.020000, 3.080000, 3.140000, 1.590000, 3.280000, 3.350000, 3.420000, 3.510000, 3.580000, 3.670000, 3.760000, 3.870000, 3.980000, 4.100000, 4.220000, 1.390000, 0.960000, 1.040000, 1.380000, 1.370000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.240000, 1.270000, 1.270000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.270000, 1.260000, 1.290000, 1.320000, 3.830000, 3.820000, 3.830000, 3.830000, 5.810000, 6.120000, 6.120000, 3.940000, 2.230000, 1.700000, 6.150000, 5.350000, 6.170000, 6.000000, 5.970000, 1.210000, 5.690000, 5.250000, 4.840000, 4.510000, 4.220000, 3.960000, 3.740000, 3.530000, 3.360000, 3.210000, 3.060000, 2.930000, 2.820000, 2.710000, 2.620000, 2.520000, 2.450000, 2.370000, 2.300000, 2.230000, 2.170000, 2.090000, 2.050000, 1.990000, 1.950000, 1.910000, 1.860000, 1.820000, 1.780000, 1.740000, 1.710000, 1.670000, 1.640000, 1.610000, 1.580000, 1.550000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.370000, 1.340000, 1.320000, 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": [ 976054233, 156020 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.277000, 1.776057 ], "estimate": [ 2.799000, 0.277000, 1.776057 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.700000, 2.730000, 2.790000, 2.820000, 2.870000, 2.930000, 2.960000, 3.020000, 3.080000, 3.140000, 1.600000, 3.270000, 3.350000, 3.420000, 3.490000, 3.580000, 3.670000, 3.760000, 3.860000, 3.980000, 4.090000, 4.220000, 1.440000, 0.950000, 0.970000, 1.380000, 1.370000, 1.350000, 1.320000, 1.310000, 1.290000, 1.280000, 1.240000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.270000, 1.270000, 1.240000, 1.290000, 1.310000, 3.820000, 3.820000, 3.820000, 3.830000, 5.810000, 6.120000, 6.120000, 3.910000, 2.220000, 1.710000, 6.140000, 5.540000, 6.170000, 6.170000, 5.920000, 1.210000, 5.730000, 5.290000, 4.900000, 4.550000, 4.250000, 3.980000, 3.750000, 3.560000, 3.380000, 3.220000, 3.090000, 2.950000, 2.840000, 2.730000, 2.640000, 2.550000, 2.470000, 2.380000, 2.300000, 2.240000, 2.170000, 2.110000, 2.050000, 2.010000, 1.960000, 1.910000, 1.860000, 1.830000, 1.790000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.590000, 1.560000, 1.540000, 1.520000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.390000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054233, 256072 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.714602 ], "estimate": [ 2.799000, 0.276000, 1.714602 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.540000, 2.580000, 2.620000, 2.650000, 2.700000, 2.730000, 2.780000, 2.820000, 2.870000, 2.910000, 2.960000, 3.010000, 3.070000, 3.130000, 1.590000, 3.270000, 3.340000, 3.400000, 3.490000, 3.570000, 3.660000, 3.760000, 3.850000, 3.960000, 4.080000, 4.210000, 1.440000, 0.950000, 0.950000, 1.380000, 1.350000, 1.330000, 1.310000, 1.310000, 1.290000, 1.280000, 1.230000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.270000, 1.240000, 1.290000, 1.300000, 3.810000, 3.810000, 3.820000, 3.830000, 5.840000, 6.110000, 6.120000, 3.930000, 2.220000, 1.710000, 6.130000, 5.730000, 6.150000, 6.180000, 5.850000, 1.210000, 1.220000, 5.310000, 4.910000, 4.570000, 4.280000, 4.010000, 3.770000, 3.580000, 3.400000, 3.250000, 3.100000, 2.970000, 2.860000, 2.750000, 2.650000, 2.560000, 2.480000, 2.390000, 2.310000, 2.260000, 2.190000, 2.120000, 2.060000, 2.020000, 1.970000, 1.930000, 1.880000, 1.840000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.600000, 1.570000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.430000, 1.400000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 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": [ 976054233, 690561 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.653147 ], "estimate": [ 2.799000, 0.276000, 1.653147 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.450000, 2.480000, 2.510000, 2.530000, 2.570000, 2.610000, 2.630000, 2.680000, 2.720000, 2.760000, 2.790000, 2.840000, 2.890000, 2.940000, 2.990000, 3.060000, 3.110000, 1.600000, 1.580000, 3.310000, 3.370000, 3.460000, 3.530000, 3.630000, 3.720000, 3.830000, 3.930000, 4.040000, 4.160000, 1.450000, 1.030000, 0.900000, 1.240000, 1.360000, 1.330000, 1.330000, 1.310000, 1.290000, 1.280000, 1.240000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.240000, 1.260000, 1.280000, 1.320000, 3.810000, 3.810000, 3.810000, 5.890000, 6.120000, 6.120000, 6.130000, 3.940000, 2.510000, 1.680000, 5.970000, 5.350000, 6.170000, 5.880000, 5.810000, 1.200000, 5.430000, 5.010000, 4.670000, 4.350000, 4.080000, 3.840000, 3.630000, 3.450000, 3.300000, 3.150000, 3.010000, 2.890000, 2.790000, 2.680000, 2.590000, 2.500000, 2.430000, 2.340000, 2.270000, 2.210000, 2.150000, 2.090000, 2.030000, 1.990000, 1.940000, 1.900000, 1.850000, 1.810000, 1.770000, 1.730000, 1.710000, 1.670000, 1.630000, 1.610000, 1.590000, 1.560000, 1.530000, 1.500000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.380000, 1.360000, 1.340000, 1.330000, 1.310000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.310000, 1.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054233, 691719 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.579400 ], "estimate": [ 2.799000, 0.276000, 1.579400 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.360000, 2.390000, 2.410000, 2.440000, 2.470000, 2.510000, 2.520000, 2.560000, 2.600000, 2.630000, 2.660000, 2.710000, 2.740000, 2.780000, 2.830000, 2.870000, 2.930000, 2.980000, 3.030000, 3.100000, 3.150000, 1.570000, 3.290000, 3.360000, 3.430000, 3.510000, 3.610000, 3.700000, 3.800000, 3.900000, 4.000000, 4.130000, 1.470000, 1.430000, 0.920000, 1.040000, 1.370000, 1.340000, 1.330000, 1.320000, 1.290000, 1.260000, 1.280000, 1.240000, 1.260000, 1.250000, 1.250000, 1.240000, 1.240000, 1.250000, 1.250000, 1.260000, 1.260000, 1.250000, 1.230000, 1.290000, 1.300000, 3.790000, 3.810000, 3.820000, 6.050000, 6.080000, 6.110000, 6.110000, 3.890000, 2.220000, 1.690000, 5.970000, 5.320000, 6.170000, 5.870000, 5.750000, 1.210000, 5.560000, 5.160000, 4.780000, 4.460000, 4.160000, 3.910000, 3.700000, 3.520000, 3.350000, 3.200000, 3.070000, 2.930000, 2.820000, 2.730000, 2.620000, 2.540000, 2.460000, 2.370000, 2.300000, 2.240000, 2.180000, 2.110000, 2.050000, 2.020000, 1.960000, 1.920000, 1.870000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.600000, 1.570000, 1.540000, 1.520000, 1.490000, 1.480000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 1.210000, 1.210000, 1.220000, 1.220000, 1.240000, 1.240000, 1.260000, 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": [ 976054233, 930241 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.521632 ], "estimate": [ 2.799000, 0.276000, 1.521632 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.260000, 2.270000, 2.300000, 2.320000, 2.340000, 2.350000, 2.380000, 2.400000, 2.430000, 2.460000, 2.490000, 2.520000, 2.550000, 2.590000, 2.620000, 2.650000, 2.690000, 2.720000, 2.770000, 2.820000, 2.860000, 2.910000, 2.970000, 3.030000, 3.070000, 3.130000, 1.560000, 3.270000, 3.350000, 3.420000, 3.500000, 3.590000, 3.680000, 3.780000, 3.880000, 3.990000, 4.110000, 4.240000, 1.420000, 0.940000, 0.930000, 1.360000, 1.340000, 1.330000, 1.300000, 1.290000, 1.280000, 1.280000, 1.220000, 1.250000, 1.240000, 1.240000, 1.230000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.250000, 1.230000, 1.280000, 1.280000, 3.790000, 3.810000, 3.810000, 3.810000, 5.950000, 6.110000, 6.110000, 3.910000, 2.210000, 1.710000, 6.010000, 5.320000, 6.170000, 5.910000, 5.740000, 5.390000, 1.190000, 5.190000, 4.810000, 4.500000, 4.200000, 3.950000, 3.740000, 3.540000, 3.370000, 3.230000, 3.090000, 2.950000, 2.840000, 2.740000, 2.640000, 2.560000, 2.480000, 2.390000, 2.320000, 2.260000, 2.190000, 2.120000, 2.070000, 2.020000, 1.980000, 1.940000, 1.890000, 1.850000, 1.800000, 1.770000, 1.730000, 1.700000, 1.670000, 1.630000, 1.610000, 1.580000, 1.550000, 1.530000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 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": [ 976054234, 371003 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.472468 ], "estimate": [ 2.799000, 0.276000, 1.472468 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.200000, 2.220000, 2.230000, 2.240000, 2.260000, 2.290000, 2.310000, 2.330000, 2.340000, 2.370000, 2.390000, 2.420000, 2.450000, 2.480000, 2.510000, 2.540000, 2.570000, 2.610000, 2.630000, 2.670000, 2.710000, 2.750000, 2.790000, 2.840000, 2.890000, 2.950000, 2.990000, 3.060000, 3.120000, 1.550000, 3.260000, 3.320000, 3.380000, 3.470000, 3.550000, 3.640000, 3.740000, 3.850000, 3.960000, 4.070000, 4.190000, 1.440000, 1.220000, 0.920000, 1.140000, 1.350000, 1.340000, 1.310000, 1.300000, 1.270000, 1.270000, 1.230000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.250000, 1.220000, 1.240000, 1.270000, 1.290000, 3.800000, 3.820000, 3.780000, 5.790000, 6.110000, 6.100000, 3.920000, 2.220000, 2.320000, 1.680000, 5.640000, 6.100000, 6.170000, 5.830000, 5.800000, 1.200000, 5.310000, 4.910000, 4.580000, 4.280000, 4.020000, 3.800000, 3.590000, 3.420000, 3.270000, 3.130000, 2.990000, 2.880000, 2.770000, 2.670000, 2.590000, 2.490000, 2.420000, 2.340000, 2.280000, 2.210000, 2.150000, 2.090000, 2.040000, 2.000000, 1.940000, 1.900000, 1.860000, 1.820000, 1.780000, 1.740000, 1.710000, 1.680000, 1.650000, 1.610000, 1.600000, 1.570000, 1.540000, 1.520000, 1.500000, 1.470000, 1.460000, 1.440000, 1.430000, 1.410000, 1.390000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.210000, 1.210000, 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": [ 976054234, 390324 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.423304 ], "estimate": [ 2.799000, 0.276000, 1.423304 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.170000, 2.190000, 2.200000, 2.210000, 2.220000, 2.240000, 2.260000, 2.280000, 2.300000, 2.330000, 2.340000, 2.360000, 2.390000, 2.410000, 2.450000, 2.470000, 2.510000, 2.530000, 2.560000, 2.590000, 2.620000, 2.660000, 2.700000, 2.740000, 2.780000, 2.840000, 2.880000, 2.940000, 2.990000, 3.050000, 3.110000, 1.530000, 1.560000, 3.310000, 3.370000, 3.450000, 3.530000, 3.620000, 3.720000, 3.830000, 3.940000, 4.050000, 4.170000, 1.450000, 1.410000, 0.910000, 0.930000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.240000, 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.240000, 1.220000, 1.270000, 1.290000, 3.780000, 3.810000, 3.820000, 5.790000, 6.100000, 6.100000, 3.930000, 2.220000, 2.200000, 1.690000, 1.700000, 5.480000, 6.170000, 5.850000, 5.740000, 1.220000, 1.230000, 4.980000, 4.650000, 4.330000, 4.070000, 3.840000, 3.630000, 3.450000, 3.300000, 3.150000, 3.020000, 2.910000, 2.790000, 2.690000, 2.600000, 2.510000, 2.440000, 2.360000, 2.290000, 2.230000, 2.170000, 2.110000, 2.050000, 2.000000, 1.960000, 1.920000, 1.870000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.660000, 1.630000, 1.610000, 1.580000, 1.550000, 1.530000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 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, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.220000, 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": [ 976054234, 460072 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.361848 ], "estimate": [ 2.799000, 0.276000, 1.361848 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.120000, 2.130000, 2.150000, 2.160000, 2.170000, 2.180000, 2.200000, 2.210000, 2.220000, 2.250000, 2.270000, 2.290000, 2.310000, 2.330000, 2.340000, 2.370000, 2.400000, 2.420000, 2.450000, 2.480000, 2.510000, 2.520000, 2.560000, 2.600000, 2.630000, 2.680000, 2.710000, 2.750000, 2.800000, 2.850000, 2.900000, 2.960000, 3.010000, 3.060000, 3.120000, 1.530000, 3.250000, 3.330000, 3.400000, 3.480000, 3.570000, 3.660000, 3.760000, 3.860000, 3.970000, 4.100000, 4.210000, 1.440000, 1.250000, 0.910000, 1.030000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.230000, 1.240000, 1.230000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.220000, 1.240000, 1.270000, 1.290000, 3.800000, 3.800000, 3.830000, 5.850000, 6.100000, 6.110000, 3.930000, 2.210000, 2.370000, 1.680000, 5.330000, 6.140000, 6.160000, 5.830000, 5.490000, 1.220000, 1.220000, 4.890000, 4.540000, 4.260000, 4.010000, 3.780000, 3.590000, 3.410000, 3.260000, 3.120000, 2.990000, 2.880000, 2.770000, 2.670000, 2.590000, 2.500000, 2.420000, 2.340000, 2.280000, 2.220000, 2.160000, 2.090000, 2.050000, 1.990000, 1.950000, 1.910000, 1.860000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.660000, 1.630000, 1.600000, 1.580000, 1.550000, 1.530000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.420000, 1.400000, 1.380000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.180000, 1.170000, 1.170000, 1.170000, 1.180000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 1.200000, 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": [ 976054234, 818130 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.300393 ], "estimate": [ 2.799000, 0.276000, 1.300393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.090000, 2.110000, 2.120000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.190000, 2.210000, 2.220000, 2.230000, 2.250000, 2.270000, 2.300000, 2.320000, 2.340000, 2.350000, 2.380000, 2.400000, 2.430000, 2.450000, 2.480000, 2.510000, 2.540000, 2.580000, 2.610000, 2.650000, 2.690000, 2.730000, 2.780000, 2.820000, 2.870000, 2.920000, 2.970000, 3.040000, 3.100000, 1.620000, 1.560000, 3.290000, 3.370000, 3.440000, 3.520000, 3.610000, 3.700000, 3.810000, 3.920000, 4.030000, 4.160000, 4.280000, 1.420000, 0.960000, 0.900000, 1.330000, 1.330000, 1.310000, 1.300000, 1.270000, 1.260000, 1.260000, 1.210000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.220000, 1.250000, 1.260000, 1.300000, 3.800000, 3.780000, 5.790000, 6.100000, 6.100000, 3.930000, 3.910000, 2.180000, 1.710000, 1.730000, 5.340000, 6.160000, 5.830000, 5.740000, 5.380000, 1.190000, 5.040000, 4.670000, 4.380000, 4.110000, 3.880000, 3.670000, 3.490000, 3.330000, 3.190000, 3.050000, 2.930000, 2.810000, 2.720000, 2.630000, 2.540000, 2.470000, 2.390000, 2.300000, 2.250000, 2.190000, 2.130000, 2.070000, 2.020000, 1.970000, 1.930000, 1.890000, 1.860000, 1.810000, 1.780000, 1.740000, 1.710000, 1.680000, 1.650000, 1.620000, 1.600000, 1.570000, 1.540000, 1.520000, 1.500000, 1.470000, 1.460000, 1.440000, 1.440000, 1.420000, 1.400000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 1.190000, 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": [ 976054234, 910230 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.251229 ], "estimate": [ 2.799000, 0.276000, 1.251229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.070000, 2.080000, 2.090000, 2.090000, 2.090000, 2.100000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.200000, 2.210000, 2.220000, 2.250000, 2.270000, 2.290000, 2.310000, 2.330000, 2.340000, 2.370000, 2.390000, 2.420000, 2.450000, 2.480000, 2.500000, 2.530000, 2.570000, 2.600000, 2.630000, 2.680000, 2.710000, 2.760000, 2.810000, 2.860000, 2.910000, 2.960000, 3.020000, 3.080000, 3.140000, 1.520000, 3.280000, 3.350000, 3.420000, 3.500000, 3.590000, 3.680000, 3.780000, 3.890000, 4.010000, 4.130000, 4.250000, 1.430000, 1.300000, 0.910000, 0.960000, 1.350000, 1.320000, 1.290000, 1.290000, 1.270000, 1.260000, 1.210000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.220000, 1.230000, 1.270000, 1.280000, 3.810000, 3.810000, 5.820000, 6.090000, 6.100000, 6.110000, 3.910000, 2.210000, 2.380000, 1.670000, 5.320000, 6.170000, 5.860000, 5.740000, 5.380000, 1.210000, 1.200000, 4.730000, 4.420000, 4.140000, 3.910000, 3.700000, 3.520000, 3.360000, 3.210000, 3.080000, 2.950000, 2.840000, 2.740000, 2.650000, 2.550000, 2.480000, 2.400000, 2.320000, 2.260000, 2.200000, 2.150000, 2.090000, 2.040000, 1.990000, 1.940000, 1.900000, 1.860000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.660000, 1.630000, 1.610000, 1.580000, 1.550000, 1.530000, 1.510000, 1.480000, 1.460000, 1.450000, 1.450000, 1.430000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.210000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 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": [ 976054235, 302832 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.275000, 1.208210 ], "estimate": [ 2.799000, 0.275000, 1.208210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.160000, 2.180000, 2.190000, 2.210000, 2.220000, 2.240000, 2.250000, 2.280000, 2.300000, 2.320000, 2.340000, 2.360000, 2.390000, 2.410000, 2.440000, 2.470000, 2.490000, 2.520000, 2.550000, 2.590000, 2.620000, 2.660000, 2.700000, 2.740000, 2.790000, 2.840000, 2.890000, 2.940000, 3.000000, 3.060000, 3.120000, 1.520000, 3.250000, 3.330000, 3.390000, 3.480000, 3.560000, 3.660000, 3.760000, 3.860000, 3.970000, 4.100000, 4.220000, 1.420000, 1.390000, 0.930000, 0.890000, 1.330000, 1.330000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.220000, 1.220000, 1.270000, 1.280000, 3.770000, 3.800000, 3.820000, 5.920000, 6.100000, 6.100000, 3.910000, 2.210000, 2.280000, 1.670000, 5.310000, 6.160000, 5.830000, 5.730000, 5.390000, 5.610000, 1.190000, 4.820000, 4.490000, 4.210000, 3.970000, 3.750000, 3.560000, 3.390000, 3.240000, 3.110000, 2.980000, 2.870000, 2.760000, 2.670000, 2.580000, 2.500000, 2.420000, 2.350000, 2.290000, 2.220000, 2.160000, 2.100000, 2.050000, 2.000000, 1.950000, 1.920000, 1.870000, 1.840000, 1.800000, 1.770000, 1.730000, 1.700000, 1.670000, 1.640000, 1.610000, 1.580000, 1.560000, 1.540000, 1.520000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.220000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.190000, 1.190000, 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": [ 976054235, 350355 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.274000, 1.159046 ], "estimate": [ 2.798000, 0.274000, 1.159046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.670000, 2.150000, 2.040000, 2.040000, 2.060000, 2.060000, 2.070000, 2.080000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.190000, 2.200000, 2.220000, 2.230000, 2.250000, 2.270000, 2.300000, 2.320000, 2.340000, 2.360000, 2.380000, 2.410000, 2.440000, 2.470000, 2.500000, 2.530000, 2.550000, 2.590000, 2.620000, 2.670000, 2.710000, 2.740000, 2.790000, 2.840000, 2.890000, 2.950000, 3.000000, 3.060000, 3.120000, 1.520000, 3.250000, 3.340000, 3.400000, 3.490000, 3.580000, 3.670000, 3.760000, 3.870000, 3.990000, 4.110000, 4.230000, 1.430000, 1.380000, 0.910000, 0.870000, 1.320000, 1.320000, 1.300000, 1.290000, 1.260000, 1.260000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.220000, 1.220000, 1.260000, 1.260000, 3.780000, 3.800000, 3.830000, 6.030000, 6.090000, 6.110000, 3.910000, 2.210000, 2.140000, 1.670000, 1.700000, 6.160000, 5.840000, 5.710000, 5.370000, 5.560000, 1.190000, 4.790000, 4.480000, 4.190000, 3.950000, 3.740000, 3.550000, 3.380000, 3.240000, 3.100000, 2.970000, 2.870000, 2.760000, 2.670000, 2.580000, 2.490000, 2.430000, 2.350000, 2.290000, 2.220000, 2.160000, 2.100000, 2.050000, 2.010000, 1.950000, 1.920000, 1.860000, 1.840000, 1.800000, 1.770000, 1.740000, 1.710000, 1.670000, 1.640000, 1.610000, 1.590000, 1.570000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 1.190000, 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": [ 976054235, 458058 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.798000, 0.274000, 1.103737 ], "estimate": [ 2.798000, 0.274000, 1.103737 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.660000, 3.660000, 3.660000, 3.660000, 2.090000, 2.030000, 2.050000, 2.060000, 2.060000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.100000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.190000, 2.200000, 2.220000, 2.230000, 2.260000, 2.280000, 2.300000, 2.320000, 2.340000, 2.360000, 2.390000, 2.410000, 2.440000, 2.480000, 2.510000, 2.530000, 2.560000, 2.600000, 2.620000, 2.670000, 2.710000, 2.750000, 2.800000, 2.850000, 2.900000, 2.960000, 3.010000, 3.070000, 3.130000, 1.520000, 3.270000, 3.340000, 3.420000, 3.510000, 3.590000, 3.690000, 3.790000, 3.900000, 4.010000, 4.130000, 4.270000, 1.420000, 1.400000, 0.900000, 0.890000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 1.260000, 1.220000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.220000, 1.220000, 1.260000, 1.270000, 3.780000, 3.810000, 5.760000, 6.080000, 6.100000, 6.110000, 3.910000, 2.200000, 2.040000, 1.690000, 5.320000, 6.160000, 5.800000, 5.720000, 5.380000, 5.470000, 1.190000, 4.730000, 4.420000, 4.140000, 3.890000, 3.690000, 3.520000, 3.350000, 3.200000, 3.070000, 2.950000, 2.850000, 2.740000, 2.650000, 2.560000, 2.470000, 2.410000, 2.340000, 2.270000, 2.200000, 2.160000, 2.100000, 2.050000, 2.000000, 1.950000, 1.910000, 1.860000, 1.840000, 1.800000, 1.770000, 1.730000, 1.710000, 1.670000, 1.640000, 1.610000, 1.590000, 1.570000, 1.540000, 1.520000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 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": [ 976054235, 867820 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.799000, 0.276000, 1.036136 ], "estimate": [ 2.799000, 0.276000, 1.036136 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.650000, 3.650000, 3.650000, 3.650000, 3.650000, 3.650000, 3.650000, 3.660000, 2.080000, 2.030000, 2.050000, 2.060000, 2.050000, 2.060000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.140000, 2.150000, 2.170000, 2.190000, 2.200000, 2.220000, 2.230000, 2.250000, 2.280000, 2.300000, 2.320000, 2.340000, 2.360000, 2.390000, 2.410000, 2.440000, 2.480000, 2.510000, 2.530000, 2.570000, 2.600000, 2.630000, 2.670000, 2.710000, 2.760000, 2.800000, 2.860000, 2.900000, 2.960000, 3.020000, 3.080000, 3.130000, 1.510000, 3.280000, 3.350000, 3.430000, 3.510000, 3.610000, 3.700000, 3.800000, 3.920000, 4.030000, 4.150000, 4.290000, 1.410000, 1.380000, 0.900000, 0.870000, 1.330000, 1.300000, 1.290000, 1.270000, 1.250000, 1.250000, 1.240000, 1.220000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.230000, 1.210000, 1.210000, 1.250000, 1.270000, 3.780000, 3.810000, 5.780000, 6.090000, 6.100000, 6.110000, 3.910000, 2.210000, 2.330000, 1.680000, 5.500000, 6.170000, 5.800000, 5.760000, 5.410000, 5.430000, 1.180000, 4.710000, 4.390000, 4.130000, 3.890000, 3.690000, 3.510000, 3.340000, 3.200000, 3.070000, 2.950000, 2.840000, 2.740000, 2.650000, 2.570000, 2.480000, 2.420000, 2.340000, 2.280000, 2.210000, 2.150000, 2.100000, 2.050000, 2.010000, 1.960000, 1.920000, 1.870000, 1.840000, 1.800000, 1.770000, 1.740000, 1.710000, 1.680000, 1.640000, 1.620000, 1.600000, 1.570000, 1.550000, 1.530000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.430000, 1.410000, 1.390000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.310000, 1.300000, 1.290000, 1.270000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 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": [ 976054235, 890391 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.800000, 0.277000, 0.968535 ], "estimate": [ 2.800000, 0.277000, 0.968535 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.650000, 3.660000, 3.660000, 3.650000, 3.650000, 3.650000, 3.640000, 3.650000, 3.650000, 3.650000, 3.660000, 2.120000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.140000, 2.150000, 2.170000, 2.180000, 2.200000, 2.220000, 2.230000, 2.250000, 2.280000, 2.300000, 2.320000, 2.340000, 2.360000, 2.390000, 2.420000, 2.450000, 2.470000, 2.510000, 2.540000, 2.570000, 2.600000, 2.640000, 2.680000, 2.720000, 2.770000, 2.820000, 2.860000, 2.920000, 2.970000, 3.030000, 3.100000, 1.550000, 1.530000, 3.300000, 3.370000, 3.450000, 3.530000, 3.630000, 3.730000, 3.840000, 3.950000, 4.070000, 4.190000, 4.340000, 1.410000, 1.370000, 0.900000, 0.890000, 1.320000, 1.300000, 1.290000, 1.270000, 1.240000, 1.250000, 1.210000, 1.220000, 1.210000, 1.210000, 1.220000, 1.220000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.220000, 1.260000, 1.260000, 3.800000, 3.780000, 5.790000, 6.090000, 6.110000, 3.900000, 3.920000, 2.200000, 2.430000, 1.670000, 6.130000, 6.170000, 5.790000, 5.610000, 5.700000, 5.300000, 1.190000, 4.590000, 4.300000, 4.050000, 3.840000, 3.620000, 3.450000, 3.290000, 3.160000, 3.040000, 2.920000, 2.820000, 2.720000, 2.640000, 2.550000, 2.470000, 2.400000, 2.330000, 2.260000, 2.190000, 2.140000, 2.090000, 2.050000, 1.990000, 1.950000, 1.910000, 1.860000, 1.840000, 1.790000, 1.770000, 1.730000, 1.710000, 1.670000, 1.640000, 1.610000, 1.590000, 1.570000, 1.550000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.430000, 1.430000, 1.410000, 1.400000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.240000, 1.230000, 1.240000, 1.230000, 1.230000, 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": [ 976054236, 562479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.801000, 0.278000, 0.894789 ], "estimate": [ 2.801000, 0.278000, 0.894789 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.700000, 3.690000, 3.680000, 3.680000, 3.500000, 3.660000, 3.650000, 3.650000, 3.640000, 3.640000, 3.640000, 3.640000, 3.640000, 3.650000, 3.650000, 3.650000, 2.030000, 2.010000, 2.030000, 2.030000, 2.040000, 2.040000, 2.060000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.120000, 2.120000, 2.140000, 2.160000, 2.180000, 2.190000, 2.200000, 2.220000, 2.240000, 2.260000, 2.280000, 2.310000, 2.330000, 2.350000, 2.370000, 2.400000, 2.430000, 2.460000, 2.500000, 2.510000, 2.550000, 2.590000, 2.620000, 2.660000, 2.710000, 2.750000, 2.790000, 2.850000, 2.900000, 2.960000, 3.010000, 3.070000, 3.130000, 1.480000, 3.260000, 3.340000, 3.420000, 3.510000, 3.600000, 3.690000, 3.800000, 3.910000, 4.020000, 4.150000, 4.290000, 1.420000, 1.390000, 1.360000, 0.890000, 0.910000, 1.310000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.250000, 1.260000, 1.300000, 3.790000, 5.790000, 6.090000, 6.100000, 6.110000, 3.900000, 2.230000, 2.350000, 1.680000, 6.000000, 6.160000, 5.790000, 5.810000, 5.470000, 5.410000, 1.210000, 1.210000, 4.390000, 4.130000, 3.890000, 3.700000, 3.510000, 3.360000, 3.220000, 3.090000, 2.970000, 2.860000, 2.750000, 2.660000, 2.580000, 2.490000, 2.420000, 2.360000, 2.300000, 2.230000, 2.170000, 2.100000, 2.060000, 2.020000, 1.970000, 1.930000, 1.890000, 1.850000, 1.820000, 1.790000, 1.750000, 1.720000, 1.690000, 1.660000, 1.630000, 1.610000, 1.590000, 1.560000, 1.540000, 1.520000, 1.500000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 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": [ 976054236, 490851 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.802000, 0.279000, 0.833333 ], "estimate": [ 2.802000, 0.279000, 0.833333 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.750000, 3.740000, 3.720000, 3.700000, 3.690000, 3.680000, 3.680000, 3.670000, 3.660000, 3.650000, 3.650000, 3.640000, 3.630000, 3.630000, 3.640000, 3.630000, 3.640000, 3.640000, 3.650000, 2.080000, 2.000000, 2.020000, 2.020000, 2.030000, 2.040000, 2.040000, 2.050000, 2.060000, 2.060000, 2.080000, 2.080000, 2.090000, 2.100000, 2.120000, 2.120000, 2.140000, 2.160000, 2.170000, 2.190000, 2.210000, 2.220000, 2.240000, 2.270000, 2.290000, 2.310000, 2.340000, 2.350000, 2.380000, 2.410000, 2.440000, 2.470000, 2.510000, 2.530000, 2.570000, 2.600000, 2.630000, 2.680000, 2.710000, 2.760000, 2.810000, 2.860000, 2.920000, 2.970000, 3.030000, 3.090000, 3.150000, 1.550000, 3.300000, 3.370000, 3.450000, 3.530000, 3.630000, 3.730000, 3.840000, 3.950000, 4.070000, 4.210000, 4.350000, 1.400000, 1.370000, 1.150000, 0.870000, 1.130000, 1.300000, 1.280000, 1.260000, 1.250000, 1.250000, 1.230000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.210000, 1.260000, 1.260000, 3.790000, 3.770000, 6.010000, 6.100000, 6.110000, 3.920000, 3.920000, 2.200000, 2.730000, 1.680000, 6.150000, 5.950000, 5.740000, 5.380000, 5.630000, 5.230000, 1.190000, 4.570000, 4.270000, 4.020000, 3.810000, 3.610000, 3.440000, 3.290000, 3.150000, 3.030000, 2.900000, 2.800000, 2.720000, 2.620000, 2.550000, 2.470000, 2.400000, 2.330000, 2.270000, 2.200000, 2.150000, 2.090000, 2.050000, 2.010000, 1.950000, 1.920000, 1.870000, 1.830000, 1.800000, 1.780000, 1.750000, 1.710000, 1.690000, 1.650000, 1.620000, 1.610000, 1.580000, 1.560000, 1.530000, 1.510000, 1.490000, 1.470000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 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": [ 976054236, 492465 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.803000, 0.280000, 0.790315 ], "estimate": [ 2.803000, 0.280000, 0.790315 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.780000, 3.760000, 3.750000, 3.730000, 3.710000, 3.700000, 3.690000, 3.680000, 3.670000, 3.660000, 3.650000, 3.650000, 3.640000, 3.640000, 3.630000, 3.630000, 3.630000, 3.630000, 3.630000, 3.640000, 3.640000, 2.060000, 1.990000, 2.010000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.050000, 2.060000, 2.070000, 2.080000, 2.080000, 2.100000, 2.110000, 2.120000, 2.140000, 2.150000, 2.160000, 2.180000, 2.200000, 2.220000, 2.230000, 2.260000, 2.280000, 2.310000, 2.330000, 2.350000, 2.380000, 2.410000, 2.440000, 2.470000, 2.500000, 2.530000, 2.560000, 2.590000, 2.620000, 2.670000, 2.710000, 2.760000, 2.800000, 2.860000, 2.920000, 2.970000, 3.020000, 3.090000, 3.140000, 1.480000, 3.290000, 3.370000, 3.440000, 3.530000, 3.620000, 3.730000, 3.840000, 3.950000, 4.070000, 4.190000, 4.340000, 1.410000, 1.370000, 1.350000, 0.890000, 0.880000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.200000, 1.210000, 1.210000, 1.210000, 1.200000, 1.210000, 1.220000, 1.210000, 1.220000, 1.210000, 1.200000, 1.210000, 1.250000, 1.250000, 1.300000, 3.770000, 6.040000, 6.100000, 6.100000, 3.910000, 3.920000, 2.210000, 2.740000, 1.660000, 6.150000, 5.880000, 5.770000, 5.380000, 5.610000, 5.210000, 1.190000, 1.240000, 4.260000, 4.010000, 3.800000, 3.600000, 3.440000, 3.290000, 3.150000, 3.030000, 2.910000, 2.800000, 2.720000, 2.620000, 2.550000, 2.470000, 2.390000, 2.330000, 2.270000, 2.200000, 2.150000, 2.090000, 2.050000, 2.010000, 1.960000, 1.920000, 1.870000, 1.850000, 1.810000, 1.780000, 1.750000, 1.710000, 1.690000, 1.660000, 1.630000, 1.610000, 1.580000, 1.560000, 1.540000, 1.520000, 1.500000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.410000, 1.390000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 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": [ 976054236, 710226 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.803000, 0.280000, 0.741150 ], "estimate": [ 2.803000, 0.280000, 0.741150 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.010000, 2.120000, 3.810000, 3.780000, 3.760000, 3.750000, 3.730000, 3.710000, 3.700000, 3.690000, 3.680000, 3.670000, 3.660000, 3.530000, 3.650000, 3.640000, 3.640000, 3.630000, 3.630000, 3.630000, 3.630000, 3.630000, 3.630000, 3.630000, 2.100000, 1.990000, 1.990000, 2.010000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.230000, 2.250000, 2.280000, 2.300000, 2.320000, 2.340000, 2.370000, 2.390000, 2.420000, 2.450000, 2.490000, 2.520000, 2.550000, 2.590000, 2.620000, 2.650000, 2.700000, 2.740000, 2.790000, 2.840000, 2.890000, 2.950000, 3.010000, 3.070000, 3.130000, 1.480000, 3.270000, 3.340000, 3.420000, 3.510000, 3.600000, 3.690000, 3.800000, 3.920000, 4.030000, 4.170000, 4.300000, 1.410000, 1.370000, 1.360000, 0.900000, 0.860000, 1.290000, 1.300000, 1.280000, 1.250000, 1.250000, 1.240000, 1.190000, 1.210000, 1.210000, 1.210000, 1.220000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.200000, 1.240000, 1.260000, 1.270000, 3.800000, 5.830000, 6.090000, 6.110000, 3.940000, 3.920000, 2.870000, 2.310000, 1.680000, 6.150000, 6.160000, 5.860000, 5.660000, 5.710000, 5.310000, 1.230000, 1.190000, 4.320000, 4.070000, 3.860000, 3.660000, 3.490000, 3.330000, 3.190000, 3.060000, 2.940000, 2.830000, 2.740000, 2.650000, 2.580000, 2.480000, 2.420000, 2.350000, 2.290000, 2.220000, 2.170000, 2.110000, 2.070000, 2.030000, 1.970000, 1.930000, 1.890000, 1.850000, 1.830000, 1.790000, 1.760000, 1.720000, 1.700000, 1.670000, 1.640000, 1.610000, 1.590000, 1.570000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 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": [ 976054237, 324476 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.803000, 0.280000, 0.679695 ], "estimate": [ 2.803000, 0.280000, 0.679695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.770000, 1.830000, 1.890000, 1.970000, 2.060000, 3.810000, 3.790000, 3.770000, 3.760000, 3.730000, 3.720000, 3.700000, 3.690000, 3.680000, 3.670000, 3.660000, 3.650000, 3.650000, 3.640000, 3.630000, 3.620000, 3.620000, 3.620000, 3.620000, 3.620000, 3.630000, 3.630000, 3.630000, 2.030000, 1.990000, 2.000000, 2.010000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.060000, 2.080000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.240000, 2.260000, 2.280000, 2.300000, 2.330000, 2.350000, 2.370000, 2.400000, 2.430000, 2.470000, 2.500000, 2.530000, 2.550000, 2.590000, 2.630000, 2.670000, 2.710000, 2.760000, 2.810000, 2.860000, 2.920000, 2.970000, 3.030000, 3.100000, 3.150000, 1.470000, 3.310000, 3.380000, 3.460000, 3.550000, 3.640000, 3.750000, 3.850000, 3.970000, 4.100000, 4.230000, 4.370000, 1.420000, 1.380000, 1.360000, 0.900000, 0.890000, 1.310000, 1.290000, 1.270000, 1.260000, 1.240000, 1.240000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.250000, 1.250000, 1.270000, 3.810000, 6.090000, 6.110000, 6.110000, 3.910000, 6.130000, 2.220000, 5.950000, 1.680000, 6.160000, 5.910000, 5.800000, 5.390000, 5.540000, 5.150000, 1.230000, 1.250000, 4.230000, 3.990000, 3.780000, 3.590000, 3.430000, 3.280000, 3.140000, 3.010000, 2.900000, 2.800000, 2.710000, 2.620000, 2.540000, 2.470000, 2.390000, 2.330000, 2.280000, 2.210000, 2.150000, 2.100000, 2.050000, 2.010000, 1.960000, 1.920000, 1.870000, 1.840000, 1.810000, 1.790000, 1.750000, 1.720000, 1.700000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.540000, 1.530000, 1.500000, 1.480000, 1.460000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054237, 325629 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.803000, 0.280000, 0.612094 ], "estimate": [ 2.803000, 0.280000, 0.612094 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.610000, 1.660000, 1.710000, 1.780000, 1.840000, 1.910000, 1.990000, 2.070000, 3.800000, 3.780000, 3.760000, 3.750000, 3.720000, 3.710000, 3.690000, 3.680000, 3.670000, 3.660000, 3.650000, 3.530000, 3.640000, 3.630000, 3.630000, 3.620000, 3.620000, 3.620000, 3.620000, 3.620000, 3.620000, 3.620000, 3.620000, 1.990000, 1.980000, 2.000000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.140000, 2.170000, 2.190000, 2.200000, 2.220000, 2.230000, 2.250000, 2.290000, 2.310000, 2.330000, 2.350000, 2.380000, 2.400000, 2.440000, 2.470000, 2.510000, 2.530000, 2.570000, 2.600000, 2.630000, 2.680000, 2.720000, 2.770000, 2.820000, 2.870000, 2.930000, 2.980000, 3.040000, 3.110000, 3.180000, 1.520000, 3.330000, 3.390000, 3.480000, 3.570000, 3.660000, 3.760000, 3.880000, 3.990000, 4.120000, 4.250000, 4.400000, 1.410000, 1.370000, 1.360000, 0.900000, 0.850000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.240000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.200000, 1.210000, 1.260000, 1.250000, 1.300000, 5.860000, 6.100000, 6.110000, 6.120000, 3.900000, 6.120000, 2.210000, 5.970000, 1.700000, 6.170000, 5.870000, 5.820000, 5.440000, 5.420000, 5.050000, 1.220000, 1.310000, 4.150000, 3.910000, 3.730000, 3.540000, 3.380000, 3.240000, 3.110000, 2.980000, 2.890000, 2.780000, 2.690000, 2.590000, 2.530000, 2.460000, 2.380000, 2.320000, 2.260000, 2.200000, 2.140000, 2.080000, 2.050000, 2.000000, 1.950000, 1.920000, 1.870000, 1.840000, 1.800000, 1.780000, 1.750000, 1.710000, 1.690000, 1.660000, 1.630000, 1.610000, 1.590000, 1.570000, 1.540000, 1.520000, 1.500000, 1.480000, 1.470000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054237, 326565 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.803000, 0.280000, 0.562930 ], "estimate": [ 2.803000, 0.280000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.430000, 1.470000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.760000, 1.820000, 1.890000, 1.970000, 2.050000, 3.790000, 3.770000, 3.750000, 3.730000, 3.720000, 3.700000, 3.690000, 3.670000, 3.660000, 3.650000, 3.640000, 3.530000, 3.620000, 3.630000, 3.620000, 3.620000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.620000, 3.620000, 2.020000, 1.980000, 2.000000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.030000, 2.050000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.150000, 2.170000, 2.190000, 2.210000, 2.220000, 2.250000, 2.270000, 2.300000, 2.320000, 2.340000, 2.360000, 2.390000, 2.420000, 2.460000, 2.490000, 2.520000, 2.550000, 2.590000, 2.620000, 2.660000, 2.710000, 2.750000, 2.800000, 2.850000, 2.900000, 2.960000, 3.020000, 3.080000, 3.150000, 1.480000, 3.300000, 3.380000, 3.450000, 3.530000, 3.630000, 3.730000, 3.850000, 3.960000, 4.090000, 4.220000, 4.360000, 1.430000, 1.390000, 1.360000, 1.320000, 0.870000, 0.900000, 1.300000, 1.280000, 1.260000, 1.250000, 1.250000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.240000, 1.270000, 1.270000, 3.810000, 6.100000, 6.110000, 6.120000, 3.910000, 6.130000, 2.220000, 5.980000, 1.700000, 6.160000, 5.980000, 5.820000, 5.410000, 5.500000, 5.130000, 1.240000, 1.210000, 4.220000, 3.970000, 3.770000, 3.590000, 3.420000, 3.280000, 3.140000, 3.020000, 2.900000, 2.800000, 2.710000, 2.630000, 2.540000, 2.470000, 2.400000, 2.340000, 2.280000, 2.220000, 2.160000, 2.100000, 2.060000, 2.020000, 1.970000, 1.930000, 1.890000, 1.850000, 1.810000, 1.790000, 1.760000, 1.730000, 1.710000, 1.670000, 1.640000, 1.620000, 1.600000, 1.580000, 1.550000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054237, 510103 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.803000, 0.280000, 0.501475 ], "estimate": [ 2.803000, 0.280000, 0.501475 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.350000, 1.400000, 1.440000, 1.470000, 1.510000, 1.550000, 1.610000, 1.650000, 1.710000, 1.770000, 1.830000, 1.910000, 1.980000, 2.060000, 3.780000, 3.760000, 3.750000, 3.720000, 3.710000, 3.690000, 3.680000, 3.670000, 3.650000, 3.640000, 3.630000, 3.510000, 3.630000, 3.620000, 3.620000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.620000, 2.000000, 1.980000, 1.990000, 1.990000, 2.000000, 2.000000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.080000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.220000, 2.240000, 2.270000, 2.300000, 2.320000, 2.340000, 2.370000, 2.400000, 2.420000, 2.450000, 2.490000, 2.520000, 2.550000, 2.590000, 2.620000, 2.660000, 2.710000, 2.750000, 2.800000, 2.850000, 2.910000, 2.960000, 3.030000, 3.090000, 3.160000, 1.480000, 3.300000, 3.380000, 3.460000, 3.550000, 3.640000, 3.750000, 3.850000, 3.970000, 4.110000, 4.230000, 4.380000, 1.410000, 1.390000, 1.360000, 1.360000, 0.870000, 0.900000, 1.300000, 1.280000, 1.260000, 1.250000, 1.250000, 1.210000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.230000, 1.220000, 1.210000, 1.210000, 1.250000, 1.270000, 1.270000, 3.850000, 6.100000, 6.120000, 6.130000, 3.920000, 6.130000, 2.220000, 5.970000, 1.690000, 6.170000, 5.910000, 5.810000, 5.400000, 5.470000, 5.090000, 1.250000, 1.200000, 4.200000, 3.970000, 3.750000, 3.580000, 3.410000, 3.270000, 3.140000, 3.020000, 2.900000, 2.800000, 2.710000, 2.630000, 2.540000, 2.470000, 2.400000, 2.340000, 2.280000, 2.210000, 2.160000, 2.100000, 2.060000, 2.020000, 1.970000, 1.930000, 1.890000, 1.850000, 1.830000, 1.790000, 1.760000, 1.730000, 1.710000, 1.670000, 1.640000, 1.620000, 1.600000, 1.580000, 1.550000, 1.530000, 1.510000, 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": [ 976054237, 891299 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.804000, 0.281000, 0.440020 ], "estimate": [ 2.804000, 0.281000, 0.440020 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.300000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.440000, 1.470000, 1.520000, 1.570000, 1.610000, 1.660000, 1.730000, 1.790000, 1.850000, 1.920000, 1.990000, 2.160000, 3.760000, 3.750000, 3.720000, 3.710000, 3.700000, 3.680000, 3.670000, 3.650000, 3.650000, 3.630000, 3.630000, 3.510000, 3.620000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 1.970000, 1.970000, 1.990000, 1.990000, 2.000000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.080000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.220000, 2.240000, 2.270000, 2.290000, 2.320000, 2.340000, 2.360000, 2.390000, 2.420000, 2.450000, 2.490000, 2.520000, 2.550000, 2.600000, 2.620000, 2.670000, 2.720000, 2.770000, 2.810000, 2.860000, 2.920000, 2.970000, 3.030000, 3.100000, 3.170000, 1.480000, 3.320000, 3.390000, 3.470000, 3.570000, 3.660000, 3.760000, 3.880000, 4.000000, 4.130000, 4.260000, 4.400000, 1.430000, 1.380000, 1.360000, 1.350000, 0.890000, 0.900000, 1.290000, 1.280000, 1.270000, 1.250000, 1.250000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.220000, 1.210000, 1.210000, 1.220000, 1.260000, 1.270000, 1.280000, 5.840000, 6.110000, 6.120000, 6.130000, 3.930000, 6.130000, 2.210000, 6.130000, 1.700000, 6.180000, 5.880000, 5.820000, 5.750000, 5.370000, 5.000000, 1.250000, 1.220000, 4.140000, 3.910000, 3.730000, 3.540000, 3.380000, 3.230000, 3.110000, 2.990000, 2.880000, 2.780000, 2.700000, 2.610000, 2.530000, 2.460000, 2.390000, 2.330000, 2.270000, 2.200000, 2.150000, 2.100000, 2.060000, 2.010000, 1.970000, 1.930000, 1.890000, 1.850000, 1.830000, 1.790000, 1.760000, 1.730000, 1.710000, 1.670000, 1.640000, 1.620000, 1.600000, 1.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054237, 892415 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.806000, 0.282000, 0.390855 ], "estimate": [ 2.806000, 0.282000, 0.390855 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.400000, 1.430000, 1.380000, 1.290000, 1.280000, 1.310000, 1.340000, 1.380000, 1.410000, 1.450000, 1.480000, 1.530000, 1.580000, 1.620000, 1.680000, 1.740000, 1.800000, 1.860000, 1.940000, 2.030000, 3.780000, 3.750000, 3.740000, 3.720000, 3.700000, 3.680000, 3.680000, 3.660000, 3.650000, 3.640000, 3.630000, 3.630000, 3.620000, 3.610000, 3.610000, 3.610000, 3.600000, 3.600000, 3.600000, 3.600000, 3.600000, 3.600000, 3.610000, 2.030000, 1.970000, 1.970000, 1.990000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.080000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.220000, 2.240000, 2.280000, 2.300000, 2.330000, 2.340000, 2.370000, 2.400000, 2.430000, 2.460000, 2.500000, 2.530000, 2.560000, 2.600000, 2.640000, 2.690000, 2.720000, 2.780000, 2.820000, 2.870000, 2.930000, 2.980000, 3.050000, 3.110000, 3.180000, 1.480000, 3.330000, 3.410000, 3.500000, 3.590000, 3.690000, 3.790000, 3.910000, 4.030000, 4.170000, 4.300000, 4.450000, 1.410000, 1.370000, 1.360000, 1.340000, 0.880000, 0.880000, 1.290000, 1.280000, 1.260000, 1.250000, 1.250000, 1.200000, 1.210000, 1.210000, 1.210000, 1.220000, 1.230000, 1.220000, 1.240000, 1.230000, 1.210000, 1.210000, 1.230000, 1.260000, 1.260000, 1.290000, 6.070000, 6.120000, 6.120000, 6.120000, 4.020000, 3.420000, 2.210000, 5.330000, 1.710000, 5.990000, 5.850000, 5.410000, 5.620000, 5.220000, 4.880000, 1.220000, 1.260000, 4.070000, 3.850000, 3.650000, 3.480000, 3.330000, 3.190000, 3.060000, 2.950000, 2.860000, 2.750000, 2.670000, 2.590000, 2.510000, 2.440000, 2.370000, 2.310000, 2.250000, 2.190000, 2.140000, 2.090000, 2.050000, 2.000000, 1.960000, 1.920000, 1.880000, 1.850000, 1.820000, 1.780000, 1.750000, 1.720000, 1.690000, 1.670000, 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": [ 976054238, 603700 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.808000, 0.282000, 0.335546 ], "estimate": [ 2.808000, 0.282000, 0.335546 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.320000, 1.340000, 1.370000, 1.400000, 1.430000, 1.330000, 1.280000, 1.270000, 1.310000, 1.340000, 1.370000, 1.410000, 1.450000, 1.480000, 1.530000, 1.580000, 1.620000, 1.690000, 1.740000, 1.800000, 1.860000, 1.940000, 2.030000, 3.770000, 3.750000, 3.730000, 3.710000, 3.690000, 3.680000, 3.670000, 3.650000, 3.640000, 3.640000, 3.630000, 3.610000, 3.610000, 3.610000, 3.610000, 3.600000, 3.600000, 3.590000, 3.590000, 3.600000, 3.600000, 3.600000, 3.610000, 2.030000, 1.970000, 1.970000, 1.980000, 1.980000, 1.990000, 2.000000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.060000, 2.070000, 2.080000, 2.080000, 2.100000, 2.120000, 2.130000, 2.140000, 2.170000, 2.190000, 2.210000, 2.220000, 2.240000, 2.260000, 2.290000, 2.320000, 2.340000, 2.360000, 2.390000, 2.430000, 2.460000, 2.500000, 2.520000, 2.560000, 2.600000, 2.640000, 2.680000, 2.720000, 2.780000, 2.820000, 2.870000, 2.930000, 2.980000, 3.050000, 3.110000, 3.190000, 1.490000, 3.340000, 3.410000, 3.500000, 3.600000, 3.690000, 3.800000, 3.920000, 4.030000, 4.170000, 4.310000, 4.460000, 1.410000, 1.380000, 1.360000, 1.350000, 0.900000, 0.850000, 1.290000, 1.280000, 1.260000, 1.240000, 1.240000, 1.200000, 1.220000, 1.210000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.220000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 6.090000, 6.120000, 6.130000, 6.120000, 6.120000, 6.130000, 2.220000, 5.330000, 1.710000, 6.030000, 5.850000, 5.410000, 5.630000, 5.230000, 4.890000, 1.240000, 1.250000, 4.070000, 3.850000, 3.660000, 3.480000, 3.340000, 3.210000, 3.080000, 2.960000, 2.860000, 2.760000, 2.670000, 2.580000, 2.520000, 2.450000, 2.380000, 2.310000, 2.260000, 2.190000, 2.140000, 2.090000, 2.050000, 2.010000, 1.960000, 1.930000, 1.890000, 1.860000, 1.820000, 1.790000, 1.750000, 1.720000 ], "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": [ 976054238, 500298 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.809000, 0.283000, 0.261799 ], "estimate": [ 2.809000, 0.283000, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.450000, 1.290000, 1.260000, 1.290000, 1.310000, 1.340000, 1.380000, 1.430000, 1.470000, 1.500000, 1.540000, 1.590000, 1.640000, 1.710000, 1.760000, 1.830000, 1.910000, 1.970000, 2.130000, 3.750000, 3.740000, 3.720000, 3.700000, 3.680000, 3.670000, 3.660000, 3.650000, 3.640000, 3.630000, 3.620000, 3.470000, 3.610000, 3.600000, 3.600000, 3.590000, 3.590000, 3.590000, 3.590000, 3.590000, 3.600000, 3.600000, 3.600000, 2.010000, 1.960000, 1.970000, 1.980000, 1.980000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.060000, 2.070000, 2.080000, 2.080000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.220000, 2.250000, 2.270000, 2.300000, 2.320000, 2.340000, 2.370000, 2.400000, 2.440000, 2.470000, 2.500000, 2.530000, 2.570000, 2.610000, 2.650000, 2.700000, 2.730000, 2.780000, 2.840000, 2.890000, 2.950000, 3.010000, 3.070000, 3.130000, 3.190000, 1.510000, 3.370000, 3.440000, 3.530000, 3.630000, 3.730000, 3.850000, 3.970000, 4.090000, 4.220000, 4.370000, 4.520000, 1.410000, 1.380000, 1.360000, 1.340000, 0.900000, 0.880000, 1.290000, 1.280000, 1.260000, 1.250000, 1.250000, 1.210000, 1.220000, 1.210000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.230000, 1.210000, 1.220000, 1.250000, 1.260000, 1.270000, 1.320000, 6.130000, 6.130000, 6.130000, 3.940000, 6.130000, 3.380000, 5.980000, 1.730000, 1.740000, 5.940000, 5.820000, 5.420000, 5.470000, 5.100000, 4.770000, 1.240000, 4.240000, 3.980000, 3.790000, 3.600000, 3.420000, 3.290000, 3.160000, 3.030000, 2.920000, 2.830000, 2.730000, 2.650000, 2.580000, 2.490000, 2.430000, 2.360000, 2.300000, 2.240000, 2.190000, 2.140000, 2.080000, 2.040000, 1.990000, 1.960000, 1.920000, 1.880000, 1.850000 ], "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": [ 976054238, 501376 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.810000, 0.283000, 0.212635 ], "estimate": [ 2.810000, 0.283000, 0.212635 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.130000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.430000, 1.310000, 1.260000, 1.260000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.470000, 1.520000, 1.560000, 1.610000, 1.670000, 1.730000, 1.790000, 1.850000, 1.930000, 2.010000, 3.750000, 3.750000, 3.720000, 3.700000, 3.680000, 3.680000, 3.670000, 3.650000, 3.630000, 3.630000, 3.610000, 3.610000, 3.610000, 3.600000, 3.600000, 3.590000, 3.590000, 3.590000, 3.580000, 3.580000, 3.590000, 3.590000, 3.590000, 2.050000, 1.960000, 1.960000, 1.960000, 1.970000, 1.980000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.060000, 2.060000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.230000, 2.250000, 2.280000, 2.300000, 2.330000, 2.350000, 2.380000, 2.420000, 2.440000, 2.480000, 2.520000, 2.540000, 2.590000, 2.630000, 2.670000, 2.710000, 2.760000, 2.800000, 2.860000, 2.910000, 2.970000, 3.030000, 3.100000, 3.170000, 1.490000, 3.310000, 3.390000, 3.480000, 3.580000, 3.670000, 3.780000, 3.890000, 4.010000, 4.150000, 4.290000, 4.430000, 4.590000, 1.400000, 1.380000, 1.360000, 1.340000, 0.890000, 0.890000, 1.290000, 1.280000, 1.260000, 1.260000, 1.250000, 1.230000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.230000, 1.220000, 1.230000, 1.260000, 1.280000, 1.280000, 6.120000, 6.130000, 6.130000, 6.130000, 3.960000, 6.130000, 2.240000, 5.330000, 1.710000, 6.150000, 5.910000, 5.420000, 5.620000, 5.230000, 4.890000, 1.250000, 1.230000, 4.070000, 3.860000, 3.670000, 3.500000, 3.340000, 3.210000, 3.090000, 2.970000, 2.870000, 2.770000, 2.680000, 2.600000, 2.530000, 2.470000, 2.390000, 2.320000, 2.260000, 2.210000, 2.160000, 2.100000, 2.050000, 2.030000, 1.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054238, 656046 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.811000, 0.283000, 0.163471 ], "estimate": [ 2.811000, 0.283000, 0.163471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.320000, 1.340000, 1.380000, 1.400000, 1.450000, 1.260000, 1.250000, 1.280000, 1.300000, 1.340000, 1.370000, 1.410000, 1.450000, 1.480000, 1.530000, 1.580000, 1.640000, 1.700000, 1.750000, 1.820000, 1.880000, 1.960000, 2.100000, 3.750000, 3.720000, 3.700000, 3.690000, 3.680000, 3.670000, 3.650000, 3.640000, 3.620000, 3.620000, 3.610000, 3.480000, 3.600000, 3.590000, 3.590000, 3.580000, 3.580000, 3.580000, 3.580000, 3.580000, 3.580000, 3.590000, 3.600000, 2.020000, 1.950000, 1.960000, 1.960000, 1.970000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.170000, 2.200000, 2.220000, 2.240000, 2.260000, 2.290000, 2.320000, 2.340000, 2.360000, 2.400000, 2.420000, 2.460000, 2.500000, 2.530000, 2.570000, 2.610000, 2.640000, 2.690000, 2.730000, 2.780000, 2.830000, 2.880000, 2.940000, 3.000000, 3.060000, 3.130000, 3.210000, 1.470000, 3.360000, 3.440000, 3.520000, 3.620000, 3.720000, 3.840000, 3.960000, 4.090000, 4.210000, 4.360000, 4.500000, 1.430000, 1.400000, 1.370000, 1.360000, 1.210000, 0.880000, 1.080000, 1.300000, 1.280000, 1.260000, 1.250000, 1.210000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.230000, 1.240000, 1.220000, 1.220000, 1.240000, 1.270000, 1.280000, 1.300000, 6.130000, 6.130000, 6.130000, 3.940000, 6.140000, 3.340000, 6.170000, 5.360000, 1.750000, 5.960000, 5.840000, 5.410000, 5.440000, 5.080000, 4.750000, 1.240000, 1.260000, 3.970000, 3.760000, 3.590000, 3.420000, 3.290000, 3.150000, 3.030000, 2.920000, 2.830000, 2.730000, 2.650000, 2.580000, 2.490000, 2.430000, 2.360000, 2.300000, 2.250000, 2.190000, 2.140000, 2.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054238, 994214 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.811000, 0.283000, 0.089725 ], "estimate": [ 2.811000, 0.283000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.440000, 1.250000, 1.240000, 1.280000, 1.300000, 1.330000, 1.370000, 1.410000, 1.450000, 1.480000, 1.530000, 1.580000, 1.630000, 1.690000, 1.750000, 1.810000, 1.880000, 1.950000, 2.040000, 3.750000, 3.730000, 3.700000, 3.690000, 3.680000, 3.660000, 3.650000, 3.630000, 3.620000, 3.610000, 3.610000, 3.470000, 3.590000, 3.590000, 3.580000, 3.570000, 3.580000, 3.580000, 3.570000, 3.570000, 3.580000, 3.580000, 3.590000, 2.000000, 1.950000, 1.960000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.030000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.180000, 2.200000, 2.220000, 2.230000, 2.260000, 2.290000, 2.310000, 2.340000, 2.360000, 2.400000, 2.420000, 2.460000, 2.500000, 2.520000, 2.560000, 2.610000, 2.640000, 2.690000, 2.730000, 2.780000, 2.830000, 2.880000, 2.940000, 3.000000, 3.060000, 3.130000, 3.210000, 1.490000, 3.370000, 3.430000, 3.520000, 3.620000, 3.720000, 3.840000, 3.960000, 4.090000, 4.220000, 4.370000, 4.510000, 4.690000, 1.410000, 1.380000, 1.350000, 1.340000, 0.900000, 0.910000, 1.290000, 1.280000, 1.260000, 1.260000, 1.230000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.260000, 1.270000, 1.280000, 1.300000, 6.140000, 6.130000, 6.140000, 3.930000, 6.150000, 3.390000, 6.170000, 5.550000, 1.740000, 5.930000, 5.830000, 5.680000, 5.450000, 5.080000, 4.760000, 1.250000, 1.250000, 3.980000, 3.780000, 3.600000, 3.430000, 3.290000, 3.170000, 3.040000, 2.940000, 2.840000, 2.740000, 2.660000, 2.590000, 2.510000, 2.440000, 2.370000, 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": [ 976054239, 600440 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.811000, 0.283000, 0.015978 ], "estimate": [ 2.811000, 0.283000, 0.015978 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.060000, 1.090000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.250000, 1.280000, 1.300000, 1.320000, 1.350000, 1.390000, 1.420000, 1.250000, 1.230000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.460000, 1.510000, 1.560000, 1.610000, 1.670000, 1.730000, 1.790000, 1.860000, 1.940000, 2.030000, 3.750000, 3.730000, 3.710000, 3.690000, 3.670000, 3.660000, 3.650000, 3.630000, 3.620000, 3.610000, 3.610000, 3.460000, 3.590000, 3.580000, 3.580000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.580000, 3.590000, 2.070000, 1.950000, 1.950000, 1.960000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.100000, 2.110000, 2.120000, 2.140000, 2.170000, 2.190000, 2.210000, 2.230000, 2.250000, 2.280000, 2.310000, 2.330000, 2.350000, 2.380000, 2.410000, 2.450000, 2.480000, 2.520000, 2.550000, 2.590000, 2.630000, 2.670000, 2.710000, 2.760000, 2.810000, 2.860000, 2.930000, 2.980000, 3.050000, 3.110000, 3.190000, 1.490000, 1.510000, 3.410000, 3.500000, 3.600000, 3.690000, 3.810000, 3.930000, 4.050000, 4.180000, 4.330000, 4.480000, 4.650000, 1.420000, 1.390000, 1.370000, 1.350000, 1.030000, 0.850000, 1.270000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.240000, 1.240000, 1.250000, 1.250000, 1.250000, 1.250000, 1.240000, 1.230000, 1.230000, 1.250000, 1.280000, 1.280000, 1.300000, 6.120000, 6.130000, 6.140000, 3.950000, 6.150000, 3.410000, 2.230000, 5.350000, 1.720000, 5.940000, 5.830000, 5.430000, 5.510000, 5.150000, 4.810000, 1.280000, 1.230000, 4.030000, 3.820000, 3.630000, 3.480000, 3.330000, 3.190000, 3.070000, 2.960000, 2.860000, 2.770000, 2.690000, 2.600000 ], "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": [ 976054239, 445489 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.811000, 0.283000, -0.027040 ], "estimate": [ 2.811000, 0.283000, -0.027040 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.340000, 1.380000, 1.410000, 1.260000, 1.220000, 1.240000, 1.270000, 1.310000, 1.330000, 1.370000, 1.420000, 1.460000, 1.490000, 1.550000, 1.590000, 1.640000, 1.710000, 1.770000, 1.840000, 1.910000, 1.990000, 3.750000, 3.720000, 3.700000, 3.690000, 3.670000, 3.660000, 3.640000, 3.630000, 3.620000, 3.610000, 3.610000, 3.500000, 3.590000, 3.580000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.580000, 3.580000, 2.040000, 1.940000, 1.940000, 1.960000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.000000, 2.020000, 2.030000, 2.040000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.240000, 2.270000, 2.300000, 2.330000, 2.350000, 2.380000, 2.410000, 2.440000, 2.480000, 2.510000, 2.540000, 2.580000, 2.630000, 2.660000, 2.710000, 2.750000, 2.800000, 2.860000, 2.920000, 2.970000, 3.040000, 3.100000, 3.180000, 3.240000, 1.490000, 3.400000, 3.500000, 3.590000, 3.690000, 3.800000, 3.920000, 4.030000, 4.170000, 4.310000, 4.470000, 4.640000, 1.430000, 1.410000, 1.380000, 1.360000, 1.250000, 0.900000, 1.020000, 1.310000, 1.280000, 1.260000, 1.270000, 1.230000, 1.250000, 1.240000, 1.260000, 1.250000, 1.260000, 1.250000, 1.240000, 1.230000, 1.240000, 1.250000, 1.280000, 1.290000, 1.300000, 1.340000, 6.140000, 6.140000, 3.930000, 6.150000, 3.420000, 2.250000, 5.350000, 1.750000, 5.950000, 5.820000, 5.440000, 5.510000, 5.150000, 4.800000, 1.280000, 1.260000, 4.010000, 3.810000, 3.620000, 3.470000, 3.320000, 3.200000, 3.060000, 2.970000, 2.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054239, 459005 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.810000, 0.283000, -0.070059 ], "estimate": [ 2.810000, 0.283000, -0.070059 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.170000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.260000, 1.220000, 1.230000, 1.260000, 1.310000, 1.330000, 1.370000, 1.410000, 1.450000, 1.490000, 1.540000, 1.590000, 1.640000, 1.710000, 1.770000, 1.840000, 1.910000, 1.980000, 3.740000, 3.720000, 3.700000, 3.690000, 3.670000, 3.650000, 3.640000, 3.620000, 3.610000, 3.610000, 3.600000, 3.530000, 3.590000, 3.580000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.570000, 3.580000, 3.580000, 2.090000, 1.950000, 1.940000, 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.980000, 1.990000, 2.010000, 2.020000, 2.030000, 2.040000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.240000, 2.270000, 2.300000, 2.330000, 2.340000, 2.380000, 2.410000, 2.440000, 2.480000, 2.510000, 2.540000, 2.590000, 2.630000, 2.660000, 2.710000, 2.750000, 2.800000, 2.860000, 2.920000, 2.970000, 3.040000, 3.110000, 3.180000, 3.250000, 1.490000, 3.400000, 3.490000, 3.590000, 3.690000, 3.800000, 3.920000, 4.040000, 4.170000, 4.320000, 4.460000, 4.640000, 1.430000, 1.420000, 1.390000, 1.370000, 1.320000, 0.900000, 0.940000, 1.310000, 1.290000, 1.270000, 1.270000, 1.230000, 1.250000, 1.240000, 1.260000, 1.250000, 1.250000, 1.250000, 1.240000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 6.140000, 6.150000, 3.970000, 6.170000, 3.420000, 2.250000, 5.360000, 1.750000, 5.930000, 5.840000, 5.440000, 5.510000, 5.130000, 4.810000, 1.270000, 1.270000, 4.010000, 3.820000, 3.630000, 3.470000, 3.330000, 3.200000, 3.080000 ], "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": [ 976054240, 552700 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.810000, 0.283000, -0.125369 ], "estimate": [ 2.810000, 0.283000, -0.125369 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.220000, 1.250000, 1.280000, 1.310000, 1.330000, 1.370000, 1.400000, 1.260000, 1.220000, 1.230000, 1.270000, 1.300000, 1.330000, 1.370000, 1.410000, 1.450000, 1.490000, 1.540000, 1.590000, 1.630000, 1.710000, 1.760000, 1.830000, 1.900000, 1.980000, 3.740000, 3.710000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.620000, 3.610000, 3.610000, 3.600000, 3.510000, 3.580000, 3.580000, 3.570000, 3.570000, 3.570000, 3.560000, 3.560000, 3.560000, 3.570000, 3.570000, 3.580000, 3.580000, 1.960000, 1.940000, 1.950000, 1.960000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.240000, 2.270000, 2.300000, 2.330000, 2.340000, 2.380000, 2.410000, 2.440000, 2.480000, 2.510000, 2.540000, 2.590000, 2.620000, 2.660000, 2.710000, 2.750000, 2.800000, 2.860000, 2.920000, 2.980000, 3.040000, 3.110000, 3.180000, 3.260000, 1.490000, 3.410000, 3.500000, 3.600000, 3.690000, 3.810000, 3.930000, 4.050000, 4.180000, 4.330000, 4.480000, 4.650000, 1.440000, 1.410000, 1.390000, 1.370000, 1.350000, 0.900000, 0.920000, 1.310000, 1.280000, 1.280000, 1.270000, 1.230000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.250000, 1.250000, 1.240000, 1.240000, 1.260000, 1.290000, 1.290000, 1.310000, 1.320000, 6.150000, 6.150000, 3.960000, 6.170000, 3.420000, 2.280000, 5.370000, 1.740000, 5.940000, 5.800000, 5.440000, 5.500000, 5.140000, 4.790000, 1.290000, 1.250000, 4.010000, 3.810000, 3.630000, 3.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054240, 306149 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.810000, 0.283000, -0.186824 ], "estimate": [ 2.810000, 0.283000, -0.186824 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.260000, 1.300000, 1.320000, 1.350000, 1.390000, 1.400000, 1.220000, 1.220000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.440000, 1.470000, 1.520000, 1.570000, 1.610000, 1.680000, 1.740000, 1.800000, 1.880000, 1.960000, 2.040000, 3.720000, 3.690000, 3.680000, 3.670000, 3.650000, 3.640000, 3.610000, 3.610000, 3.610000, 3.600000, 3.580000, 3.580000, 3.580000, 3.570000, 3.570000, 3.560000, 3.560000, 3.560000, 3.560000, 3.570000, 3.570000, 3.570000, 3.580000, 2.000000, 1.940000, 1.950000, 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.050000, 2.060000, 2.080000, 2.080000, 2.100000, 2.120000, 2.130000, 2.150000, 2.180000, 2.200000, 2.220000, 2.240000, 2.270000, 2.290000, 2.320000, 2.340000, 2.370000, 2.400000, 2.430000, 2.470000, 2.510000, 2.530000, 2.570000, 2.600000, 2.640000, 2.700000, 2.740000, 2.790000, 2.850000, 2.910000, 2.960000, 3.030000, 3.100000, 3.170000, 3.240000, 1.500000, 3.390000, 3.480000, 3.570000, 3.680000, 3.780000, 3.900000, 4.010000, 4.150000, 4.290000, 4.450000, 4.610000, 4.790000, 1.420000, 1.400000, 1.380000, 1.360000, 0.940000, 0.900000, 1.250000, 1.310000, 1.280000, 1.280000, 1.250000, 1.260000, 1.250000, 1.260000, 1.260000, 1.270000, 1.260000, 1.240000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 6.150000, 6.160000, 6.170000, 6.170000, 6.160000, 2.260000, 5.390000, 1.750000, 6.230000, 5.950000, 5.450000, 5.590000, 5.200000, 4.870000, 4.600000, 1.260000, 4.080000 ], "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": [ 976054240, 564190 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.809000, 0.283000, -0.242134 ], "estimate": [ 2.809000, 0.283000, -0.242134 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.240000, 1.210000, 1.220000, 1.260000, 1.290000, 1.320000, 1.360000, 1.400000, 1.450000, 1.470000, 1.530000, 1.580000, 1.640000, 1.700000, 1.760000, 1.830000, 1.910000, 2.000000, 3.730000, 3.700000, 3.690000, 3.670000, 3.660000, 3.640000, 3.630000, 3.610000, 3.610000, 3.600000, 3.590000, 3.450000, 3.570000, 3.570000, 3.570000, 3.560000, 3.560000, 3.560000, 3.560000, 3.560000, 3.560000, 3.570000, 3.570000, 3.580000, 1.950000, 1.940000, 1.950000, 1.960000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.220000, 2.250000, 2.280000, 2.300000, 2.330000, 2.350000, 2.380000, 2.410000, 2.440000, 2.480000, 2.520000, 2.550000, 2.590000, 2.620000, 2.670000, 2.710000, 2.770000, 2.820000, 2.870000, 2.930000, 2.990000, 3.060000, 3.120000, 3.200000, 3.270000, 1.500000, 3.430000, 3.520000, 3.620000, 3.730000, 3.850000, 3.970000, 4.080000, 4.230000, 4.380000, 4.530000, 4.710000, 1.440000, 1.420000, 1.390000, 1.370000, 1.360000, 0.930000, 0.930000, 1.320000, 1.300000, 1.290000, 1.280000, 1.240000, 1.260000, 1.260000, 1.270000, 1.260000, 1.260000, 1.250000, 1.260000, 1.250000, 1.260000, 1.280000, 1.310000, 1.310000, 1.310000, 6.130000, 6.160000, 6.170000, 3.970000, 6.180000, 3.420000, 6.090000, 6.210000, 1.770000, 5.940000, 5.810000, 5.770000, 5.380000, 5.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054240, 516738 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.810000, 0.283000, -0.303589 ], "estimate": [ 2.810000, 0.283000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.110000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.280000, 1.210000, 1.210000, 1.240000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.470000, 1.520000, 1.570000, 1.620000, 1.680000, 1.740000, 1.810000, 1.890000, 1.970000, 3.720000, 3.700000, 3.690000, 3.670000, 3.660000, 3.640000, 3.630000, 3.610000, 3.610000, 3.600000, 3.590000, 3.500000, 3.570000, 3.570000, 3.560000, 3.560000, 3.550000, 3.550000, 3.550000, 3.560000, 3.560000, 3.570000, 3.570000, 3.580000, 1.990000, 1.930000, 1.950000, 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.100000, 2.120000, 2.140000, 2.160000, 2.180000, 2.200000, 2.220000, 2.240000, 2.270000, 2.300000, 2.330000, 2.340000, 2.380000, 2.410000, 2.440000, 2.480000, 2.510000, 2.540000, 2.580000, 2.620000, 2.670000, 2.710000, 2.760000, 2.810000, 2.870000, 2.930000, 2.980000, 3.050000, 3.120000, 3.200000, 3.260000, 1.510000, 3.430000, 3.510000, 3.610000, 3.710000, 3.830000, 3.950000, 4.070000, 4.200000, 4.360000, 4.510000, 4.690000, 4.860000, 1.430000, 1.410000, 1.380000, 1.360000, 0.950000, 0.910000, 1.200000, 1.300000, 1.300000, 1.290000, 1.240000, 1.260000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.260000, 1.280000, 1.310000, 1.320000, 1.320000, 6.160000, 6.160000, 6.170000, 3.950000, 6.190000, 3.330000, 2.300000, 5.850000, 1.770000, 6.000000, 5.850000 ], "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": [ 976054240, 517995 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.813000, 0.282000, -0.365044 ], "estimate": [ 2.813000, 0.282000, -0.365044 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.010000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.240000, 1.260000, 1.290000, 1.320000, 1.350000, 1.390000, 1.220000, 1.200000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.390000, 1.440000, 1.470000, 1.530000, 1.580000, 1.630000, 1.700000, 1.760000, 1.830000, 1.910000, 2.000000, 3.710000, 3.690000, 3.680000, 3.660000, 3.650000, 3.630000, 3.610000, 3.610000, 3.600000, 3.590000, 3.580000, 3.460000, 3.560000, 3.560000, 3.560000, 3.560000, 3.550000, 3.550000, 3.560000, 3.560000, 3.560000, 3.560000, 3.570000, 2.060000, 1.950000, 1.930000, 1.950000, 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.170000, 2.190000, 2.210000, 2.220000, 2.250000, 2.280000, 2.300000, 2.330000, 2.360000, 2.390000, 2.420000, 2.450000, 2.500000, 2.530000, 2.550000, 2.600000, 2.640000, 2.690000, 2.730000, 2.780000, 2.830000, 2.890000, 2.950000, 3.010000, 3.080000, 3.140000, 3.210000, 3.300000, 1.510000, 3.460000, 3.550000, 3.650000, 3.760000, 3.870000, 3.990000, 4.120000, 4.260000, 4.420000, 4.580000, 4.760000, 1.450000, 1.430000, 1.410000, 1.380000, 1.360000, 0.930000, 0.940000, 1.320000, 1.300000, 1.300000, 1.300000, 1.240000, 1.270000, 1.280000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 6.160000, 6.170000, 6.180000, 3.990000, 6.190000, 2.300000, 5.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054240, 710140 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.828000, 0.276000, -0.432645 ], "estimate": [ 2.828000, 0.276000, -0.432645 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.800000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.110000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.300000, 1.320000, 1.360000, 1.390000, 1.200000, 1.190000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.390000, 1.450000, 1.480000, 1.540000, 1.590000, 1.640000, 1.700000, 1.770000, 1.850000, 1.930000, 2.070000, 3.700000, 3.680000, 3.660000, 3.650000, 3.630000, 3.620000, 3.610000, 3.610000, 3.590000, 3.580000, 3.570000, 3.560000, 3.560000, 3.550000, 3.550000, 3.550000, 3.540000, 3.540000, 3.550000, 3.550000, 3.550000, 3.560000, 3.560000, 2.120000, 1.930000, 1.920000, 1.940000, 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.220000, 2.250000, 2.280000, 2.310000, 2.340000, 2.360000, 2.390000, 2.430000, 2.460000, 2.500000, 2.520000, 2.560000, 2.600000, 2.650000, 2.690000, 2.740000, 2.780000, 2.840000, 2.900000, 2.960000, 3.020000, 3.090000, 3.150000, 3.240000, 3.320000, 1.510000, 3.480000, 3.570000, 3.670000, 3.780000, 3.900000, 4.020000, 4.160000, 4.300000, 4.450000, 4.620000, 4.810000, 1.440000, 1.420000, 1.420000, 1.390000, 1.370000, 0.950000, 0.910000, 1.320000, 1.320000, 1.300000, 1.290000, 1.260000, 1.270000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.280000, 1.310000, 1.320000, 1.330000, 1.350000, 6.160000, 6.170000, 6.190000, 6.200000 ], "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": [ 976054241, 154719 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.867000, 0.256000, -0.524828 ], "estimate": [ 2.867000, 0.256000, -0.524828 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.180000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.330000, 1.370000, 1.400000, 1.450000, 1.490000, 1.540000, 1.590000, 1.660000, 1.710000, 1.790000, 1.860000, 1.940000, 3.680000, 3.660000, 3.640000, 3.620000, 3.610000, 3.600000, 3.580000, 3.570000, 3.550000, 3.540000, 3.530000, 3.520000, 3.520000, 3.510000, 3.510000, 3.510000, 3.510000, 3.510000, 3.510000, 3.510000, 3.510000, 3.520000, 3.520000, 3.530000, 2.000000, 1.890000, 1.890000, 1.900000, 1.910000, 1.920000, 1.930000, 1.940000, 1.950000, 1.960000, 1.960000, 1.970000, 1.990000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.080000, 2.090000, 2.120000, 2.130000, 2.150000, 2.180000, 2.200000, 2.220000, 2.250000, 2.280000, 2.310000, 2.340000, 2.370000, 2.400000, 2.440000, 2.460000, 2.500000, 2.540000, 2.580000, 2.620000, 2.670000, 2.720000, 2.770000, 2.820000, 2.880000, 2.940000, 3.000000, 3.070000, 3.140000, 3.210000, 3.300000, 3.370000, 1.500000, 3.550000, 3.660000, 3.770000, 3.890000, 4.010000, 4.150000, 4.300000, 4.450000, 4.640000, 4.830000, 5.020000, 1.440000, 1.420000, 1.390000, 1.380000, 1.360000, 1.360000, 0.940000, 1.020000, 1.320000, 1.310000, 1.290000, 1.260000, 1.270000, 1.290000, 1.270000, 1.270000, 1.260000, 1.260000, 1.270000, 1.280000, 1.300000, 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": [ 976054241, 155931 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.931000, 0.217000, -0.549410 ], "estimate": [ 2.931000, 0.217000, -0.549410 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.860000, 0.860000, 0.870000, 0.880000, 0.900000, 0.900000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.190000, 1.220000, 1.240000, 1.280000, 1.160000, 1.110000, 1.110000, 1.130000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.400000, 1.450000, 1.490000, 1.550000, 1.600000, 1.660000, 1.720000, 1.790000, 1.870000, 3.610000, 3.600000, 3.570000, 3.560000, 3.540000, 3.520000, 3.510000, 3.510000, 3.490000, 3.480000, 3.480000, 3.470000, 3.430000, 3.460000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.470000, 3.480000, 1.890000, 1.820000, 1.830000, 1.850000, 1.860000, 1.860000, 1.880000, 1.880000, 1.890000, 1.890000, 1.910000, 1.920000, 1.930000, 1.950000, 1.960000, 1.970000, 1.990000, 2.010000, 2.020000, 2.040000, 2.070000, 2.080000, 2.100000, 2.120000, 2.140000, 2.170000, 2.200000, 2.220000, 2.250000, 2.290000, 2.310000, 2.340000, 2.370000, 2.400000, 2.440000, 2.480000, 2.510000, 2.560000, 2.600000, 2.650000, 2.700000, 2.760000, 2.820000, 2.880000, 2.940000, 3.010000, 3.080000, 3.150000, 3.220000, 3.310000, 3.390000, 1.470000, 3.610000, 3.710000, 3.830000, 3.960000, 4.100000, 4.250000, 4.400000, 4.580000, 4.780000, 4.980000, 5.040000, 2.050000, 1.420000, 1.410000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 0.920000, 0.930000, 1.290000, 1.290000, 1.260000, 1.270000, 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": [ 976054241, 256217 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.997000, 0.178000, -0.530973 ], "estimate": [ 2.997000, 0.178000, -0.530973 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.190000, 1.060000, 1.040000, 1.040000, 1.050000, 1.060000, 1.090000, 1.120000, 1.150000, 1.180000, 1.210000, 1.240000, 1.280000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.540000, 1.600000, 1.650000, 1.710000, 1.790000, 3.530000, 3.510000, 3.490000, 3.480000, 3.460000, 3.440000, 3.430000, 3.420000, 3.400000, 3.400000, 3.390000, 3.370000, 3.250000, 3.370000, 3.380000, 3.380000, 3.360000, 3.360000, 3.360000, 3.360000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 1.800000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.790000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.860000, 1.870000, 1.880000, 1.890000, 1.910000, 1.930000, 1.950000, 1.960000, 1.980000, 2.000000, 2.020000, 2.050000, 2.070000, 2.090000, 2.120000, 2.140000, 2.170000, 2.210000, 2.230000, 2.270000, 2.300000, 2.340000, 2.360000, 2.400000, 2.450000, 2.490000, 2.530000, 2.580000, 2.630000, 2.690000, 2.740000, 2.810000, 2.870000, 2.950000, 3.020000, 3.100000, 3.170000, 3.260000, 3.350000, 3.450000, 3.550000, 1.440000, 3.790000, 3.930000, 4.080000, 4.230000, 4.400000, 4.580000, 4.800000, 5.020000, 5.010000, 4.980000, 2.030000, 6.180000, 1.400000, 1.370000, 1.370000, 1.360000, 1.340000, 1.330000, 1.320000, 1.320000, 1.300000, 0.930000, 0.880000, 1.250000, 1.270000, 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": [ 976054241, 655089 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.046000, 0.149000, -0.537119 ], "estimate": [ 3.046000, 0.149000, -0.537119 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.040000, 0.990000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.330000, 1.370000, 1.430000, 1.470000, 1.520000, 1.580000, 1.630000, 1.700000, 1.790000, 3.470000, 3.450000, 3.430000, 3.410000, 3.400000, 3.380000, 3.380000, 3.360000, 3.350000, 3.340000, 3.330000, 3.330000, 3.210000, 3.320000, 3.310000, 3.310000, 3.310000, 3.310000, 3.310000, 3.310000, 3.310000, 3.310000, 3.320000, 3.320000, 3.320000, 3.320000, 3.330000, 1.740000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.800000, 1.810000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 1.990000, 2.010000, 2.040000, 2.060000, 2.090000, 2.120000, 2.140000, 2.180000, 2.210000, 2.240000, 2.290000, 2.320000, 2.350000, 2.390000, 2.440000, 2.490000, 2.520000, 2.580000, 2.630000, 2.700000, 2.750000, 2.820000, 2.890000, 2.970000, 3.050000, 3.120000, 3.210000, 3.310000, 3.400000, 3.520000, 3.630000, 1.410000, 3.920000, 4.050000, 4.210000, 4.390000, 4.590000, 4.810000, 5.040000, 4.990000, 4.960000, 5.050000, 2.010000, 6.120000, 6.080000, 1.380000, 1.370000, 1.360000, 1.350000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 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": [ 976054241, 680485 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.086000, 0.125000, -0.549410 ], "estimate": [ 3.086000, 0.125000, -0.549410 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.110000, 0.960000, 0.940000, 0.940000, 0.960000, 0.970000, 1.000000, 1.010000, 1.040000, 1.070000, 1.090000, 1.110000, 1.150000, 1.180000, 1.210000, 1.240000, 1.270000, 1.320000, 1.350000, 1.390000, 1.440000, 1.480000, 1.540000, 1.590000, 1.650000, 1.800000, 3.420000, 3.400000, 3.380000, 3.370000, 3.360000, 3.340000, 3.330000, 3.310000, 3.300000, 3.290000, 3.280000, 3.280000, 3.270000, 3.040000, 3.260000, 3.260000, 3.260000, 3.260000, 3.260000, 3.260000, 3.260000, 3.260000, 3.260000, 3.270000, 3.270000, 3.280000, 3.280000, 1.700000, 1.650000, 1.640000, 1.650000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.760000, 1.780000, 1.800000, 1.810000, 1.820000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.950000, 1.970000, 1.990000, 2.020000, 2.050000, 2.080000, 2.100000, 2.130000, 2.170000, 2.200000, 2.220000, 2.270000, 2.310000, 2.350000, 2.390000, 2.440000, 2.500000, 2.540000, 2.600000, 2.660000, 2.720000, 2.790000, 2.860000, 2.940000, 3.010000, 3.090000, 3.190000, 3.280000, 3.380000, 3.500000, 3.620000, 3.750000, 1.370000, 1.400000, 4.220000, 4.390000, 4.590000, 4.830000, 5.010000, 4.960000, 4.940000, 5.050000, 6.140000, 2.010000, 6.050000, 5.970000, 1.400000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 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": [ 976054241, 856415 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.128000, 0.099000, -0.543264 ], "estimate": [ 3.128000, 0.099000, -0.543264 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 0.950000, 0.910000, 0.900000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.140000, 1.170000, 1.210000, 1.230000, 1.270000, 1.310000, 1.340000, 1.380000, 1.440000, 1.480000, 1.530000, 1.590000, 1.640000, 3.400000, 3.370000, 3.360000, 3.340000, 3.330000, 3.310000, 3.300000, 3.280000, 3.270000, 3.260000, 3.250000, 3.250000, 3.240000, 3.230000, 3.210000, 3.220000, 3.220000, 3.220000, 3.220000, 3.220000, 3.220000, 3.220000, 3.220000, 3.220000, 3.220000, 3.230000, 3.240000, 3.240000, 1.820000, 1.620000, 1.600000, 1.600000, 1.610000, 1.630000, 1.630000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.700000, 1.710000, 1.730000, 1.730000, 1.750000, 1.770000, 1.790000, 1.810000, 1.810000, 1.840000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.970000, 2.000000, 2.020000, 2.060000, 2.080000, 2.110000, 2.150000, 2.190000, 2.210000, 2.250000, 2.300000, 2.330000, 2.380000, 2.430000, 2.490000, 2.530000, 2.600000, 2.650000, 2.720000, 2.790000, 2.860000, 2.940000, 3.010000, 3.100000, 3.210000, 3.310000, 3.410000, 3.530000, 3.660000, 3.810000, 3.960000, 1.380000, 4.290000, 4.500000, 4.720000, 4.960000, 4.960000, 4.930000, 4.970000, 6.120000, 6.110000, 1.990000, 6.010000, 2.510000, 1.390000, 1.380000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 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": [ 976054242, 351897 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.182000, 0.067000, -0.549410 ], "estimate": [ 3.182000, 0.067000, -0.549410 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.760000, 0.770000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.900000, 0.900000, 0.910000, 0.910000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 0.930000, 0.870000, 0.850000, 0.860000, 0.870000, 0.900000, 0.900000, 0.920000, 0.950000, 0.970000, 0.980000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.270000, 1.300000, 1.340000, 1.380000, 1.430000, 1.480000, 1.530000, 1.590000, 3.360000, 3.330000, 3.320000, 3.290000, 3.270000, 3.260000, 3.240000, 3.230000, 3.210000, 3.210000, 3.200000, 3.200000, 3.190000, 3.180000, 2.970000, 3.160000, 3.160000, 3.160000, 3.150000, 3.150000, 3.150000, 3.150000, 3.150000, 3.160000, 3.160000, 3.170000, 3.170000, 3.180000, 3.190000, 3.200000, 1.580000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.610000, 1.630000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.720000, 1.730000, 1.760000, 1.780000, 1.790000, 1.810000, 1.830000, 1.860000, 1.880000, 1.900000, 1.930000, 1.960000, 1.980000, 2.010000, 2.050000, 2.080000, 2.110000, 2.140000, 2.170000, 2.210000, 2.260000, 2.300000, 2.350000, 2.400000, 2.450000, 2.510000, 2.570000, 2.620000, 2.700000, 2.770000, 2.850000, 2.930000, 3.010000, 3.110000, 3.200000, 3.310000, 3.420000, 3.540000, 3.690000, 3.840000, 3.990000, 4.170000, 1.370000, 4.570000, 4.810000, 4.980000, 4.940000, 4.920000, 6.110000, 6.110000, 6.060000, 1.990000, 2.000000, 5.930000, 2.490000, 5.860000, 1.380000, 1.360000, 1.350000, 1.330000, 1.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054242, 353047 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.240000, 0.031000, -0.549410 ], "estimate": [ 3.240000, 0.031000, -0.549410 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.880000, 0.880000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.960000, 0.890000, 0.830000, 0.810000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.970000, 1.000000, 1.030000, 1.040000, 1.070000, 1.100000, 1.130000, 1.160000, 1.180000, 1.230000, 1.250000, 1.290000, 1.330000, 1.370000, 1.420000, 1.470000, 1.520000, 1.560000, 3.290000, 3.260000, 3.240000, 3.220000, 3.210000, 3.200000, 3.170000, 3.160000, 3.150000, 3.140000, 3.130000, 3.130000, 3.120000, 3.120000, 2.910000, 3.100000, 3.100000, 3.090000, 3.090000, 3.090000, 3.090000, 3.090000, 3.090000, 3.100000, 3.100000, 3.110000, 3.110000, 3.120000, 3.120000, 3.130000, 1.530000, 1.480000, 1.480000, 1.480000, 1.490000, 1.500000, 1.500000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.960000, 1.980000, 2.030000, 2.060000, 2.090000, 2.120000, 2.170000, 2.210000, 2.250000, 2.300000, 2.350000, 2.410000, 2.470000, 2.520000, 2.590000, 2.650000, 2.720000, 2.810000, 2.890000, 2.970000, 3.080000, 3.170000, 3.280000, 3.400000, 3.530000, 3.670000, 3.840000, 4.000000, 4.200000, 4.390000, 4.610000, 1.320000, 4.940000, 4.900000, 4.920000, 5.550000, 6.080000, 6.040000, 5.990000, 1.970000, 5.920000, 2.490000, 4.040000, 3.080000, 1.420000, 1.370000, 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": [ 976054242, 456313 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.292000, -0.001000, -0.549410 ], "estimate": [ 3.292000, -0.001000, -0.549410 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.760000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.810000, 0.780000, 0.770000, 0.780000, 0.790000, 0.810000, 0.810000, 0.830000, 0.820000, 0.840000, 0.850000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.270000, 1.310000, 1.350000, 1.400000, 1.450000, 1.490000, 3.230000, 3.210000, 3.200000, 3.170000, 3.150000, 3.140000, 3.120000, 3.110000, 3.110000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 2.950000, 3.030000, 3.030000, 3.020000, 3.030000, 3.020000, 3.020000, 3.020000, 3.020000, 3.030000, 3.030000, 3.030000, 3.040000, 3.050000, 3.050000, 3.060000, 3.060000, 1.470000, 1.400000, 1.410000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.460000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.700000, 1.730000, 1.740000, 1.760000, 1.790000, 1.810000, 1.830000, 1.860000, 1.890000, 1.930000, 1.960000, 1.990000, 2.030000, 2.070000, 2.100000, 2.140000, 2.190000, 2.240000, 2.290000, 2.340000, 2.400000, 2.460000, 2.520000, 2.600000, 2.670000, 2.740000, 2.840000, 2.920000, 3.020000, 3.120000, 3.230000, 3.370000, 3.490000, 3.640000, 3.810000, 3.970000, 4.180000, 4.390000, 4.630000, 4.900000, 4.950000, 1.280000, 4.940000, 6.100000, 6.050000, 6.020000, 5.960000, 5.930000, 1.960000, 4.070000, 2.500000, 3.140000, 3.610000, 3.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054243, 134996 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.337000, -0.028000, -0.567847 ], "estimate": [ 3.337000, -0.028000, -0.567847 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.820000, 0.760000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.820000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.020000, 1.050000, 1.070000, 1.100000, 1.120000, 1.150000, 1.180000, 1.220000, 1.250000, 1.290000, 1.330000, 1.370000, 1.420000, 1.610000, 3.190000, 3.160000, 3.140000, 3.120000, 3.110000, 3.090000, 3.070000, 3.060000, 3.060000, 3.040000, 3.030000, 3.020000, 3.010000, 3.000000, 2.990000, 2.780000, 2.980000, 2.980000, 2.970000, 2.970000, 2.970000, 2.970000, 2.970000, 2.970000, 2.970000, 2.970000, 2.980000, 2.990000, 2.990000, 3.000000, 3.010000, 3.010000, 1.720000, 1.420000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.670000, 1.690000, 1.720000, 1.740000, 1.760000, 1.790000, 1.820000, 1.850000, 1.880000, 1.910000, 1.950000, 1.980000, 2.020000, 2.060000, 2.100000, 2.140000, 2.200000, 2.240000, 2.310000, 2.360000, 2.420000, 2.490000, 2.560000, 2.630000, 2.720000, 2.800000, 2.880000, 2.990000, 3.100000, 3.210000, 3.340000, 3.480000, 3.630000, 3.810000, 3.980000, 4.200000, 4.410000, 4.670000, 4.970000, 4.900000, 4.880000, 1.310000, 6.080000, 6.040000, 6.000000, 5.960000, 5.920000, 5.890000, 1.970000, 2.500000, 3.080000, 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": [ 976054243, 136121 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.378000, -0.056000, -0.617011 ], "estimate": [ 3.378000, -0.056000, -0.617011 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.750000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.740000, 0.720000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.800000, 0.820000, 0.820000, 0.840000, 0.850000, 0.870000, 0.890000, 0.900000, 0.920000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.070000, 1.090000, 1.110000, 1.150000, 1.180000, 1.220000, 1.250000, 1.290000, 1.330000, 1.380000, 1.570000, 3.140000, 3.120000, 3.100000, 3.090000, 3.060000, 3.050000, 3.040000, 3.020000, 3.010000, 2.990000, 2.980000, 2.970000, 2.970000, 2.960000, 2.950000, 2.940000, 2.790000, 2.930000, 2.930000, 2.920000, 2.930000, 2.920000, 2.920000, 2.920000, 2.920000, 2.920000, 2.930000, 2.930000, 2.940000, 2.950000, 2.960000, 2.970000, 2.970000, 2.970000, 1.370000, 1.330000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.630000, 1.640000, 1.660000, 1.690000, 1.730000, 1.740000, 1.770000, 1.800000, 1.830000, 1.860000, 1.890000, 1.930000, 1.960000, 2.010000, 2.050000, 2.090000, 2.140000, 2.190000, 2.250000, 2.310000, 2.360000, 2.430000, 2.500000, 2.580000, 2.660000, 2.740000, 2.830000, 2.930000, 3.040000, 3.160000, 3.290000, 3.430000, 3.590000, 3.760000, 3.950000, 4.160000, 4.390000, 4.640000, 4.940000, 4.900000, 4.870000, 4.960000, 6.050000, 1.310000, 6.000000, 5.960000, 5.920000, 5.890000, 5.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054243, 137104 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.424000, -0.091000, -0.672321 ], "estimate": [ 3.424000, -0.091000, -0.672321 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.760000, 0.700000, 0.670000, 0.680000, 0.680000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 0.990000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.150000, 1.180000, 1.220000, 1.250000, 1.290000, 1.330000, 1.520000, 3.100000, 3.080000, 3.050000, 3.030000, 3.010000, 3.000000, 2.980000, 2.980000, 2.970000, 2.950000, 2.940000, 2.930000, 2.920000, 2.910000, 2.900000, 2.890000, 2.830000, 2.880000, 2.880000, 2.870000, 2.870000, 2.870000, 2.870000, 2.870000, 2.870000, 2.870000, 2.880000, 2.880000, 2.880000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.930000, 1.330000, 1.280000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.420000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.700000, 1.730000, 1.750000, 1.780000, 1.810000, 1.850000, 1.880000, 1.910000, 1.960000, 1.990000, 2.050000, 2.090000, 2.140000, 2.200000, 2.260000, 2.320000, 2.380000, 2.460000, 2.530000, 2.610000, 2.700000, 2.780000, 2.890000, 3.000000, 3.110000, 3.250000, 3.390000, 3.550000, 3.730000, 3.920000, 4.150000, 4.390000, 4.650000, 4.960000, 4.900000, 4.860000, 4.980000, 6.080000, 6.030000, 1.280000, 5.940000 ], "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": [ 976054243, 365069 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.474000, -0.133000, -0.715339 ], "estimate": [ 3.474000, -0.133000, -0.715339 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.680000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.970000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.110000, 1.150000, 1.190000, 1.220000, 1.260000, 1.450000, 3.050000, 3.030000, 3.000000, 2.980000, 2.960000, 2.950000, 2.930000, 2.920000, 2.910000, 2.890000, 2.880000, 2.870000, 2.860000, 2.850000, 2.840000, 2.830000, 2.830000, 2.790000, 2.810000, 2.810000, 2.800000, 2.800000, 2.800000, 2.800000, 2.800000, 2.800000, 2.810000, 2.810000, 2.810000, 2.820000, 2.830000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.870000, 1.260000, 1.230000, 1.210000, 1.210000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.490000, 1.510000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.750000, 1.790000, 1.820000, 1.860000, 1.890000, 1.950000, 1.990000, 2.040000, 2.080000, 2.140000, 2.200000, 2.260000, 2.330000, 2.400000, 2.480000, 2.560000, 2.650000, 2.740000, 2.850000, 2.970000, 3.090000, 3.220000, 3.380000, 3.540000, 3.730000, 3.940000, 4.180000, 4.420000, 4.720000, 4.930000, 4.890000, 4.860000, 5.050000 ], "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": [ 976054243, 695673 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.521000, -0.173000, -0.703048 ], "estimate": [ 3.521000, -0.173000, -0.703048 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.740000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.910000, 0.920000, 0.940000, 0.970000, 0.980000, 1.000000, 1.040000, 1.060000, 1.090000, 1.120000, 1.160000, 1.190000, 1.230000, 3.000000, 2.980000, 2.960000, 2.940000, 2.910000, 2.900000, 2.890000, 2.870000, 2.860000, 2.850000, 2.830000, 2.820000, 2.810000, 2.790000, 2.790000, 2.780000, 2.770000, 2.770000, 2.610000, 2.760000, 2.750000, 2.740000, 2.740000, 2.740000, 2.740000, 2.740000, 2.750000, 2.750000, 2.750000, 2.760000, 2.770000, 2.770000, 2.780000, 2.790000, 2.790000, 2.800000, 2.810000, 2.820000, 2.830000, 1.210000, 1.170000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.400000, 1.430000, 1.450000, 1.470000, 1.480000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.630000, 1.660000, 1.710000, 1.740000, 1.780000, 1.800000, 1.850000, 1.890000, 1.950000, 1.990000, 2.050000, 2.100000, 2.170000, 2.220000, 2.300000, 2.370000, 2.450000, 2.540000, 2.620000, 2.720000, 2.840000, 2.970000, 3.090000, 3.240000, 3.390000, 3.580000, 3.780000, 4.000000, 4.250000, 4.540000, 4.870000, 4.890000, 4.870000, 4.910000 ], "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": [ 976054243, 696807 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.561000, -0.207000, -0.703048 ], "estimate": [ 3.561000, -0.207000, -0.703048 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.610000, 0.580000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.670000, 0.670000, 0.670000, 0.680000, 0.700000, 0.700000, 0.710000, 0.730000, 0.740000, 0.740000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.920000, 0.950000, 0.960000, 0.980000, 1.010000, 1.050000, 1.070000, 1.100000, 1.140000, 1.180000, 1.370000, 2.940000, 2.920000, 2.890000, 2.870000, 2.850000, 2.850000, 2.830000, 2.810000, 2.790000, 2.790000, 2.780000, 2.760000, 2.750000, 2.730000, 2.720000, 2.720000, 2.720000, 2.720000, 2.540000, 2.700000, 2.700000, 2.690000, 2.690000, 2.690000, 2.690000, 2.690000, 2.690000, 2.700000, 2.700000, 2.710000, 2.710000, 2.720000, 2.720000, 2.720000, 2.730000, 2.740000, 2.750000, 2.760000, 2.770000, 2.780000, 1.160000, 1.140000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.620000, 1.640000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.890000, 1.950000, 1.990000, 2.050000, 2.110000, 2.180000, 2.250000, 2.330000, 2.410000, 2.500000, 2.600000, 2.700000, 2.810000, 2.940000, 3.070000, 3.230000, 3.390000, 3.590000, 3.790000, 4.040000, 4.310000, 4.640000, 4.930000, 4.870000, 4.860000, 4.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054243, 857118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.602000, -0.242000, -0.709194 ], "estimate": [ 3.602000, -0.242000, -0.709194 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.710000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.650000, 0.650000, 0.650000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.870000, 0.900000, 0.910000, 0.940000, 0.960000, 0.970000, 1.010000, 1.040000, 1.070000, 1.100000, 1.130000, 1.330000, 2.910000, 2.880000, 2.850000, 2.840000, 2.810000, 2.800000, 2.790000, 2.770000, 2.760000, 2.740000, 2.720000, 2.720000, 2.710000, 2.700000, 2.700000, 2.680000, 2.680000, 2.660000, 2.660000, 2.640000, 2.650000, 2.640000, 2.640000, 2.640000, 2.640000, 2.640000, 2.640000, 2.640000, 2.640000, 2.650000, 2.660000, 2.660000, 2.670000, 2.680000, 2.680000, 2.690000, 2.700000, 2.710000, 2.720000, 2.730000, 2.740000, 1.190000, 1.110000, 1.080000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.160000, 1.180000, 1.180000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.600000, 1.620000, 1.650000, 1.700000, 1.740000, 1.780000, 1.820000, 1.880000, 1.930000, 1.980000, 2.050000, 2.110000, 2.180000, 2.260000, 2.340000, 2.420000, 2.520000, 2.610000, 2.720000, 2.850000, 2.990000, 3.140000, 3.310000, 3.500000, 3.700000, 3.960000, 4.230000, 4.550000, 4.910000, 4.890000, 4.860000, 4.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054244, 291386 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.647000, -0.280000, -0.703048 ], "estimate": [ 3.647000, -0.280000, -0.703048 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.030000, 1.060000, 1.220000, 2.870000, 2.850000, 2.830000, 2.800000, 2.780000, 2.760000, 2.750000, 2.730000, 2.720000, 2.700000, 2.690000, 2.680000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.610000, 2.600000, 2.590000, 2.590000, 2.590000, 2.590000, 2.580000, 2.590000, 2.580000, 2.590000, 2.590000, 2.590000, 2.590000, 2.600000, 2.600000, 2.600000, 2.610000, 2.620000, 2.630000, 2.630000, 2.640000, 2.650000, 2.660000, 2.680000, 2.690000, 2.700000, 1.080000, 1.050000, 1.020000, 1.000000, 1.010000, 1.030000, 1.050000, 1.050000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.440000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.630000, 1.660000, 1.700000, 1.750000, 1.800000, 1.850000, 1.900000, 1.960000, 2.030000, 2.090000, 2.160000, 2.240000, 2.340000, 2.430000, 2.510000, 2.630000, 2.760000, 2.900000, 3.050000, 3.210000, 3.400000, 3.620000, 3.860000, 4.150000, 4.470000, 4.840000, 4.880000, 4.860000, 4.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054244, 292526 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.694000, -0.320000, -0.703048 ], "estimate": [ 3.694000, -0.320000, -0.703048 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.870000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.020000, 1.190000, 2.830000, 2.810000, 2.780000, 2.760000, 2.730000, 2.710000, 2.710000, 2.690000, 2.670000, 2.650000, 2.640000, 2.630000, 2.620000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.370000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.520000, 2.530000, 2.530000, 2.530000, 2.530000, 2.540000, 2.540000, 2.550000, 2.560000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 2.630000, 2.630000, 2.640000, 2.650000, 1.040000, 1.010000, 0.970000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.040000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.480000, 1.500000, 1.540000, 1.580000, 1.630000, 1.650000, 1.700000, 1.750000, 1.800000, 1.860000, 1.930000, 1.990000, 2.060000, 2.130000, 2.220000, 2.310000, 2.400000, 2.510000, 2.620000, 2.770000, 2.920000, 3.070000, 3.260000, 3.470000, 3.700000, 3.990000, 4.300000, 4.680000, 4.900000, 4.850000, 4.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054244, 459326 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.740000, -0.358000, -0.696903 ], "estimate": [ 3.740000, -0.358000, -0.696903 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.790000, 0.800000, 0.820000, 0.830000, 0.860000, 0.870000, 0.910000, 0.910000, 0.940000, 1.060000, 1.130000, 2.780000, 2.750000, 2.730000, 2.710000, 2.690000, 2.670000, 2.650000, 2.630000, 2.630000, 2.600000, 2.590000, 2.570000, 2.560000, 2.540000, 2.540000, 2.520000, 2.520000, 2.520000, 2.500000, 2.500000, 2.490000, 2.490000, 2.320000, 2.480000, 2.470000, 2.470000, 2.470000, 2.470000, 2.460000, 2.470000, 2.470000, 2.480000, 2.480000, 2.480000, 2.490000, 2.490000, 2.500000, 2.500000, 2.520000, 2.520000, 2.520000, 2.530000, 2.540000, 2.560000, 2.570000, 2.590000, 2.590000, 2.610000, 1.050000, 0.950000, 0.950000, 0.920000, 0.910000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.020000, 1.050000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.260000, 1.300000, 1.320000, 1.340000, 1.380000, 1.410000, 1.450000, 1.470000, 1.500000, 1.560000, 1.590000, 1.630000, 1.680000, 1.740000, 1.800000, 1.860000, 1.930000, 2.000000, 2.080000, 2.160000, 2.240000, 2.340000, 2.460000, 2.590000, 2.720000, 2.880000, 3.050000, 3.250000, 3.480000, 3.740000, 4.040000, 4.400000, 4.820000, 4.900000, 4.810000, 4.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054244, 840489 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.783000, -0.394000, -0.696903 ], "estimate": [ 3.783000, -0.394000, -0.696903 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.530000, 0.530000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.900000, 1.000000, 1.070000, 2.770000, 2.730000, 2.710000, 2.690000, 2.660000, 2.640000, 2.620000, 2.610000, 2.590000, 2.570000, 2.550000, 2.540000, 2.520000, 2.520000, 2.510000, 2.490000, 2.490000, 2.470000, 2.460000, 2.450000, 2.450000, 2.440000, 2.430000, 2.420000, 2.260000, 2.420000, 2.420000, 2.410000, 2.410000, 2.410000, 2.420000, 2.410000, 2.420000, 2.420000, 2.420000, 2.430000, 2.430000, 2.440000, 2.440000, 2.450000, 2.470000, 2.470000, 2.480000, 2.490000, 2.500000, 2.520000, 2.520000, 2.530000, 2.550000, 2.560000, 2.580000, 0.950000, 0.910000, 0.900000, 0.860000, 0.860000, 0.860000, 0.870000, 0.890000, 0.910000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.310000, 1.330000, 1.370000, 1.400000, 1.450000, 1.480000, 1.510000, 1.550000, 1.610000, 1.660000, 1.720000, 1.780000, 1.840000, 1.910000, 1.990000, 2.080000, 2.160000, 2.260000, 2.370000, 2.490000, 2.630000, 2.780000, 2.960000, 3.160000, 3.380000, 3.650000, 3.960000, 4.330000, 4.770000, 4.880000, 4.820000, 4.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054244, 856534 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.826000, -0.430000, -0.703048 ], "estimate": [ 3.826000, -0.430000, -0.703048 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.770000, 0.790000, 0.810000, 0.830000, 0.840000, 0.890000, 0.990000, 1.080000, 2.720000, 2.690000, 2.660000, 2.640000, 2.620000, 2.590000, 2.570000, 2.550000, 2.540000, 2.520000, 2.520000, 2.500000, 2.480000, 2.470000, 2.450000, 2.440000, 2.430000, 2.420000, 2.410000, 2.400000, 2.390000, 2.380000, 2.380000, 2.370000, 2.350000, 2.360000, 2.360000, 2.360000, 2.350000, 2.350000, 2.360000, 2.350000, 2.350000, 2.360000, 2.360000, 2.360000, 2.370000, 2.380000, 2.380000, 2.390000, 2.400000, 2.400000, 2.410000, 2.420000, 2.430000, 2.440000, 2.460000, 2.470000, 2.490000, 2.500000, 2.510000, 2.520000, 2.540000, 0.970000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.420000, 1.470000, 1.500000, 1.560000, 1.610000, 1.660000, 1.730000, 1.800000, 1.870000, 1.950000, 2.040000, 2.120000, 2.220000, 2.340000, 2.480000, 2.630000, 2.800000, 2.990000, 3.210000, 3.460000, 3.770000, 4.140000, 4.570000, 4.900000, 4.840000, 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": [ 976054245, 303568 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.870000, -0.468000, -0.696903 ], "estimate": [ 3.870000, -0.468000, -0.696903 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.780000, 0.800000, 0.830000, 0.930000, 0.980000, 2.710000, 2.680000, 2.650000, 2.620000, 2.600000, 2.570000, 2.550000, 2.530000, 2.510000, 2.500000, 2.490000, 2.470000, 2.450000, 2.430000, 2.420000, 2.400000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.340000, 2.330000, 2.320000, 2.150000, 2.310000, 2.320000, 2.310000, 2.310000, 2.310000, 2.310000, 2.310000, 2.310000, 2.310000, 2.320000, 2.320000, 2.320000, 2.330000, 2.340000, 2.340000, 2.340000, 2.350000, 2.360000, 2.370000, 2.380000, 2.390000, 2.400000, 2.420000, 2.430000, 2.450000, 2.460000, 2.470000, 2.490000, 2.510000, 1.040000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.080000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.330000, 1.380000, 1.420000, 1.460000, 1.500000, 1.560000, 1.620000, 1.680000, 1.750000, 1.830000, 1.900000, 1.990000, 2.090000, 2.210000, 2.340000, 2.480000, 2.640000, 2.830000, 3.040000, 3.300000, 3.580000, 3.940000, 4.360000, 4.890000, 4.860000, 4.850000 ], "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": [ 976054245, 350556 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.917000, -0.507000, -0.690757 ], "estimate": [ 3.917000, -0.507000, -0.690757 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.500000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.720000, 0.730000, 0.740000, 0.760000, 0.860000, 0.900000, 0.930000, 2.680000, 2.650000, 2.620000, 2.590000, 2.560000, 2.540000, 2.510000, 2.500000, 2.480000, 2.460000, 2.440000, 2.420000, 2.400000, 2.390000, 2.370000, 2.360000, 2.340000, 2.340000, 2.330000, 2.320000, 2.300000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.090000, 2.240000, 2.240000, 2.240000, 2.230000, 2.230000, 2.240000, 2.240000, 2.240000, 2.240000, 2.250000, 2.250000, 2.260000, 2.260000, 2.270000, 2.280000, 2.290000, 2.290000, 2.300000, 2.310000, 2.320000, 2.340000, 2.340000, 2.350000, 2.370000, 2.380000, 2.400000, 2.410000, 2.430000, 2.440000, 2.470000, 2.490000, 0.850000, 0.800000, 0.750000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.070000, 1.090000, 1.120000, 1.150000, 1.180000, 1.230000, 1.260000, 1.300000, 1.340000, 1.390000, 1.440000, 1.490000, 1.550000, 1.620000, 1.690000, 1.770000, 1.850000, 1.950000, 2.050000, 2.170000, 2.310000, 2.460000, 2.630000, 2.850000, 3.090000, 3.370000, 3.710000, 4.140000, 4.660000, 4.890000, 4.850000 ], "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": [ 976054245, 459244 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.963000, -0.544000, -0.678466 ], "estimate": [ 3.963000, -0.544000, -0.678466 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.710000, 0.810000, 0.820000, 0.860000, 0.910000, 2.660000, 2.620000, 2.590000, 2.570000, 2.530000, 2.510000, 2.490000, 2.470000, 2.440000, 2.420000, 2.410000, 2.380000, 2.370000, 2.350000, 2.340000, 2.330000, 2.310000, 2.300000, 2.290000, 2.270000, 2.260000, 2.240000, 2.230000, 2.230000, 2.220000, 2.220000, 2.210000, 2.200000, 2.200000, 2.030000, 2.190000, 2.190000, 2.190000, 2.180000, 2.180000, 2.180000, 2.190000, 2.190000, 2.190000, 2.190000, 2.190000, 2.200000, 2.200000, 2.210000, 2.220000, 2.220000, 2.220000, 2.240000, 2.250000, 2.260000, 2.270000, 2.280000, 2.290000, 2.310000, 2.320000, 2.340000, 2.340000, 2.350000, 2.380000, 2.390000, 2.410000, 2.430000, 2.260000, 2.480000, 0.790000, 0.730000, 0.720000, 0.710000, 0.710000, 0.690000, 0.670000, 0.670000, 0.690000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.960000, 0.980000, 1.010000, 1.040000, 1.070000, 1.090000, 1.130000, 1.170000, 1.210000, 1.230000, 1.280000, 1.330000, 1.380000, 1.440000, 1.500000, 1.570000, 1.640000, 1.720000, 1.810000, 1.920000, 2.030000, 2.160000, 2.320000, 2.490000, 2.700000, 2.940000, 3.220000, 3.570000, 3.990000, 4.540000, 4.890000, 4.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054246, 269539 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.005000, -0.578000, -0.672321 ], "estimate": [ 4.005000, -0.578000, -0.672321 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.670000, 0.750000, 0.770000, 0.800000, 0.830000, 0.880000, 2.460000, 2.610000, 2.570000, 2.540000, 2.510000, 2.490000, 2.470000, 2.440000, 2.410000, 2.390000, 2.370000, 2.350000, 2.340000, 2.330000, 2.310000, 2.290000, 2.270000, 2.260000, 2.240000, 2.220000, 2.220000, 2.210000, 2.200000, 2.180000, 2.180000, 2.170000, 2.160000, 2.150000, 2.140000, 2.140000, 2.130000, 1.970000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.130000, 2.130000, 2.140000, 2.140000, 2.150000, 2.160000, 2.170000, 2.180000, 2.190000, 2.190000, 2.200000, 2.220000, 2.220000, 2.230000, 2.250000, 2.270000, 2.290000, 2.300000, 2.310000, 2.330000, 2.330000, 2.360000, 2.370000, 2.290000, 2.420000, 2.450000, 0.900000, 0.740000, 0.700000, 0.680000, 0.670000, 0.670000, 0.650000, 0.640000, 0.630000, 0.640000, 0.650000, 0.670000, 0.680000, 0.700000, 0.710000, 0.730000, 0.740000, 0.740000, 0.760000, 0.780000, 0.800000, 0.810000, 0.820000, 0.840000, 0.870000, 0.890000, 0.910000, 0.940000, 0.970000, 1.000000, 1.040000, 1.060000, 1.100000, 1.140000, 1.180000, 1.220000, 1.260000, 1.320000, 1.380000, 1.450000, 1.510000, 1.590000, 1.680000, 1.770000, 1.880000, 2.010000, 2.150000, 2.320000, 2.510000, 2.760000, 3.030000, 3.370000, 3.810000, 4.370000, 4.880000, 4.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054246, 306049 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.050000, -0.613000, -0.672321 ], "estimate": [ 4.050000, -0.613000, -0.672321 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.730000, 0.730000, 0.740000, 0.770000, 0.800000, 2.680000, 2.630000, 2.400000, 2.570000, 2.540000, 2.510000, 2.480000, 2.450000, 2.420000, 2.390000, 2.370000, 2.350000, 2.330000, 2.310000, 2.300000, 2.280000, 2.260000, 2.240000, 2.220000, 2.220000, 2.200000, 2.190000, 2.180000, 2.160000, 2.150000, 2.140000, 2.120000, 2.120000, 2.110000, 2.110000, 2.100000, 2.090000, 2.090000, 2.040000, 2.080000, 2.080000, 2.080000, 2.080000, 2.080000, 2.080000, 2.090000, 2.090000, 2.090000, 2.080000, 2.080000, 2.090000, 2.090000, 2.100000, 2.100000, 2.110000, 2.120000, 2.120000, 2.130000, 2.140000, 2.150000, 2.160000, 2.180000, 2.190000, 2.200000, 2.220000, 2.230000, 2.250000, 2.270000, 2.280000, 2.290000, 2.310000, 2.330000, 2.350000, 2.370000, 2.400000, 2.420000, 2.460000, 0.770000, 0.710000, 0.660000, 0.650000, 0.630000, 0.610000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.640000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.850000, 0.880000, 0.910000, 0.940000, 0.970000, 1.000000, 1.040000, 1.080000, 1.120000, 1.170000, 1.220000, 1.260000, 1.330000, 1.390000, 1.470000, 1.550000, 1.630000, 1.730000, 1.850000, 1.990000, 2.150000, 2.340000, 2.570000, 2.850000, 3.180000, 3.600000, 4.160000, 4.910000, 4.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054246, 566269 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.097000, -0.651000, -0.666175 ], "estimate": [ 4.097000, -0.651000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.590000, 0.660000, 0.670000, 0.680000, 0.690000, 0.720000, 0.740000, 0.870000, 2.680000, 2.630000, 2.600000, 2.550000, 2.520000, 2.500000, 2.470000, 2.430000, 2.410000, 2.380000, 2.350000, 2.330000, 2.310000, 2.280000, 2.260000, 2.250000, 2.230000, 2.210000, 2.190000, 2.180000, 2.160000, 2.150000, 2.130000, 2.120000, 2.110000, 2.090000, 2.080000, 2.080000, 2.070000, 2.070000, 2.060000, 2.050000, 2.050000, 2.040000, 2.030000, 1.900000, 2.040000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 2.030000, 2.030000, 2.020000, 2.020000, 2.030000, 2.030000, 2.040000, 2.040000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.170000, 2.180000, 2.200000, 2.210000, 2.220000, 2.240000, 2.270000, 2.290000, 2.240000, 2.330000, 2.350000, 2.380000, 2.410000, 2.440000, 2.470000, 0.740000, 0.660000, 0.640000, 0.610000, 0.610000, 0.600000, 0.570000, 0.600000, 0.590000, 0.570000, 0.560000, 0.580000, 0.590000, 0.600000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.680000, 0.700000, 0.730000, 0.740000, 0.760000, 0.780000, 0.820000, 0.840000, 0.870000, 0.900000, 0.930000, 0.970000, 1.010000, 1.060000, 1.110000, 1.150000, 1.210000, 1.270000, 1.340000, 1.430000, 1.510000, 1.620000, 1.730000, 1.860000, 2.030000, 2.220000, 2.470000, 2.760000, 3.120000, 3.610000, 4.260000, 4.890000 ], "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": [ 976054246, 471197 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.143000, -0.687000, -0.666175 ], "estimate": [ 4.143000, -0.687000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.560000, 0.630000, 0.630000, 0.630000, 0.650000, 0.650000, 0.680000, 0.690000, 0.790000, 2.660000, 2.690000, 2.640000, 2.600000, 2.560000, 2.510000, 2.490000, 2.460000, 2.420000, 2.390000, 2.360000, 2.330000, 2.320000, 2.290000, 2.260000, 2.240000, 2.210000, 2.200000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.100000, 2.090000, 2.080000, 2.070000, 2.050000, 2.040000, 2.030000, 2.020000, 2.010000, 2.000000, 1.990000, 1.990000, 1.980000, 1.970000, 1.970000, 1.790000, 1.970000, 1.970000, 1.960000, 1.960000, 1.970000, 1.960000, 1.970000, 1.970000, 1.970000, 1.970000, 1.980000, 1.970000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.210000, 2.220000, 2.240000, 2.070000, 2.290000, 2.320000, 2.340000, 2.370000, 2.400000, 2.430000, 2.470000, 2.500000, 0.750000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.570000, 0.540000, 0.570000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.570000, 0.590000, 0.600000, 0.610000, 0.620000, 0.640000, 0.660000, 0.680000, 0.700000, 0.720000, 0.740000, 0.770000, 0.810000, 0.830000, 0.870000, 0.900000, 0.950000, 1.000000, 1.060000, 1.100000, 1.160000, 1.230000, 1.310000, 1.400000, 1.490000, 1.610000, 1.760000, 1.930000, 2.130000, 2.400000, 2.720000, 3.160000, 3.730000, 4.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054246, 520560 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.189000, -0.723000, -0.660029 ], "estimate": [ 4.189000, -0.723000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.540000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.700000, 2.530000, 2.560000, 2.610000, 2.620000, 2.590000, 2.550000, 2.510000, 2.480000, 2.440000, 2.400000, 2.370000, 2.340000, 2.320000, 2.290000, 2.260000, 2.230000, 2.210000, 2.190000, 2.160000, 2.140000, 2.120000, 2.110000, 2.090000, 2.080000, 2.070000, 2.050000, 2.040000, 2.020000, 2.010000, 1.990000, 1.980000, 1.970000, 1.960000, 1.960000, 1.950000, 1.940000, 1.940000, 1.930000, 1.920000, 1.930000, 1.920000, 1.880000, 1.910000, 1.910000, 1.910000, 1.910000, 1.900000, 1.900000, 1.910000, 1.910000, 1.910000, 1.910000, 1.920000, 1.910000, 1.920000, 1.920000, 1.930000, 1.940000, 1.940000, 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.050000, 2.060000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.160000, 2.180000, 2.200000, 2.070000, 2.250000, 2.280000, 2.300000, 2.330000, 2.360000, 2.390000, 2.420000, 2.470000, 2.500000, 2.530000, 2.570000, 0.600000, 0.600000, 0.590000, 0.580000, 0.550000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.530000, 0.550000, 0.570000, 0.580000, 0.610000, 0.620000, 0.640000, 0.660000, 0.690000, 0.720000, 0.740000, 0.790000, 0.820000, 0.860000, 0.910000, 0.970000, 1.020000, 1.080000, 1.170000, 1.250000, 1.360000, 1.460000, 1.610000, 1.790000, 2.010000, 2.280000, 2.670000, 3.180000, 3.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054246, 710078 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.233000, -0.757000, -0.660029 ], "estimate": [ 4.233000, -0.757000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.510000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.600000, 0.610000, 0.620000, 0.620000, 2.880000, 2.410000, 2.440000, 2.480000, 2.520000, 2.560000, 2.600000, 2.570000, 2.520000, 2.490000, 2.220000, 2.410000, 2.370000, 2.330000, 2.320000, 2.280000, 2.250000, 2.220000, 2.200000, 2.170000, 2.150000, 2.120000, 2.100000, 2.080000, 2.080000, 2.060000, 2.040000, 2.030000, 2.010000, 1.990000, 1.980000, 1.960000, 1.960000, 1.950000, 1.940000, 1.920000, 1.910000, 1.900000, 1.890000, 1.880000, 1.880000, 1.870000, 1.870000, 1.880000, 1.870000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.860000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.880000, 1.880000, 1.890000, 1.900000, 1.910000, 1.920000, 1.930000, 1.940000, 1.950000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.040000, 2.050000, 2.070000, 2.070000, 2.100000, 2.110000, 2.130000, 2.170000, 2.150000, 2.210000, 2.240000, 2.270000, 2.300000, 2.330000, 2.360000, 2.390000, 2.430000, 2.470000, 2.510000, 2.540000, 2.580000, 2.620000, 2.670000, 0.580000, 0.560000, 0.550000, 0.550000, 0.520000, 0.520000, 0.510000, 0.500000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.500000, 0.530000, 0.560000, 0.580000, 0.600000, 0.610000, 0.640000, 0.670000, 0.710000, 0.740000, 0.790000, 0.830000, 0.890000, 0.950000, 1.020000, 1.100000, 1.210000, 1.320000, 1.460000, 1.640000, 1.860000, 2.170000, 2.600000, 3.210000 ], "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": [ 976054247, 914579 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.279000, -0.793000, -0.660029 ], "estimate": [ 4.279000, -0.793000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.530000, 0.540000, 0.530000, 0.520000, 0.540000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.620000, 3.080000, 3.010000, 2.940000, 2.420000, 2.370000, 2.400000, 2.440000, 2.480000, 2.520000, 2.550000, 2.510000, 2.490000, 2.440000, 2.330000, 2.360000, 2.330000, 2.300000, 2.270000, 2.230000, 2.210000, 2.180000, 2.150000, 2.120000, 2.100000, 2.070000, 2.060000, 2.040000, 2.030000, 2.010000, 1.990000, 1.970000, 1.960000, 1.950000, 1.930000, 1.910000, 1.900000, 1.890000, 1.870000, 1.870000, 1.860000, 1.850000, 1.840000, 1.830000, 1.820000, 1.810000, 1.810000, 1.810000, 1.810000, 1.810000, 1.630000, 1.800000, 1.810000, 1.800000, 1.800000, 1.800000, 1.800000, 1.800000, 1.800000, 1.800000, 1.810000, 1.810000, 1.810000, 1.800000, 1.810000, 1.810000, 1.810000, 1.830000, 1.830000, 1.840000, 1.850000, 1.860000, 1.870000, 1.870000, 1.880000, 1.900000, 1.910000, 1.930000, 1.940000, 1.960000, 1.970000, 1.990000, 2.010000, 2.020000, 2.040000, 2.060000, 2.070000, 2.100000, 2.120000, 1.990000, 2.170000, 2.200000, 2.220000, 2.260000, 2.290000, 2.330000, 2.360000, 2.390000, 2.430000, 2.470000, 2.500000, 2.550000, 2.600000, 2.640000, 2.700000, 2.750000, 2.800000, 0.550000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.480000, 0.510000, 0.540000, 0.570000, 0.600000, 0.630000, 0.670000, 0.720000, 0.770000, 0.820000, 0.900000, 0.990000, 1.110000, 1.240000, 1.420000, 1.650000, 1.970000, 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": [ 976054247, 926830 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.326000, -0.829000, -0.653884 ], "estimate": [ 4.326000, -0.829000, -0.653884 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.430000, 0.430000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.520000, 0.520000, 0.510000, 0.520000, 0.490000, 0.500000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 3.280000, 3.190000, 3.110000, 3.030000, 2.970000, 2.900000, 2.340000, 2.350000, 2.370000, 2.410000, 2.440000, 2.490000, 2.500000, 2.470000, 2.430000, 2.390000, 2.150000, 2.320000, 2.290000, 2.250000, 2.210000, 2.180000, 2.150000, 2.120000, 2.100000, 2.070000, 2.060000, 2.030000, 2.010000, 1.980000, 1.980000, 1.960000, 1.950000, 1.930000, 1.910000, 1.890000, 1.870000, 1.870000, 1.850000, 1.840000, 1.830000, 1.810000, 1.800000, 1.800000, 1.790000, 1.780000, 1.780000, 1.770000, 1.770000, 1.760000, 1.760000, 1.760000, 1.690000, 1.750000, 1.750000, 1.750000, 1.750000, 1.740000, 1.740000, 1.740000, 1.740000, 1.750000, 1.750000, 1.750000, 1.760000, 1.760000, 1.760000, 1.760000, 1.770000, 1.770000, 1.780000, 1.780000, 1.790000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.850000, 1.860000, 1.870000, 1.890000, 1.900000, 1.920000, 1.940000, 1.950000, 1.960000, 1.980000, 2.000000, 2.020000, 2.050000, 2.070000, 2.090000, 2.060000, 2.140000, 2.170000, 2.200000, 2.230000, 2.270000, 2.300000, 2.330000, 2.380000, 2.400000, 2.450000, 2.500000, 2.530000, 2.580000, 2.630000, 2.700000, 2.740000, 2.800000, 2.860000, 2.940000, 2.990000, 3.050000, 0.530000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.470000, 0.460000, 0.460000, 0.450000, 0.460000, 0.430000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.510000, 0.550000, 0.600000, 0.650000, 0.720000, 0.800000, 0.900000, 1.040000, 1.220000, 1.470000, 1.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054247, 256567 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.372000, -0.864000, -0.653884 ], "estimate": [ 4.372000, -0.864000, -0.653884 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.480000, 0.500000, 0.500000, 0.500000, 0.500000, 0.470000, 0.480000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 3.640000, 3.520000, 3.410000, 3.320000, 3.230000, 3.150000, 3.060000, 2.980000, 2.920000, 2.840000, 2.300000, 2.320000, 2.350000, 2.380000, 2.410000, 2.450000, 2.460000, 2.410000, 2.380000, 2.090000, 2.300000, 2.260000, 2.220000, 2.200000, 2.160000, 2.130000, 2.100000, 2.070000, 2.050000, 2.030000, 2.000000, 1.970000, 1.950000, 1.940000, 1.910000, 1.900000, 1.880000, 1.870000, 1.860000, 1.840000, 1.830000, 1.810000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.750000, 1.730000, 1.730000, 1.720000, 1.720000, 1.720000, 1.700000, 1.710000, 1.700000, 1.700000, 1.680000, 1.690000, 1.690000, 1.690000, 1.690000, 1.680000, 1.690000, 1.690000, 1.680000, 1.690000, 1.690000, 1.690000, 1.700000, 1.700000, 1.710000, 1.700000, 1.710000, 1.710000, 1.720000, 1.720000, 1.740000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.790000, 1.800000, 1.810000, 1.830000, 1.840000, 1.860000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.950000, 1.980000, 2.000000, 2.030000, 2.040000, 2.070000, 2.100000, 2.130000, 2.170000, 2.200000, 2.230000, 2.270000, 2.310000, 2.340000, 2.370000, 2.420000, 2.470000, 2.510000, 2.560000, 2.610000, 2.660000, 2.720000, 2.790000, 2.850000, 2.920000, 2.710000, 3.070000, 3.160000, 3.230000, 3.330000, 3.430000, 3.530000, 0.540000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.420000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.570000, 0.640000, 0.800000, 1.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054247, 642943 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.418000, -0.900000, -0.660029 ], "estimate": [ 4.418000, -0.900000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.420000, 0.420000, 0.430000, 0.470000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.470000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.530000, 0.580000, 4.240000, 4.060000, 3.900000, 3.760000, 3.630000, 3.510000, 3.390000, 3.310000, 3.200000, 3.110000, 3.030000, 2.950000, 2.890000, 2.320000, 2.270000, 2.300000, 2.320000, 2.350000, 2.380000, 2.420000, 2.420000, 2.370000, 2.330000, 2.040000, 2.260000, 2.210000, 2.180000, 2.150000, 2.120000, 2.090000, 2.070000, 2.040000, 2.000000, 1.970000, 1.950000, 1.940000, 1.910000, 1.890000, 1.860000, 1.860000, 1.840000, 1.820000, 1.800000, 1.790000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.660000, 1.660000, 1.650000, 1.650000, 1.640000, 1.640000, 1.460000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.630000, 1.640000, 1.640000, 1.650000, 1.650000, 1.650000, 1.650000, 1.660000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.720000, 1.740000, 1.750000, 1.760000, 1.780000, 1.790000, 1.800000, 1.820000, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.930000, 1.950000, 1.970000, 1.990000, 1.830000, 2.050000, 2.070000, 2.100000, 2.130000, 2.170000, 2.210000, 2.230000, 2.280000, 2.310000, 2.350000, 2.390000, 2.450000, 2.500000, 2.550000, 2.600000, 2.650000, 2.710000, 2.770000, 2.840000, 2.910000, 2.660000, 3.070000, 3.170000, 3.250000, 3.350000, 3.460000, 3.590000, 3.560000, 3.520000, 3.490000, 3.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054247, 690690 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.465000, -0.936000, -0.666175 ], "estimate": [ 4.465000, -0.936000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.500000, 0.510000, 0.490000, 5.500000, 5.180000, 4.900000, 4.660000, 4.450000, 4.250000, 4.050000, 3.880000, 3.750000, 3.610000, 3.480000, 3.370000, 3.280000, 3.170000, 3.080000, 2.990000, 2.920000, 2.830000, 2.220000, 2.230000, 2.260000, 2.300000, 2.330000, 2.360000, 2.380000, 2.370000, 2.320000, 2.280000, 2.250000, 2.210000, 2.170000, 2.140000, 2.100000, 2.070000, 2.050000, 2.010000, 1.980000, 1.950000, 1.940000, 1.910000, 1.880000, 1.860000, 1.840000, 1.820000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.680000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.620000, 1.620000, 1.610000, 1.610000, 1.600000, 1.600000, 1.590000, 1.380000, 1.590000, 1.590000, 1.580000, 1.580000, 1.580000, 1.580000, 1.580000, 1.580000, 1.580000, 1.580000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.610000, 1.620000, 1.620000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.650000, 1.670000, 1.680000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.760000, 1.780000, 1.790000, 1.800000, 1.820000, 1.850000, 1.860000, 1.880000, 1.910000, 1.940000, 1.950000, 1.780000, 2.010000, 2.040000, 2.070000, 2.100000, 2.140000, 2.170000, 2.210000, 2.250000, 2.290000, 2.330000, 2.370000, 2.430000, 2.480000, 2.530000, 2.580000, 2.630000, 2.690000, 2.760000, 2.830000, 2.910000, 2.950000, 3.070000, 3.170000, 3.270000, 3.370000, 3.480000, 3.540000, 3.520000, 3.490000, 3.470000, 3.460000, 3.600000, 3.790000, 3.990000, 4.190000, 4.450000, 0.470000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054247, 860501 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.509000, -0.971000, -0.666175 ], "estimate": [ 4.509000, -0.971000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.470000, 0.470000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 7.870000, 7.930000, 7.540000, 7.360000, 6.890000, 6.330000, 5.550000, 5.230000, 4.930000, 4.680000, 4.440000, 4.240000, 4.050000, 3.880000, 3.730000, 3.580000, 3.450000, 3.330000, 3.230000, 3.150000, 3.040000, 2.950000, 2.880000, 2.790000, 2.200000, 2.210000, 2.240000, 2.270000, 2.300000, 2.330000, 2.360000, 2.320000, 2.290000, 2.240000, 1.940000, 2.170000, 2.120000, 2.090000, 2.060000, 2.030000, 1.990000, 1.960000, 1.940000, 1.910000, 1.880000, 1.860000, 1.840000, 1.810000, 1.790000, 1.790000, 1.760000, 1.750000, 1.730000, 1.720000, 1.700000, 1.680000, 1.670000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.600000, 1.590000, 1.580000, 1.570000, 1.570000, 1.570000, 1.560000, 1.550000, 1.550000, 1.550000, 1.540000, 1.540000, 1.490000, 1.530000, 1.530000, 1.530000, 1.520000, 1.530000, 1.520000, 1.520000, 1.520000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.690000, 1.720000, 1.720000, 1.740000, 1.750000, 1.770000, 1.790000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.920000, 1.730000, 1.970000, 2.010000, 2.040000, 2.070000, 2.100000, 2.140000, 2.180000, 2.210000, 2.260000, 2.310000, 2.350000, 2.400000, 2.460000, 2.500000, 2.560000, 2.620000, 2.690000, 2.750000, 2.830000, 2.920000, 2.620000, 3.080000, 3.180000, 3.290000, 3.400000, 3.540000, 3.520000, 3.490000, 3.460000, 3.430000, 3.500000, 3.670000, 3.880000, 4.090000, 4.320000, 4.610000, 4.930000, 5.280000, 5.690000, 6.150000, 6.690000, 10.750000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054248, 225808 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.556000, -1.008000, -0.660029 ], "estimate": [ 4.556000, -1.008000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 10.500000, 10.520000, 7.720000, 7.750000, 7.800000, 7.860000, 7.910000, 7.520000, 7.370000, 6.890000, 6.310000, 5.510000, 5.170000, 4.880000, 4.600000, 4.390000, 4.170000, 3.980000, 3.810000, 3.660000, 3.510000, 3.380000, 3.270000, 3.160000, 3.060000, 2.970000, 2.890000, 2.800000, 2.160000, 2.170000, 2.200000, 2.230000, 2.250000, 2.280000, 2.310000, 2.320000, 2.270000, 2.220000, 2.120000, 2.150000, 2.100000, 2.070000, 2.040000, 2.000000, 1.970000, 1.940000, 1.910000, 1.880000, 1.860000, 1.830000, 1.810000, 1.780000, 1.760000, 1.740000, 1.720000, 1.710000, 1.690000, 1.680000, 1.660000, 1.640000, 1.630000, 1.620000, 1.600000, 1.590000, 1.580000, 1.570000, 1.550000, 1.550000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.330000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.470000, 1.480000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.550000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.780000, 1.790000, 1.820000, 1.840000, 1.860000, 1.890000, 1.710000, 1.950000, 1.980000, 2.020000, 2.060000, 2.090000, 2.130000, 2.150000, 2.200000, 2.250000, 2.300000, 2.340000, 2.400000, 2.450000, 2.500000, 2.570000, 2.640000, 2.690000, 2.770000, 2.850000, 2.590000, 3.030000, 3.120000, 3.230000, 3.340000, 3.460000, 3.500000, 3.480000, 3.450000, 3.430000, 3.430000, 3.600000, 3.820000, 4.030000, 4.280000, 4.560000, 4.890000, 5.260000, 5.690000, 6.180000, 10.770000, 10.740000, 9.760000, 9.760000, 10.960000, 10.980000, 10.950000, 10.940000, 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": [ 976054248, 270658 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.602000, -1.043000, -0.660029 ], "estimate": [ 4.602000, -1.043000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.590000, 10.490000, 10.480000, 10.490000, 10.500000, 10.500000, 7.740000, 7.740000, 7.800000, 7.850000, 7.890000, 7.510000, 7.410000, 6.900000, 6.310000, 5.480000, 5.140000, 4.830000, 4.570000, 4.330000, 4.120000, 3.910000, 3.750000, 3.600000, 3.440000, 3.310000, 3.200000, 3.100000, 3.000000, 2.910000, 2.820000, 2.180000, 2.130000, 2.150000, 2.180000, 2.210000, 2.240000, 2.270000, 2.300000, 2.260000, 2.200000, 2.040000, 2.110000, 2.090000, 2.050000, 2.010000, 1.970000, 1.950000, 1.910000, 1.880000, 1.850000, 1.830000, 1.790000, 1.780000, 1.750000, 1.730000, 1.710000, 1.690000, 1.670000, 1.640000, 1.640000, 1.620000, 1.610000, 1.590000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.480000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.450000, 1.440000, 1.230000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.430000, 1.430000, 1.440000, 1.440000, 1.450000, 1.450000, 1.450000, 1.460000, 1.470000, 1.480000, 1.470000, 1.470000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.710000, 1.720000, 1.740000, 1.770000, 1.790000, 1.810000, 1.840000, 1.860000, 1.710000, 1.930000, 1.960000, 2.000000, 2.040000, 2.070000, 2.090000, 2.140000, 2.190000, 2.240000, 2.300000, 2.340000, 2.390000, 2.450000, 2.500000, 2.570000, 2.650000, 2.710000, 2.800000, 2.870000, 2.570000, 3.060000, 3.170000, 3.290000, 3.400000, 3.490000, 3.460000, 3.430000, 3.410000, 3.400000, 3.540000, 3.750000, 3.980000, 4.230000, 4.520000, 4.850000, 5.230000, 5.670000, 6.190000, 10.760000, 10.720000, 9.770000, 9.760000, 10.970000, 10.980000, 10.940000, 10.920000, 12.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054248, 397119 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.624000, -1.061000, -0.660029 ], "estimate": [ 4.624000, -1.061000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.490000, 10.480000, 10.490000, 10.490000, 10.500000, 7.830000, 7.730000, 7.770000, 7.820000, 7.890000, 7.470000, 7.490000, 6.990000, 6.370000, 5.490000, 5.150000, 4.820000, 4.560000, 4.310000, 4.090000, 3.890000, 3.710000, 3.550000, 3.410000, 3.280000, 3.150000, 3.060000, 2.950000, 2.850000, 2.760000, 2.100000, 2.110000, 2.140000, 2.160000, 2.190000, 2.220000, 2.250000, 2.260000, 2.200000, 1.910000, 2.020000, 2.070000, 2.040000, 1.990000, 1.960000, 1.930000, 1.890000, 1.870000, 1.830000, 1.800000, 1.780000, 1.750000, 1.720000, 1.700000, 1.680000, 1.650000, 1.630000, 1.620000, 1.600000, 1.590000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.500000, 1.480000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.170000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.360000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.400000, 1.410000, 1.420000, 1.420000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.460000, 1.480000, 1.480000, 1.490000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.590000, 1.610000, 1.620000, 1.640000, 1.670000, 1.690000, 1.720000, 1.730000, 1.760000, 1.790000, 1.810000, 1.840000, 1.860000, 1.900000, 1.940000, 1.970000, 2.010000, 2.050000, 2.080000, 2.120000, 2.170000, 2.220000, 2.270000, 2.320000, 2.380000, 2.450000, 2.500000, 2.570000, 2.650000, 2.730000, 2.810000, 2.900000, 2.980000, 3.100000, 3.200000, 3.320000, 3.470000, 3.450000, 3.430000, 3.400000, 3.390000, 3.460000, 3.650000, 3.870000, 4.140000, 4.440000, 4.760000, 5.160000, 5.600000, 6.130000, 10.740000, 10.720000, 9.750000, 9.750000, 10.960000, 10.960000, 10.930000, 10.960000, 12.020000 ], "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": [ 976054249, 252320 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.670000, -1.096000, -0.660029 ], "estimate": [ 4.670000, -1.096000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.480000, 10.490000, 10.490000, 10.500000, 7.900000, 7.700000, 7.770000, 7.810000, 7.870000, 7.650000, 7.480000, 7.030000, 6.410000, 5.490000, 5.130000, 4.790000, 4.510000, 4.270000, 4.040000, 3.840000, 3.660000, 3.500000, 3.350000, 3.220000, 3.100000, 2.990000, 2.890000, 2.790000, 2.090000, 2.090000, 2.110000, 2.130000, 2.150000, 2.180000, 2.210000, 2.240000, 2.200000, 2.140000, 1.830000, 2.060000, 2.010000, 1.970000, 1.950000, 1.900000, 1.870000, 1.840000, 1.800000, 1.780000, 1.750000, 1.720000, 1.700000, 1.670000, 1.640000, 1.620000, 1.600000, 1.590000, 1.560000, 1.550000, 1.540000, 1.520000, 1.500000, 1.480000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.290000, 1.330000, 1.320000, 1.320000, 1.320000, 1.310000, 1.320000, 1.310000, 1.320000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.330000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.370000, 1.380000, 1.380000, 1.390000, 1.390000, 1.400000, 1.410000, 1.420000, 1.430000, 1.440000, 1.450000, 1.480000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.620000, 1.630000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.780000, 1.640000, 1.840000, 1.880000, 1.920000, 1.950000, 1.980000, 2.030000, 2.070000, 2.110000, 2.160000, 2.210000, 2.260000, 2.320000, 2.380000, 2.450000, 2.510000, 2.580000, 2.660000, 2.740000, 2.830000, 2.490000, 3.030000, 3.150000, 3.260000, 3.400000, 3.440000, 3.410000, 3.400000, 3.380000, 3.370000, 3.580000, 3.790000, 4.060000, 4.350000, 4.720000, 5.100000, 5.560000, 6.110000, 10.740000, 10.710000, 9.740000, 9.740000, 10.950000, 10.950000, 10.930000, 12.250000, 11.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054249, 305819 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.716000, -1.132000, -0.660029 ], "estimate": [ 4.716000, -1.132000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.480000, 10.480000, 10.480000, 7.980000, 7.730000, 7.750000, 7.800000, 7.840000, 7.890000, 7.450000, 7.130000, 6.470000, 5.520000, 5.150000, 4.800000, 4.490000, 4.250000, 4.010000, 3.810000, 3.610000, 3.440000, 3.300000, 3.170000, 3.050000, 2.940000, 2.830000, 2.160000, 2.050000, 2.080000, 2.100000, 2.110000, 2.140000, 2.160000, 2.190000, 2.190000, 2.130000, 2.090000, 2.050000, 1.990000, 1.950000, 1.920000, 1.880000, 1.850000, 1.810000, 1.790000, 1.750000, 1.720000, 1.700000, 1.670000, 1.640000, 1.620000, 1.600000, 1.580000, 1.550000, 1.530000, 1.510000, 1.500000, 1.480000, 1.480000, 1.460000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.340000, 1.340000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.090000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.280000, 1.280000, 1.290000, 1.300000, 1.300000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.340000, 1.350000, 1.370000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.520000, 1.530000, 1.560000, 1.580000, 1.600000, 1.620000, 1.640000, 1.670000, 1.700000, 1.720000, 1.750000, 1.730000, 1.810000, 1.850000, 1.880000, 1.930000, 1.950000, 1.990000, 2.050000, 2.090000, 2.130000, 2.190000, 2.260000, 2.310000, 2.370000, 2.430000, 2.500000, 2.580000, 2.650000, 2.740000, 2.840000, 2.480000, 3.060000, 3.170000, 3.310000, 3.430000, 3.410000, 3.400000, 3.380000, 3.350000, 3.470000, 3.690000, 3.940000, 4.240000, 4.600000, 4.980000, 5.470000, 6.030000, 10.730000, 10.700000, 9.740000, 9.740000, 10.950000, 10.940000, 10.930000, 12.130000, 11.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054249, 316230 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.762000, -1.168000, -0.660029 ], "estimate": [ 4.762000, -1.168000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.480000, 10.480000, 10.490000, 7.710000, 7.740000, 7.780000, 7.820000, 7.880000, 7.470000, 7.190000, 6.630000, 5.510000, 5.120000, 4.760000, 4.460000, 4.180000, 3.950000, 3.750000, 3.560000, 3.390000, 3.240000, 3.100000, 2.980000, 2.870000, 2.760000, 2.040000, 2.040000, 2.060000, 2.090000, 2.110000, 2.120000, 2.150000, 2.170000, 2.120000, 2.000000, 2.030000, 1.980000, 1.940000, 1.890000, 1.850000, 1.810000, 1.790000, 1.760000, 1.720000, 1.700000, 1.670000, 1.630000, 1.610000, 1.590000, 1.570000, 1.540000, 1.520000, 1.500000, 1.470000, 1.470000, 1.450000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.360000, 1.350000, 1.340000, 1.320000, 1.320000, 1.310000, 1.290000, 1.280000, 1.280000, 1.280000, 1.260000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.230000, 0.980000, 1.220000, 1.210000, 1.210000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 1.210000, 1.220000, 1.220000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.300000, 1.300000, 1.320000, 1.320000, 1.330000, 1.350000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.460000, 1.470000, 1.470000, 1.500000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.630000, 1.660000, 1.690000, 1.730000, 1.750000, 1.770000, 1.820000, 1.860000, 1.890000, 1.940000, 1.980000, 2.030000, 2.070000, 2.120000, 2.180000, 2.240000, 2.310000, 2.360000, 2.440000, 2.510000, 2.580000, 2.680000, 2.770000, 2.880000, 2.770000, 3.110000, 3.240000, 3.410000, 3.390000, 3.390000, 3.370000, 3.350000, 3.360000, 3.590000, 3.860000, 4.170000, 4.520000, 4.930000, 5.400000, 5.990000, 10.710000, 9.920000, 9.730000, 9.710000, 10.970000, 10.930000, 10.930000, 12.080000, 12.000000 ], "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": [ 976054249, 190284 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.808000, -1.204000, -0.666175 ], "estimate": [ 4.808000, -1.204000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.480000, 10.480000, 7.810000, 7.720000, 7.760000, 7.800000, 7.850000, 7.460000, 7.420000, 6.840000, 5.550000, 5.190000, 4.810000, 4.480000, 4.200000, 3.950000, 3.740000, 3.530000, 3.360000, 3.210000, 3.070000, 2.950000, 2.830000, 2.010000, 2.020000, 2.030000, 2.050000, 2.070000, 2.100000, 2.110000, 2.130000, 2.130000, 1.730000, 2.020000, 1.970000, 1.930000, 1.880000, 1.850000, 1.800000, 1.770000, 1.740000, 1.710000, 1.670000, 1.640000, 1.620000, 1.590000, 1.560000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.260000, 1.250000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.140000, 1.080000, 1.160000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.250000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.500000, 1.520000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.690000, 1.720000, 1.470000, 1.780000, 1.820000, 1.860000, 1.900000, 1.940000, 1.990000, 2.040000, 2.090000, 2.150000, 2.220000, 2.280000, 2.350000, 2.430000, 2.490000, 2.580000, 2.660000, 2.770000, 2.880000, 2.990000, 3.130000, 3.270000, 3.400000, 3.380000, 3.360000, 3.340000, 3.330000, 3.440000, 3.700000, 4.000000, 4.340000, 4.760000, 5.230000, 5.810000, 6.540000, 10.090000, 9.720000, 9.900000, 10.960000, 10.930000, 10.940000, 12.090000, 11.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054249, 580731 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.853000, -1.239000, -0.666175 ], "estimate": [ 4.853000, -1.239000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.480000, 7.910000, 7.680000, 7.740000, 7.790000, 7.830000, 7.650000, 7.440000, 6.940000, 5.530000, 5.200000, 4.810000, 4.460000, 4.170000, 3.920000, 3.690000, 3.500000, 3.310000, 3.150000, 3.020000, 2.900000, 2.040000, 1.980000, 2.000000, 2.020000, 2.040000, 2.060000, 2.080000, 2.100000, 2.110000, 1.670000, 1.980000, 1.960000, 1.910000, 1.860000, 1.830000, 1.780000, 1.750000, 1.710000, 1.690000, 1.650000, 1.620000, 1.590000, 1.560000, 1.530000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.400000, 1.370000, 1.360000, 1.350000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 0.910000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.470000, 1.480000, 1.510000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.690000, 1.400000, 1.750000, 1.790000, 1.830000, 1.870000, 1.930000, 1.960000, 2.030000, 2.080000, 2.130000, 2.190000, 2.270000, 2.340000, 2.410000, 2.490000, 2.580000, 2.680000, 2.790000, 2.420000, 3.040000, 3.180000, 3.360000, 3.380000, 3.360000, 3.340000, 3.320000, 3.320000, 3.570000, 3.870000, 4.220000, 4.620000, 5.120000, 5.710000, 6.480000, 9.920000, 9.720000, 9.970000, 10.950000, 10.930000, 10.940000, 12.050000, 11.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054249, 581948 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.876000, -1.257000, -0.660029 ], "estimate": [ 4.876000, -1.257000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.480000, 7.710000, 7.730000, 7.760000, 7.810000, 7.860000, 7.440000, 7.130000, 5.850000, 5.270000, 4.850000, 4.490000, 4.180000, 3.910000, 3.680000, 3.460000, 3.280000, 3.120000, 2.970000, 2.830000, 1.980000, 1.980000, 1.990000, 2.010000, 2.020000, 2.050000, 2.070000, 2.090000, 2.040000, 1.650000, 1.950000, 1.910000, 1.850000, 1.810000, 1.780000, 1.730000, 1.700000, 1.650000, 1.620000, 1.600000, 1.560000, 1.530000, 1.500000, 1.470000, 1.460000, 1.430000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 0.830000, 1.060000, 1.060000, 1.050000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.580000, 1.620000, 1.640000, 1.680000, 1.450000, 1.760000, 1.790000, 1.840000, 1.880000, 1.930000, 1.990000, 2.050000, 2.100000, 2.180000, 2.250000, 2.310000, 2.400000, 2.480000, 2.580000, 2.670000, 2.790000, 2.390000, 3.060000, 3.220000, 3.370000, 3.350000, 3.330000, 3.310000, 3.290000, 3.410000, 3.700000, 4.040000, 4.430000, 4.930000, 5.510000, 6.250000, 10.000000, 9.700000, 9.850000, 10.930000, 10.920000, 10.910000, 12.050000, 11.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054249, 677042 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.923000, -1.293000, -0.666175 ], "estimate": [ 4.923000, -1.293000, -0.666175 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.900000, 7.700000, 7.740000, 7.780000, 7.820000, 7.450000, 7.440000, 6.870000, 5.480000, 4.990000, 4.600000, 4.260000, 3.970000, 3.710000, 3.500000, 3.280000, 3.120000, 2.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 2.050000, 2.070000, 1.620000, 1.960000, 1.910000, 1.850000, 1.800000, 1.760000, 1.710000, 1.680000, 1.640000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.460000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 0.860000, 1.000000, 1.000000, 1.000000, 0.990000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.320000, 1.350000, 1.370000, 1.390000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.620000, 1.480000, 1.700000, 1.760000, 1.790000, 1.840000, 1.890000, 1.950000, 2.000000, 2.060000, 2.140000, 2.210000, 2.290000, 2.370000, 2.450000, 2.550000, 2.650000, 2.780000, 2.900000, 3.040000, 3.220000, 3.350000, 3.330000, 3.310000, 3.300000, 3.290000, 3.440000, 3.750000, 4.130000, 4.590000, 5.150000, 5.850000, 10.670000, 9.710000, 9.690000, 10.900000, 10.920000, 10.930000, 13.340000, 12.010000 ], "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": [ 976054250, 191686 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.969000, -1.330000, -0.660029 ], "estimate": [ 4.969000, -1.330000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.680000, 7.710000, 7.760000, 7.790000, 7.840000, 7.440000, 7.260000, 5.800000, 5.200000, 4.750000, 4.360000, 4.030000, 3.760000, 3.520000, 3.300000, 3.110000, 2.940000, 1.940000, 1.940000, 1.960000, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 1.660000, 1.970000, 1.920000, 1.850000, 1.800000, 1.760000, 1.710000, 1.670000, 1.620000, 1.600000, 1.560000, 1.520000, 1.490000, 1.460000, 1.440000, 1.410000, 1.380000, 1.340000, 1.320000, 1.310000, 1.280000, 1.260000, 1.230000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.780000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.300000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.450000, 1.700000, 1.740000, 1.780000, 1.840000, 1.890000, 1.950000, 2.020000, 2.070000, 2.160000, 2.240000, 2.310000, 2.410000, 2.510000, 2.620000, 2.730000, 2.870000, 2.360000, 3.210000, 3.330000, 3.310000, 3.290000, 3.280000, 3.280000, 3.450000, 3.800000, 4.230000, 4.740000, 5.380000, 6.240000, 9.710000, 9.670000, 10.910000, 10.920000, 10.930000, 10.930000, 12.010000 ], "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": [ 976054250, 192857 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.010000, -1.361000, -0.660029 ], "estimate": [ 5.010000, -1.361000, -0.660029 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.700000, 7.720000, 7.770000, 7.800000, 7.840000, 7.420000, 7.030000, 5.480000, 4.990000, 4.520000, 4.160000, 3.860000, 3.590000, 3.350000, 3.140000, 2.320000, 1.920000, 1.930000, 1.940000, 1.950000, 1.970000, 1.980000, 1.990000, 1.770000, 1.660000, 1.930000, 1.870000, 1.820000, 1.760000, 1.710000, 1.670000, 1.620000, 1.590000, 1.550000, 1.510000, 1.470000, 1.440000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.920000, 0.910000, 0.900000, 0.910000, 0.670000, 0.900000, 0.910000, 0.900000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.240000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.520000, 1.560000, 1.600000, 1.630000, 1.660000, 1.730000, 1.780000, 1.830000, 1.900000, 1.960000, 2.030000, 2.100000, 2.180000, 2.270000, 2.360000, 2.460000, 2.580000, 2.700000, 2.850000, 2.310000, 3.200000, 3.320000, 3.300000, 3.280000, 3.270000, 3.260000, 3.470000, 3.850000, 4.310000, 4.920000, 5.660000, 10.650000, 9.650000, 9.750000, 10.910000, 10.930000, 10.920000, 12.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054250, 270241 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.032000, -1.378000, -0.653884 ], "estimate": [ 5.032000, -1.378000, -0.653884 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.680000, 7.710000, 7.760000, 7.790000, 7.830000, 7.430000, 7.230000, 5.500000, 5.030000, 4.550000, 4.160000, 3.840000, 3.570000, 3.320000, 3.120000, 1.910000, 1.910000, 1.910000, 1.930000, 1.950000, 1.960000, 1.970000, 1.980000, 1.670000, 1.960000, 1.890000, 1.830000, 1.760000, 1.720000, 1.670000, 1.620000, 1.580000, 1.540000, 1.500000, 1.460000, 1.430000, 1.400000, 1.370000, 1.340000, 1.320000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.720000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.300000, 1.320000, 1.350000, 1.380000, 1.420000, 1.450000, 1.460000, 1.510000, 1.550000, 1.590000, 1.630000, 1.320000, 1.730000, 1.780000, 1.840000, 1.900000, 1.980000, 2.040000, 2.130000, 2.220000, 2.300000, 2.420000, 2.520000, 2.650000, 2.790000, 2.960000, 3.140000, 3.310000, 3.290000, 3.280000, 3.270000, 3.250000, 3.390000, 3.780000, 4.280000, 4.910000, 5.730000, 9.760000, 9.650000, 10.890000, 10.920000, 10.930000, 10.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054250, 686395 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.035000, -1.381000, -0.653884 ], "estimate": [ 5.035000, -1.381000, -0.653884 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.820000, 7.710000, 7.750000, 7.790000, 7.820000, 7.430000, 7.350000, 5.480000, 5.110000, 4.610000, 4.210000, 3.880000, 3.600000, 3.340000, 3.120000, 1.900000, 1.910000, 1.910000, 1.930000, 1.940000, 1.950000, 1.970000, 1.980000, 1.620000, 1.950000, 1.880000, 1.820000, 1.760000, 1.710000, 1.660000, 1.610000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.380000, 1.360000, 1.330000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.650000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.110000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.300000, 1.320000, 1.350000, 1.380000, 1.420000, 1.450000, 1.470000, 1.510000, 1.560000, 1.600000, 1.240000, 1.690000, 1.740000, 1.790000, 1.860000, 1.920000, 2.000000, 2.060000, 2.160000, 2.250000, 2.340000, 2.440000, 2.560000, 2.700000, 2.870000, 2.310000, 3.270000, 3.290000, 3.280000, 3.280000, 3.260000, 3.250000, 3.570000, 4.020000, 4.590000, 5.330000, 6.360000, 9.660000, 9.670000, 10.920000, 10.930000, 10.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054250, 710723 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.032000, -1.378000, -0.641593 ], "estimate": [ 5.032000, -1.378000, -0.641593 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.690000, 7.710000, 7.760000, 7.790000, 7.840000, 7.430000, 7.130000, 5.500000, 4.970000, 4.490000, 4.130000, 3.810000, 3.530000, 3.290000, 3.070000, 1.910000, 1.910000, 1.920000, 1.930000, 1.940000, 1.960000, 1.970000, 1.670000, 1.880000, 1.940000, 1.870000, 1.810000, 1.760000, 1.700000, 1.650000, 1.610000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.400000, 1.360000, 1.330000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.090000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.630000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.890000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.210000, 1.230000, 1.250000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.440000, 1.460000, 1.500000, 1.540000, 1.570000, 1.620000, 1.280000, 1.720000, 1.760000, 1.830000, 1.890000, 1.960000, 2.040000, 2.110000, 2.210000, 2.290000, 2.390000, 2.500000, 2.630000, 2.780000, 2.940000, 2.320000, 3.310000, 3.290000, 3.270000, 3.270000, 3.250000, 3.380000, 3.750000, 4.240000, 4.880000, 5.710000, 9.690000, 9.650000, 10.900000, 10.920000, 10.930000, 10.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054250, 802852 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.032000, -1.379000, -0.629302 ], "estimate": [ 5.032000, -1.379000, -0.629302 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.690000, 7.730000, 7.770000, 7.810000, 7.690000, 7.430000, 6.820000, 5.280000, 4.760000, 4.320000, 3.970000, 3.690000, 3.430000, 3.200000, 1.990000, 1.900000, 1.910000, 1.920000, 1.940000, 1.950000, 1.970000, 1.980000, 1.640000, 1.990000, 1.910000, 1.840000, 1.780000, 1.740000, 1.690000, 1.640000, 1.600000, 1.550000, 1.510000, 1.470000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.640000, 0.850000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.460000, 1.470000, 1.520000, 1.550000, 1.600000, 1.280000, 1.690000, 1.750000, 1.790000, 1.860000, 1.920000, 2.000000, 2.060000, 2.160000, 2.250000, 2.340000, 2.440000, 2.560000, 2.700000, 2.860000, 2.300000, 3.240000, 3.290000, 3.290000, 3.270000, 3.260000, 3.250000, 3.540000, 3.970000, 4.520000, 5.230000, 6.200000, 9.660000, 9.680000, 10.890000, 10.930000, 10.930000, 13.340000 ], "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": [ 976054251, 249197 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.033000, -1.379000, -0.598574 ], "estimate": [ 5.033000, -1.379000, -0.598574 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.720000, 7.770000, 7.790000, 7.840000, 7.400000, 7.000000, 5.440000, 4.910000, 4.440000, 4.070000, 3.760000, 3.500000, 3.260000, 3.040000, 1.910000, 1.910000, 1.920000, 1.940000, 1.950000, 1.960000, 1.980000, 1.670000, 2.000000, 1.930000, 1.860000, 1.800000, 1.750000, 1.690000, 1.650000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.420000, 1.380000, 1.360000, 1.330000, 1.310000, 1.270000, 1.240000, 1.220000, 1.200000, 1.170000, 1.160000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.710000, 0.670000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.410000, 1.440000, 1.460000, 1.500000, 1.550000, 1.580000, 1.350000, 1.270000, 1.730000, 1.770000, 1.840000, 1.900000, 1.970000, 2.050000, 2.120000, 2.220000, 2.300000, 2.410000, 2.520000, 2.650000, 2.800000, 2.350000, 3.160000, 3.300000, 3.290000, 3.280000, 3.270000, 3.250000, 3.410000, 3.820000, 4.320000, 4.980000, 5.830000, 9.660000, 9.650000, 10.900000, 10.910000, 10.920000, 10.930000, 12.110000 ], "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": [ 976054251, 300634 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.033000, -1.379000, -0.573992 ], "estimate": [ 5.033000, -1.379000, -0.573992 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.790000, 7.820000, 7.430000, 7.190000, 5.500000, 5.010000, 4.540000, 4.150000, 3.840000, 3.560000, 3.310000, 3.090000, 1.910000, 1.910000, 1.920000, 1.930000, 1.950000, 1.960000, 1.980000, 1.940000, 1.670000, 1.950000, 1.880000, 1.820000, 1.750000, 1.710000, 1.660000, 1.610000, 1.570000, 1.530000, 1.490000, 1.460000, 1.430000, 1.390000, 1.370000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.660000, 0.660000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.220000, 1.250000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 1.490000, 1.530000, 1.560000, 1.610000, 1.270000, 1.710000, 1.770000, 1.820000, 1.890000, 1.940000, 2.030000, 2.100000, 2.180000, 2.270000, 2.380000, 2.480000, 2.610000, 2.750000, 2.910000, 2.330000, 3.290000, 3.280000, 3.270000, 3.260000, 3.250000, 3.300000, 3.680000, 4.140000, 4.760000, 5.520000, 9.680000, 9.670000, 9.750000, 10.920000, 10.920000, 10.930000, 13.350000, 12.070000, 12.200000 ], "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": [ 976054251, 357221 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.034000, -1.380000, -0.506391 ], "estimate": [ 5.034000, -1.380000, -0.506391 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.060000, 5.460000, 4.940000, 4.470000, 4.090000, 3.780000, 3.520000, 3.290000, 3.070000, 1.910000, 1.910000, 1.920000, 1.940000, 1.960000, 1.960000, 1.980000, 1.670000, 1.650000, 1.940000, 1.870000, 1.810000, 1.760000, 1.710000, 1.650000, 1.610000, 1.570000, 1.520000, 1.480000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.220000, 1.250000, 1.280000, 1.310000, 1.330000, 1.370000, 1.400000, 1.430000, 1.470000, 1.490000, 1.530000, 1.580000, 1.270000, 1.240000, 1.720000, 1.760000, 1.830000, 1.880000, 1.950000, 2.030000, 2.110000, 2.180000, 2.280000, 2.380000, 2.490000, 2.610000, 2.760000, 2.330000, 2.310000, 3.290000, 3.270000, 3.270000, 3.260000, 3.240000, 3.340000, 3.710000, 4.200000, 4.800000, 5.600000, 9.650000, 9.650000, 9.840000, 10.910000, 10.920000, 10.920000, 12.110000, 12.090000, 12.190000, 13.360000, 6.220000, 5.150000 ], "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": [ 976054251, 610366 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.037000, -1.381000, -0.408063 ], "estimate": [ 5.037000, -1.381000, -0.408063 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.960000, 3.670000, 3.410000, 3.190000, 1.920000, 1.920000, 1.920000, 1.930000, 1.950000, 1.960000, 1.980000, 1.990000, 2.000000, 1.990000, 1.910000, 1.840000, 1.800000, 1.740000, 1.690000, 1.640000, 1.600000, 1.550000, 1.500000, 1.460000, 1.450000, 1.410000, 1.380000, 1.340000, 1.320000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.500000, 1.550000, 1.590000, 1.620000, 1.670000, 1.730000, 1.780000, 1.840000, 1.910000, 1.980000, 2.050000, 2.140000, 2.220000, 2.300000, 2.420000, 2.530000, 2.650000, 2.800000, 2.980000, 3.160000, 3.280000, 3.270000, 3.260000, 3.240000, 3.250000, 3.450000, 3.850000, 4.360000, 5.030000, 5.930000, 9.640000, 9.650000, 10.890000, 10.890000, 10.920000, 10.940000, 12.080000, 12.090000, 12.060000, 6.450000, 6.190000, 4.830000, 4.270000, 3.820000, 3.450000, 3.180000 ], "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": [ 976054252, 855530 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.041000, -1.383000, -0.279007 ], "estimate": [ 5.041000, -1.383000, -0.279007 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.950000, 1.960000, 1.960000, 1.970000, 1.980000, 1.980000, 1.630000, 1.950000, 1.880000, 1.820000, 1.760000, 1.710000, 1.670000, 1.610000, 1.570000, 1.530000, 1.490000, 1.450000, 1.430000, 1.390000, 1.350000, 1.320000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.670000, 0.670000, 0.860000, 0.860000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.420000, 1.450000, 1.470000, 1.520000, 1.560000, 1.410000, 1.300000, 1.690000, 1.750000, 1.800000, 1.870000, 1.930000, 2.000000, 2.070000, 2.170000, 2.260000, 2.350000, 2.450000, 2.580000, 2.700000, 2.300000, 2.300000, 3.270000, 3.260000, 3.250000, 3.240000, 3.230000, 3.230000, 3.600000, 4.040000, 4.620000, 5.360000, 6.430000, 9.630000, 9.640000, 10.900000, 10.900000, 10.900000, 12.080000, 12.130000, 12.180000, 13.350000, 6.210000, 5.120000, 4.480000, 3.980000, 3.590000, 3.280000, 3.010000, 2.780000, 2.580000, 2.420000, 2.260000, 2.140000, 2.020000 ], "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": [ 976054252, 867939 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.040000, -1.383000, -0.180678 ], "estimate": [ 5.040000, -1.383000, -0.180678 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.000000, 1.930000, 1.860000, 1.800000, 1.750000, 1.690000, 1.650000, 1.590000, 1.570000, 1.530000, 1.480000, 1.450000, 1.420000, 1.390000, 1.350000, 1.330000, 1.310000, 1.280000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.690000, 0.700000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.500000, 1.550000, 1.210000, 1.220000, 1.690000, 1.730000, 1.780000, 1.840000, 1.910000, 1.980000, 2.050000, 2.130000, 2.220000, 2.320000, 2.430000, 2.530000, 2.650000, 2.800000, 2.970000, 3.150000, 3.260000, 3.240000, 3.240000, 3.230000, 3.230000, 3.440000, 3.840000, 4.350000, 5.010000, 5.880000, 9.620000, 9.620000, 10.870000, 10.870000, 10.900000, 10.880000, 12.070000, 12.070000, 12.050000, 12.760000, 6.180000, 4.870000, 4.280000, 3.830000, 3.480000, 3.170000, 2.920000, 2.700000, 2.510000, 2.360000, 2.220000, 2.090000, 1.990000, 1.880000, 1.790000, 1.710000, 1.650000, 1.580000, 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": [ 976054252, 130362 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.040000, -1.383000, -0.113078 ], "estimate": [ 5.040000, -1.383000, -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": [ 1.770000, 1.720000, 1.670000, 1.620000, 1.580000, 1.530000, 1.490000, 1.450000, 1.430000, 1.400000, 1.360000, 1.340000, 1.310000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.700000, 0.830000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.440000, 1.470000, 1.500000, 1.550000, 1.210000, 1.560000, 1.690000, 1.720000, 1.780000, 1.840000, 1.910000, 1.980000, 2.060000, 2.130000, 2.220000, 2.310000, 2.410000, 2.520000, 2.650000, 2.790000, 2.950000, 3.150000, 3.250000, 3.240000, 3.230000, 3.230000, 3.230000, 3.420000, 3.810000, 4.300000, 4.960000, 5.780000, 9.620000, 9.610000, 10.870000, 10.870000, 10.890000, 10.900000, 12.050000, 12.070000, 13.330000, 13.340000, 6.180000, 4.980000, 4.390000, 3.900000, 3.520000, 3.220000, 2.960000, 2.730000, 2.540000, 2.380000, 2.230000, 2.100000, 1.990000, 1.900000, 1.800000, 1.720000, 1.650000, 1.580000, 1.510000, 1.460000, 1.400000, 1.350000, 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": [ 976054252, 567070 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.040000, -1.383000, -0.063913 ], "estimate": [ 5.040000, -1.383000, -0.063913 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.580000, 1.530000, 1.500000, 1.460000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.230000, 1.210000, 1.200000, 1.170000, 1.160000, 1.140000, 1.110000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.810000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.170000, 1.180000, 1.210000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.600000, 1.630000, 1.700000, 1.730000, 1.790000, 1.850000, 1.920000, 2.000000, 2.070000, 2.140000, 2.240000, 2.320000, 2.430000, 2.540000, 2.660000, 2.820000, 2.980000, 3.170000, 3.250000, 3.230000, 3.230000, 3.230000, 3.220000, 3.460000, 3.830000, 4.330000, 5.000000, 5.840000, 9.620000, 9.600000, 10.860000, 10.850000, 10.880000, 10.890000, 12.070000, 12.080000, 13.320000, 12.820000, 6.180000, 4.870000, 4.290000, 3.820000, 3.460000, 3.160000, 2.910000, 2.690000, 2.500000, 2.340000, 2.210000, 2.080000, 1.960000, 1.860000, 1.770000, 1.700000, 1.630000, 1.560000, 1.490000, 1.430000, 1.380000, 1.340000, 1.290000, 1.240000, 1.200000, 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": [ 976054252, 620411 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.038000, -1.383000, 0.028269 ], "estimate": [ 5.038000, -1.383000, 0.028269 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.930000, 0.930000, 0.910000, 0.910000, 0.900000, 0.710000, 0.730000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.080000, 1.090000, 1.110000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.260000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.460000, 1.490000, 1.530000, 1.180000, 1.200000, 1.660000, 1.710000, 1.750000, 1.810000, 1.870000, 1.930000, 2.010000, 2.080000, 2.160000, 2.250000, 2.340000, 2.450000, 2.560000, 2.700000, 2.570000, 2.290000, 3.240000, 3.250000, 3.240000, 3.230000, 3.200000, 3.200000, 3.520000, 3.930000, 4.440000, 5.100000, 5.990000, 9.600000, 9.600000, 10.850000, 10.850000, 10.890000, 10.880000, 12.070000, 12.080000, 13.340000, 6.340000, 5.480000, 4.770000, 4.210000, 3.760000, 3.400000, 3.110000, 2.860000, 2.650000, 2.470000, 2.310000, 2.170000, 2.060000, 1.950000, 1.830000, 1.750000, 1.670000, 1.610000, 1.540000, 1.470000, 1.420000, 1.360000, 1.320000, 1.280000, 1.230000, 1.200000, 1.160000, 1.120000, 1.080000, 1.060000, 1.030000, 1.000000, 0.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054252, 677888 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.039000, -1.383000, 0.108161 ], "estimate": [ 5.039000, -1.383000, 0.108161 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.260000, 1.240000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.910000, 0.910000, 0.740000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.210000, 1.220000, 1.250000, 1.270000, 1.300000, 1.320000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.560000, 1.580000, 1.620000, 1.680000, 1.730000, 1.770000, 1.840000, 1.900000, 1.970000, 2.040000, 2.120000, 2.200000, 2.300000, 2.390000, 2.490000, 2.610000, 2.750000, 2.300000, 3.080000, 3.260000, 3.240000, 3.240000, 3.220000, 3.210000, 3.270000, 3.640000, 4.070000, 4.620000, 5.340000, 6.320000, 9.600000, 9.610000, 10.850000, 10.880000, 10.880000, 13.290000, 13.290000, 13.310000, 13.310000, 6.180000, 5.230000, 4.630000, 4.110000, 3.670000, 3.320000, 3.050000, 2.810000, 2.590000, 2.420000, 2.270000, 2.130000, 2.010000, 1.910000, 1.820000, 1.730000, 1.640000, 1.580000, 1.510000, 1.460000, 1.400000, 1.350000, 1.300000, 1.260000, 1.210000, 1.170000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.930000, 0.900000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054253, 159495 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.039000, -1.383000, 0.188053 ], "estimate": [ 5.039000, -1.383000, 0.188053 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.730000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.080000, 1.080000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.520000, 1.560000, 1.210000, 1.640000, 1.680000, 1.730000, 1.780000, 1.840000, 1.910000, 1.970000, 2.050000, 2.110000, 2.200000, 2.290000, 2.380000, 2.480000, 2.620000, 2.750000, 2.610000, 3.070000, 3.240000, 3.240000, 3.230000, 3.210000, 3.210000, 3.250000, 3.630000, 4.040000, 4.590000, 5.280000, 6.230000, 9.590000, 9.590000, 10.850000, 10.870000, 10.840000, 13.280000, 13.310000, 13.310000, 13.300000, 6.170000, 5.230000, 4.640000, 4.120000, 3.660000, 3.320000, 3.040000, 2.810000, 2.590000, 2.420000, 2.260000, 2.130000, 2.000000, 1.910000, 1.810000, 1.720000, 1.650000, 1.570000, 1.510000, 1.450000, 1.390000, 1.350000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.920000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054253, 180696 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.039000, -1.383000, 0.286381 ], "estimate": [ 5.039000, -1.383000, 0.286381 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.010000, 1.020000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.920000, 0.730000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.870000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.250000, 1.280000, 1.310000, 1.330000, 1.350000, 1.380000, 1.420000, 1.450000, 1.470000, 1.520000, 1.180000, 1.180000, 1.640000, 1.690000, 1.730000, 1.780000, 1.840000, 1.910000, 1.970000, 2.050000, 2.120000, 2.200000, 2.300000, 2.390000, 2.490000, 2.610000, 2.740000, 2.610000, 3.050000, 3.250000, 3.240000, 3.230000, 3.210000, 3.200000, 3.160000, 3.570000, 3.990000, 4.500000, 5.170000, 6.040000, 9.590000, 9.590000, 10.840000, 10.840000, 10.870000, 10.840000, 13.290000, 13.300000, 13.310000, 6.180000, 5.280000, 4.700000, 4.160000, 3.690000, 3.340000, 3.060000, 2.820000, 2.590000, 2.410000, 2.260000, 2.130000, 2.010000, 1.900000, 1.810000, 1.710000, 1.640000, 1.570000, 1.510000, 1.440000, 1.390000, 1.330000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000 ], "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": [ 976054253, 270336 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.039000, -1.383000, 0.384710 ], "estimate": [ 5.039000, -1.383000, 0.384710 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.760000, 0.760000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.880000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.220000, 1.230000, 1.250000, 1.280000, 1.310000, 1.320000, 1.350000, 1.370000, 1.410000, 1.440000, 1.470000, 1.490000, 1.540000, 1.550000, 1.620000, 1.670000, 1.710000, 1.760000, 1.820000, 1.870000, 1.940000, 2.010000, 2.080000, 2.170000, 2.250000, 2.340000, 2.450000, 2.550000, 2.670000, 2.780000, 2.290000, 3.130000, 3.240000, 3.230000, 3.220000, 3.200000, 3.210000, 3.370000, 3.730000, 4.170000, 4.740000, 5.450000, 6.430000, 9.590000, 9.580000, 10.850000, 10.870000, 10.870000, 13.280000, 13.290000, 13.280000, 13.300000, 6.170000, 5.150000, 4.450000, 3.950000, 3.540000, 3.210000, 2.930000, 2.710000, 2.510000, 2.340000, 2.190000, 2.060000, 1.950000, 1.840000, 1.760000, 1.680000, 1.600000, 1.530000, 1.460000, 1.400000, 1.360000, 1.310000, 1.260000, 1.210000, 1.170000, 1.130000, 1.090000, 1.060000, 1.040000, 1.000000, 0.980000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.720000, 0.680000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054253, 821588 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.040000, -1.382000, 0.476893 ], "estimate": [ 5.040000, -1.382000, 0.476893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.770000, 0.770000, 0.930000, 0.930000, 0.930000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.880000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.220000, 1.250000, 1.270000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.270000, 1.530000, 1.640000, 1.690000, 1.730000, 1.780000, 1.840000, 1.900000, 1.960000, 2.040000, 2.100000, 2.180000, 2.280000, 2.360000, 2.470000, 2.580000, 2.710000, 2.250000, 2.530000, 3.210000, 3.240000, 3.230000, 3.210000, 3.190000, 3.170000, 3.430000, 3.820000, 4.270000, 4.850000, 5.620000, 9.610000, 9.580000, 9.590000, 10.840000, 10.860000, 10.860000, 13.270000, 13.270000, 13.280000, 13.300000, 6.170000, 5.050000, 4.380000, 3.870000, 3.480000, 3.150000, 2.890000, 2.660000, 2.470000, 2.300000, 2.160000, 2.030000, 1.920000, 1.820000, 1.720000, 1.630000, 1.580000, 1.510000, 1.440000, 1.380000, 1.330000, 1.280000, 1.240000, 1.200000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.840000, 0.820000, 0.810000, 0.810000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.710000, 0.680000, 0.670000, 0.660000, 0.660000, 0.680000, 0.700000, 0.720000 ], "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": [ 976054253, 822715 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.039000, -1.383000, 0.562930 ], "estimate": [ 5.039000, -1.383000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.980000, 0.980000, 0.970000, 0.960000, 0.780000, 0.770000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.270000, 1.300000, 1.320000, 1.350000, 1.370000, 1.400000, 1.440000, 1.470000, 1.490000, 1.540000, 1.570000, 1.620000, 1.660000, 1.710000, 1.750000, 1.800000, 1.860000, 1.930000, 1.980000, 2.050000, 2.130000, 2.200000, 2.300000, 2.380000, 2.490000, 2.610000, 2.730000, 2.580000, 3.040000, 3.250000, 3.240000, 3.230000, 3.210000, 3.180000, 3.180000, 3.490000, 3.860000, 4.330000, 4.930000, 5.670000, 9.610000, 9.580000, 9.660000, 10.830000, 10.850000, 10.860000, 13.270000, 13.270000, 13.290000, 13.300000, 6.160000, 5.040000, 4.370000, 3.840000, 3.450000, 3.130000, 2.860000, 2.640000, 2.460000, 2.280000, 2.140000, 2.010000, 1.900000, 1.800000, 1.700000, 1.630000, 1.560000, 1.490000, 1.430000, 1.370000, 1.320000, 1.270000, 1.220000, 1.180000, 1.130000, 1.100000, 1.080000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.910000, 0.890000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.710000, 0.700000, 0.660000, 0.660000, 0.650000, 0.650000, 0.670000, 0.690000, 0.700000, 0.710000, 0.740000, 0.790000, 4.370000, 4.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054254, 120584 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.039000, -1.383000, 0.655113 ], "estimate": [ 5.039000, -1.383000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.950000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.930000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.210000, 1.220000, 1.230000, 1.250000, 1.280000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.570000, 1.610000, 1.650000, 1.690000, 1.730000, 1.780000, 1.850000, 1.900000, 1.960000, 2.040000, 2.100000, 2.190000, 2.260000, 2.350000, 2.460000, 2.570000, 2.680000, 2.240000, 2.250000, 3.140000, 3.240000, 3.230000, 3.220000, 3.190000, 3.200000, 3.350000, 3.700000, 4.130000, 4.660000, 5.320000, 6.190000, 9.590000, 9.580000, 10.820000, 10.830000, 10.860000, 10.830000, 13.270000, 13.280000, 13.290000, 6.150000, 5.190000, 4.570000, 4.000000, 3.560000, 3.220000, 2.950000, 2.700000, 2.500000, 2.330000, 2.190000, 2.030000, 1.920000, 1.820000, 1.720000, 1.650000, 1.570000, 1.500000, 1.430000, 1.370000, 1.320000, 1.270000, 1.220000, 1.180000, 1.130000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.680000, 0.700000, 0.700000, 0.720000, 0.760000, 0.800000, 4.340000, 4.230000, 2.550000, 4.250000, 4.220000, 4.190000 ], "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": [ 976054254, 520830 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.037000, -1.384000, 0.759587 ], "estimate": [ 5.037000, -1.384000, 0.759587 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.050000, 1.050000, 1.070000, 1.070000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.460000, 1.480000, 1.520000, 1.220000, 1.230000, 1.620000, 1.670000, 1.710000, 1.770000, 1.820000, 1.870000, 1.930000, 2.000000, 2.070000, 2.150000, 2.230000, 2.310000, 2.410000, 2.500000, 2.620000, 2.740000, 2.900000, 3.040000, 3.250000, 3.240000, 3.230000, 3.210000, 3.170000, 3.190000, 3.480000, 3.860000, 4.300000, 4.850000, 5.580000, 6.450000, 9.570000, 9.570000, 10.840000, 10.860000, 10.860000, 13.270000, 13.260000, 13.290000, 13.290000, 6.160000, 5.040000, 4.330000, 3.810000, 3.400000, 3.090000, 2.830000, 2.590000, 2.400000, 2.230000, 2.090000, 1.960000, 1.860000, 1.750000, 1.670000, 1.600000, 1.520000, 1.450000, 1.390000, 1.340000, 1.290000, 1.230000, 1.200000, 1.150000, 1.100000, 1.060000, 1.040000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.710000, 0.690000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.650000, 0.690000, 0.690000, 0.690000, 0.730000, 0.780000, 4.360000, 4.320000, 4.270000, 4.250000, 4.230000, 4.190000, 4.180000, 4.150000, 4.120000, 4.100000, 4.080000, 4.060000, 4.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054254, 521980 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.037000, -1.385000, 0.839479 ], "estimate": [ 5.037000, -1.385000, 0.839479 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.050000, 1.050000, 1.070000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.470000, 1.490000, 1.530000, 1.260000, 1.580000, 1.640000, 1.680000, 1.730000, 1.780000, 1.830000, 1.880000, 1.950000, 2.020000, 2.090000, 2.150000, 2.240000, 2.330000, 2.420000, 2.530000, 2.630000, 2.760000, 2.900000, 3.060000, 3.260000, 3.240000, 3.230000, 3.210000, 3.180000, 3.200000, 3.500000, 3.870000, 4.310000, 4.890000, 5.580000, 9.830000, 9.580000, 9.570000, 10.830000, 10.850000, 10.860000, 13.260000, 13.270000, 13.280000, 13.290000, 6.160000, 5.130000, 4.380000, 3.830000, 3.410000, 3.110000, 2.840000, 2.590000, 2.390000, 2.240000, 2.090000, 1.960000, 1.840000, 1.750000, 1.670000, 1.590000, 1.510000, 1.440000, 1.370000, 1.330000, 1.270000, 1.220000, 1.180000, 1.130000, 1.100000, 1.050000, 1.030000, 0.990000, 0.970000, 0.940000, 0.920000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.740000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.650000, 0.640000, 0.630000, 0.630000, 0.650000, 0.660000, 0.680000, 0.680000, 0.690000, 0.730000, 0.780000, 4.360000, 4.320000, 4.280000, 4.250000, 4.230000, 4.190000, 4.160000, 4.150000, 4.120000, 4.100000, 4.080000, 4.050000, 4.040000, 4.020000, 4.010000, 4.000000, 3.990000, 3.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054254, 522971 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.037000, -1.384000, 0.894789 ], "estimate": [ 5.037000, -1.384000, 0.894789 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.530000, 1.480000, 1.610000, 1.650000, 1.700000, 1.740000, 1.780000, 1.840000, 1.890000, 1.950000, 2.030000, 2.090000, 2.160000, 2.240000, 2.330000, 2.420000, 2.520000, 2.650000, 2.770000, 2.870000, 3.050000, 3.250000, 3.240000, 3.230000, 3.220000, 3.180000, 3.200000, 3.500000, 3.880000, 4.310000, 4.860000, 5.560000, 6.470000, 9.580000, 9.580000, 10.820000, 10.840000, 10.860000, 13.260000, 12.110000, 13.270000, 13.290000, 6.160000, 5.160000, 4.430000, 3.870000, 3.450000, 3.110000, 2.840000, 2.590000, 2.400000, 2.220000, 2.080000, 1.960000, 1.840000, 1.740000, 1.650000, 1.580000, 1.510000, 1.430000, 1.370000, 1.320000, 1.270000, 1.210000, 1.170000, 1.120000, 1.090000, 1.050000, 1.010000, 0.980000, 0.960000, 0.940000, 0.910000, 0.880000, 0.860000, 0.840000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.660000, 0.670000, 0.670000, 0.690000, 0.730000, 0.770000, 4.360000, 4.320000, 3.640000, 4.210000, 4.220000, 4.190000, 4.160000, 4.150000, 4.120000, 4.100000, 4.070000, 4.050000, 4.030000, 4.010000, 4.000000, 3.990000, 3.980000, 3.980000, 3.960000, 3.950000, 3.940000, 3.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054254, 740571 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.088000, -1.305000, 1.042281 ], "estimate": [ 5.088000, -1.305000, 1.042281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.470000, 1.200000, 1.210000, 1.560000, 1.600000, 1.630000, 1.680000, 1.720000, 1.760000, 1.810000, 1.860000, 1.930000, 1.990000, 2.060000, 2.110000, 2.190000, 2.270000, 2.360000, 2.450000, 2.560000, 2.660000, 2.790000, 2.940000, 3.090000, 3.180000, 3.170000, 3.150000, 3.140000, 3.110000, 3.260000, 3.550000, 3.930000, 4.360000, 4.900000, 5.580000, 6.470000, 9.530000, 9.510000, 10.780000, 10.760000, 10.790000, 10.840000, 13.210000, 13.200000, 13.190000, 6.080000, 5.120000, 4.440000, 3.860000, 3.420000, 3.090000, 2.800000, 2.560000, 2.360000, 2.200000, 2.040000, 1.910000, 1.800000, 1.700000, 1.610000, 1.530000, 1.460000, 1.400000, 1.330000, 1.270000, 1.220000, 1.180000, 1.130000, 1.080000, 1.060000, 1.010000, 0.970000, 0.960000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.620000, 0.640000, 0.620000, 0.660000, 0.710000, 4.170000, 2.460000, 4.150000, 4.120000, 4.110000, 4.090000, 4.060000, 4.040000, 4.020000, 4.010000, 3.980000, 3.970000, 3.960000, 3.950000, 3.930000, 3.930000, 3.920000, 3.920000, 3.910000, 3.900000, 3.900000, 3.890000, 3.890000, 3.890000, 3.890000, 3.900000, 3.900000, 3.900000, 3.910000, 3.910000 ], "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": [ 976054255, 307850 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.127000, -1.239000, 1.036136 ], "estimate": [ 5.127000, -1.239000, 1.036136 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.440000, 1.180000, 1.490000, 1.530000, 1.550000, 1.590000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.040000, 2.090000, 2.170000, 2.250000, 2.320000, 2.430000, 2.510000, 2.630000, 2.160000, 2.890000, 3.030000, 3.130000, 3.120000, 3.100000, 3.080000, 3.050000, 3.140000, 3.410000, 3.740000, 4.140000, 4.630000, 5.220000, 5.990000, 9.630000, 9.450000, 9.470000, 10.690000, 10.720000, 10.700000, 13.130000, 13.140000, 13.130000, 13.160000, 6.010000, 5.000000, 4.250000, 3.700000, 3.290000, 2.980000, 2.690000, 2.480000, 2.280000, 2.120000, 1.970000, 1.870000, 1.750000, 1.650000, 1.580000, 1.500000, 1.420000, 1.360000, 1.310000, 1.250000, 1.200000, 1.140000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.820000, 0.790000, 0.790000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.590000, 0.600000, 0.600000, 0.620000, 4.070000, 4.070000, 4.050000, 4.020000, 4.010000, 3.990000, 3.980000, 3.960000, 3.950000, 3.940000, 3.920000, 3.920000, 3.920000, 3.900000, 3.900000, 3.890000, 3.890000, 3.890000, 3.880000, 3.880000, 3.890000, 3.890000, 3.890000, 3.900000, 3.900000, 3.910000 ], "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": [ 976054255, 478652 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.160000, -1.183000, 1.029990 ], "estimate": [ 5.160000, -1.183000, 1.029990 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.100000, 1.400000, 1.430000, 1.460000, 1.480000, 1.520000, 1.550000, 1.580000, 1.610000, 1.650000, 1.710000, 1.750000, 1.780000, 1.840000, 1.890000, 1.940000, 2.010000, 2.070000, 2.140000, 2.210000, 2.300000, 2.380000, 2.470000, 2.580000, 2.470000, 2.830000, 2.970000, 3.050000, 3.040000, 3.030000, 3.010000, 2.990000, 3.020000, 3.290000, 3.600000, 3.960000, 4.390000, 4.930000, 5.610000, 10.380000, 9.400000, 9.380000, 10.640000, 10.630000, 10.640000, 10.700000, 13.060000, null, 13.060000, 13.090000, 5.900000, 4.540000, 3.930000, 3.460000, 3.100000, 2.820000, 2.570000, 2.360000, 2.180000, 2.030000, 1.910000, 1.790000, 1.690000, 1.610000, 1.520000, 1.450000, 1.380000, 1.320000, 1.260000, 1.200000, 1.160000, 1.110000, 1.070000, 1.030000, 1.000000, 0.970000, 0.940000, 0.910000, 0.870000, 0.860000, 0.820000, 0.800000, 0.790000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.520000, 0.510000, 0.500000, 0.500000, 0.510000, 0.520000, 0.580000, 0.580000, 0.590000, 3.950000, 3.950000, 3.940000, 3.920000, 3.920000, 3.910000, 3.900000, 3.890000, 3.890000, 3.890000, 3.880000, 3.880000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.890000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054255, 861050 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.187000, -1.138000, 1.023844 ], "estimate": [ 5.187000, -1.138000, 1.023844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.060000, 1.080000, 1.370000, 1.400000, 1.430000, 1.450000, 1.470000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.690000, 1.730000, 1.770000, 1.820000, 1.870000, 1.930000, 1.990000, 2.060000, 2.120000, 2.190000, 2.280000, 2.360000, 2.460000, 2.030000, 2.660000, 2.800000, 2.920000, 3.000000, 2.990000, 2.990000, 2.970000, 2.940000, 2.930000, 3.210000, 3.500000, 3.840000, 4.260000, 4.750000, 5.380000, 6.160000, 9.370000, 9.320000, 10.600000, 10.580000, 10.600000, 10.600000, 13.010000, 11.770000, 11.710000, 13.030000, 5.890000, 4.710000, 4.040000, 3.540000, 3.160000, 2.860000, 2.600000, 2.390000, 2.210000, 2.060000, 1.930000, 1.810000, 1.700000, 1.620000, 1.530000, 1.460000, 1.380000, 1.330000, 1.270000, 1.220000, 1.160000, 1.110000, 1.070000, 1.030000, 1.000000, 0.970000, 0.950000, 0.910000, 0.880000, 0.860000, 0.830000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.490000, 0.490000, 0.490000, 0.490000, 0.510000, 0.560000, 0.570000, 0.560000, 3.900000, 3.900000, 3.890000, 3.890000, 3.880000, 3.880000, 3.880000, 3.880000, 3.870000, 3.880000, 3.880000, 3.880000, 3.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054255, 878198 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.213000, -1.098000, 1.017699 ], "estimate": [ 5.213000, -1.098000, 1.017699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.210000, 1.100000, 1.320000, 1.350000, 1.370000, 1.400000, 1.430000, 1.450000, 1.470000, 1.510000, 1.540000, 1.570000, 1.610000, 1.640000, 1.680000, 1.730000, 1.770000, 1.820000, 1.870000, 1.930000, 1.990000, 2.050000, 2.110000, 2.180000, 2.270000, 2.340000, 2.440000, 2.170000, 2.650000, 2.760000, 2.900000, 2.980000, 2.960000, 2.940000, 2.920000, 2.890000, 2.890000, 3.160000, 3.420000, 3.760000, 4.150000, 4.630000, 5.200000, 5.950000, 9.340000, 9.280000, 9.580000, 10.520000, 10.550000, 10.560000, 12.950000, 11.740000, 12.970000, 12.980000, 5.840000, 4.820000, 4.140000, 3.610000, 3.220000, 2.900000, 2.640000, 2.410000, 2.220000, 2.070000, 1.940000, 1.810000, 1.710000, 1.620000, 1.530000, 1.460000, 1.390000, 1.330000, 1.270000, 1.220000, 1.170000, 1.100000, 1.080000, 1.030000, 0.990000, 0.960000, 0.940000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.790000, 0.760000, 0.740000, 0.740000, 0.710000, 0.710000, 0.710000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.500000, 0.480000, 0.470000, 0.480000, 0.480000, 0.500000, 0.530000, 0.550000, 0.520000, 3.880000, 3.870000, 3.870000, 3.870000, 3.870000, 3.870000, 3.880000, 3.880000, 3.890000 ], "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": [ 976054256, 268318 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.241000, -1.052000, 1.023844 ], "estimate": [ 5.241000, -1.052000, 1.023844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.120000, 1.140000, 1.150000, 1.170000, 1.170000, 1.190000, 1.210000, 1.210000, 1.220000, 1.200000, 1.060000, 1.280000, 1.310000, 1.330000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.700000, 1.720000, 1.770000, 1.820000, 1.870000, 1.930000, 1.980000, 2.050000, 2.100000, 2.180000, 2.270000, 2.340000, 1.960000, 2.450000, 2.650000, 2.750000, 2.910000, 2.920000, 2.910000, 2.890000, 2.880000, 2.840000, 2.900000, 3.140000, 3.410000, 3.730000, 4.120000, 4.580000, 5.150000, 5.870000, 9.430000, 9.240000, 9.390000, 10.490000, 10.500000, 10.500000, 12.920000, 11.660000, 11.810000, 11.610000, 5.810000, 4.840000, 4.220000, 3.700000, 3.250000, 2.930000, 2.660000, 2.430000, 2.240000, 2.080000, 1.950000, 1.830000, 1.710000, 1.630000, 1.530000, 1.460000, 1.390000, 1.330000, 1.270000, 1.210000, 1.160000, 1.110000, 1.060000, 1.030000, 0.990000, 0.960000, 0.930000, 0.890000, 0.870000, 0.850000, 0.810000, 0.790000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.520000, 0.550000, 3.860000, 3.870000, 3.870000, 3.880000, 3.880000, 3.890000 ], "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": [ 976054256, 278848 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.274000, -0.997000, 1.036136 ], "estimate": [ 5.274000, -0.997000, 1.036136 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.000000, 1.020000, 1.230000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.520000, 1.540000, 1.580000, 1.610000, 1.650000, 1.700000, 1.730000, 1.780000, 1.820000, 1.860000, 1.930000, 1.980000, 2.050000, 2.100000, 2.180000, 2.260000, 2.330000, 1.900000, 2.520000, 2.630000, 2.740000, 2.870000, 2.870000, 2.850000, 2.830000, 2.810000, 2.800000, 2.870000, 3.110000, 3.370000, 3.680000, 4.050000, 4.490000, 5.030000, 5.710000, 10.150000, 9.200000, 9.180000, 10.410000, 10.410000, 10.450000, 10.460000, 11.610000, 11.610000, 11.570000, 12.880000, 5.080000, 4.320000, 3.750000, 3.310000, 2.950000, 2.680000, 2.450000, 2.240000, 2.090000, 1.950000, 1.830000, 1.710000, 1.610000, 1.530000, 1.450000, 1.380000, 1.330000, 1.260000, 1.200000, 1.160000, 1.100000, 1.060000, 1.030000, 0.980000, 0.960000, 0.920000, 0.890000, 0.860000, 0.830000, 0.810000, 0.780000, 0.770000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054256, 756410 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.307000, -0.940000, 1.042281 ], "estimate": [ 5.307000, -0.940000, 1.042281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.130000, 1.130000, 1.150000, 1.160000, 0.970000, 0.970000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.270000, 1.300000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.430000, 1.460000, 1.480000, 1.510000, 1.550000, 1.580000, 1.610000, 1.650000, 1.690000, 1.730000, 1.770000, 1.810000, 1.850000, 1.920000, 1.960000, 2.030000, 2.090000, 2.160000, 2.240000, 1.910000, 2.400000, 2.490000, 2.600000, 2.720000, 2.820000, 2.800000, 2.800000, 2.770000, 2.760000, 2.750000, 2.820000, 3.030000, 3.280000, 3.570000, 3.910000, 4.310000, 4.810000, 5.410000, 10.110000, 9.160000, 9.140000, 10.390000, 10.360000, 10.390000, 10.390000, 12.800000, 11.560000, 11.670000, 12.810000, 5.670000, 4.650000, 3.930000, 3.430000, 3.050000, 2.750000, 2.510000, 2.300000, 2.130000, 1.980000, 1.850000, 1.730000, 1.630000, 1.540000, 1.470000, 1.390000, 1.330000, 1.260000, 1.210000, 1.160000, 1.110000, 1.070000, 1.030000, 0.990000, 0.960000, 0.920000, 0.890000, 0.860000, 0.830000, 0.810000, 0.780000, 0.770000, 0.750000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.590000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054256, 770666 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.337000, -0.891000, 1.036136 ], "estimate": [ 5.337000, -0.891000, 1.036136 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 0.930000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.480000, 1.520000, 1.560000, 1.590000, 1.620000, 1.660000, 1.700000, 1.730000, 1.780000, 1.820000, 1.870000, 1.930000, 1.990000, 2.060000, 2.120000, 2.180000, 2.120000, 2.340000, 2.440000, 2.530000, 2.630000, 2.760000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.680000, 2.880000, 3.100000, 3.350000, 3.650000, 3.990000, 4.420000, 4.930000, 5.560000, 10.050000, 9.100000, 9.070000, 10.330000, 10.310000, 10.320000, 10.330000, 12.730000, 11.490000, 11.440000, 12.760000, 5.590000, 4.470000, 3.820000, 3.330000, 2.990000, 2.680000, 2.460000, 2.260000, 2.080000, 1.940000, 1.810000, 1.700000, 1.610000, 1.510000, 1.440000, 1.360000, 1.300000, 1.240000, 1.190000, 1.130000, 1.090000, 1.040000, 1.010000, 0.970000, 0.940000, 0.910000, 0.860000, 0.840000, 0.810000, 0.790000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.660000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054256, 878762 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.362000, -0.849000, 1.029990 ], "estimate": [ 5.362000, -0.849000, 1.029990 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 0.930000, 0.930000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.620000, 1.660000, 1.690000, 1.730000, 1.770000, 1.820000, 1.870000, 1.930000, 1.990000, 2.050000, 2.110000, 1.760000, 2.140000, 2.340000, 2.420000, 2.510000, 2.620000, 2.720000, 2.720000, 2.700000, 2.680000, 2.660000, 2.630000, 2.650000, 2.850000, 3.050000, 3.300000, 3.590000, 3.930000, 4.330000, 4.810000, 5.400000, 10.010000, 9.050000, 9.040000, 10.280000, 10.240000, 10.270000, 10.280000, 11.600000, 11.440000, 11.540000, 12.700000, 5.570000, 4.590000, 3.910000, 3.410000, 3.020000, 2.720000, 2.490000, 2.270000, 2.100000, 1.960000, 1.820000, 1.700000, 1.610000, 1.510000, 1.430000, 1.360000, 1.310000, 1.240000, 1.190000, 1.130000, 1.100000, 1.050000, 1.000000, 0.970000, 0.940000, 0.900000, 0.870000, 0.840000, 0.810000, 0.780000, 0.770000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000 ], "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": [ 976054257, 415729 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.390000, -0.802000, 1.029990 ], "estimate": [ 5.390000, -0.802000, 1.029990 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 0.890000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.220000, 1.240000, 1.260000, 1.280000, 1.280000, 1.310000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.470000, 1.470000, 1.510000, 1.540000, 1.570000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.950000, 2.020000, 2.080000, 1.940000, 2.210000, 2.300000, 2.370000, 2.470000, 2.560000, 2.690000, 2.670000, 2.650000, 2.640000, 2.620000, 2.610000, 2.600000, 2.740000, 2.920000, 3.150000, 3.420000, 3.710000, 4.080000, 4.510000, 5.020000, 5.680000, 9.940000, 9.000000, 8.980000, 10.210000, 10.210000, 10.220000, 10.200000, 12.630000, 11.390000, 11.510000, 12.670000, 5.510000, 4.310000, 3.690000, 3.230000, 2.880000, 2.600000, 2.380000, 2.190000, 2.010000, 1.870000, 1.760000, 1.640000, 1.540000, 1.470000, 1.380000, 1.330000, 1.270000, 1.200000, 1.140000, 1.110000, 1.050000, 1.010000, 0.980000, 0.940000, 0.900000, 0.880000, 0.850000, 0.820000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.600000, 0.600000, 0.580000, 0.580000, 0.570000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.530000, 0.530000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000 ], "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": [ 976054257, 416859 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.424000, -0.747000, 1.023844 ], "estimate": [ 5.424000, -0.747000, 1.023844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 0.950000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.530000, 1.560000, 1.600000, 1.620000, 1.660000, 1.710000, 1.730000, 1.770000, 1.820000, 1.870000, 1.930000, 1.980000, 2.050000, 1.680000, 2.180000, 2.250000, 2.330000, 2.410000, 2.490000, 2.600000, 2.630000, 2.610000, 2.590000, 2.580000, 2.560000, 2.540000, 2.620000, 2.800000, 3.000000, 3.230000, 3.510000, 3.830000, 4.190000, 4.640000, 5.200000, 5.800000, 9.080000, 8.930000, 9.060000, 10.170000, 10.150000, 10.170000, 12.570000, 11.360000, 11.350000, 12.590000, 12.610000, 5.410000, 4.130000, 3.540000, 3.120000, 2.790000, 2.520000, 2.310000, 2.120000, 1.970000, 1.830000, 1.700000, 1.610000, 1.510000, 1.430000, 1.360000, 1.290000, 1.230000, 1.170000, 1.110000, 1.080000, 1.030000, 0.990000, 0.950000, 0.920000, 0.880000, 0.850000, 0.820000, 0.790000, 0.780000, 0.740000, 0.730000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.480000, 0.490000, 0.490000, 0.480000, 0.490000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 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": [ 976054257, 480334 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.458000, -0.692000, 1.017699 ], "estimate": [ 5.458000, -0.692000, 1.017699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 0.910000, 0.870000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.630000, 1.680000, 1.700000, 1.750000, 1.780000, 1.830000, 1.890000, 1.940000, 1.620000, 2.000000, 2.120000, 2.190000, 2.260000, 2.330000, 2.430000, 2.510000, 2.570000, 2.550000, 2.540000, 2.530000, 2.510000, 2.480000, 2.480000, 2.630000, 2.810000, 3.010000, 3.240000, 3.510000, 3.810000, 4.180000, 4.610000, 5.160000, 5.750000, 9.050000, 8.870000, 8.960000, 10.110000, 10.080000, 10.100000, 10.170000, 12.510000, 12.520000, 12.520000, 12.530000, 5.380000, 4.120000, 3.540000, 3.090000, 2.770000, 2.490000, 2.280000, 2.100000, 1.940000, 1.800000, 1.680000, 1.560000, 1.490000, 1.410000, 1.340000, 1.260000, 1.200000, 1.150000, 1.100000, 1.060000, 1.010000, 0.980000, 0.930000, 0.890000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054258, 969429 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.487000, -0.644000, 1.023844 ], "estimate": [ 5.487000, -0.644000, 1.023844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.060000, 0.900000, 0.960000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.420000, 1.440000, 1.470000, 1.480000, 1.500000, 1.530000, 1.560000, 1.600000, 1.630000, 1.670000, 1.710000, 1.730000, 1.770000, 1.820000, 1.860000, 1.930000, 1.610000, 2.040000, 2.100000, 2.170000, 2.250000, 2.310000, 2.390000, 2.470000, 2.520000, 2.510000, 2.500000, 2.480000, 2.460000, 2.430000, 2.440000, 2.570000, 2.740000, 2.930000, 3.140000, 3.390000, 3.680000, 4.010000, 4.420000, 4.900000, 5.490000, 9.790000, 8.830000, 8.830000, 10.070000, 10.030000, 10.050000, 10.060000, 12.460000, 12.470000, 12.480000, 12.490000, 5.340000, 4.370000, 3.720000, 3.260000, 2.850000, 2.570000, 2.340000, 2.150000, 1.970000, 1.830000, 1.700000, 1.600000, 1.510000, 1.410000, 1.330000, 1.270000, 1.210000, 1.150000, 1.100000, 1.060000, 1.010000, 0.970000, 0.930000, 0.900000, 0.850000, 0.820000, 0.780000, 0.770000, 0.750000, 0.730000, 0.700000, 0.700000, 0.680000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.530000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.440000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054258, 981040 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.514000, -0.599000, 1.023844 ], "estimate": [ 5.514000, -0.599000, 1.023844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.310000, 1.330000, 1.350000, 1.380000, 1.390000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.530000, 1.570000, 1.600000, 1.630000, 1.660000, 1.700000, 1.730000, 1.770000, 1.820000, 1.860000, 1.550000, 1.970000, 2.040000, 2.090000, 2.160000, 2.230000, 2.300000, 2.380000, 2.470000, 2.480000, 2.460000, 2.450000, 2.430000, 2.410000, 2.380000, 2.410000, 2.540000, 2.700000, 2.870000, 3.090000, 3.320000, 3.590000, 3.910000, 4.280000, 4.720000, 5.260000, 9.750000, 8.810000, 8.770000, 9.030000, 10.000000, 9.970000, 10.000000, 12.410000, 12.410000, null, 12.420000, 12.440000, 4.940000, 3.970000, 3.420000, 2.980000, 2.660000, 2.400000, 2.190000, 2.020000, 1.860000, 1.730000, 1.620000, 1.510000, 1.440000, 1.360000, 1.280000, 1.210000, 1.160000, 1.100000, 1.050000, 1.010000, 0.970000, 0.940000, 0.900000, 0.860000, 0.820000, 0.790000, 0.760000, 0.740000, 0.720000, 0.700000, 0.690000, 0.660000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054258, 991330 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.544000, -0.552000, 1.005408 ], "estimate": [ 5.544000, -0.552000, 1.005408 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.130000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.440000, 1.460000, 1.460000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.650000, 1.690000, 1.720000, 1.760000, 1.790000, 1.500000, 1.890000, 1.940000, 2.000000, 2.060000, 2.120000, 2.190000, 2.260000, 2.330000, 2.420000, 2.440000, 2.430000, 2.410000, 2.390000, 2.380000, 2.350000, 2.360000, 2.460000, 2.600000, 2.760000, 2.950000, 3.160000, 3.420000, 3.700000, 4.030000, 4.420000, 4.890000, 5.470000, 9.700000, 8.740000, 8.720000, 9.980000, 9.950000, 9.950000, 9.960000, 12.350000, 12.370000, null, 12.370000, 5.250000, 4.340000, 3.770000, 3.260000, 2.840000, 2.560000, 2.310000, 2.120000, 1.950000, 1.810000, 1.670000, 1.570000, 1.470000, 1.380000, 1.310000, 1.240000, 1.180000, 1.110000, 1.060000, 1.030000, 0.980000, 0.940000, 0.910000, 0.860000, 0.840000, 0.800000, 0.770000, 0.750000, 0.730000, 0.710000, 0.700000, 0.670000, 0.650000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.430000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054258, 290493 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.578000, -0.500000, 0.980826 ], "estimate": [ 5.578000, -0.500000, 0.980826 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.320000, 1.330000, 1.360000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.590000, 1.620000, 1.660000, 1.690000, 1.730000, 1.760000, 1.470000, 1.850000, 1.900000, 1.950000, 2.010000, 2.070000, 2.130000, 2.200000, 2.280000, 2.340000, 2.390000, 2.370000, 2.370000, 2.350000, 2.340000, 2.320000, 2.290000, 2.350000, 2.470000, 2.610000, 2.770000, 2.960000, 3.160000, 3.420000, 3.700000, 4.040000, 4.410000, 4.870000, 5.450000, 9.650000, 8.680000, 8.660000, 9.920000, 9.890000, 9.890000, 9.890000, 12.290000, 12.310000, null, 12.320000, 5.180000, 4.420000, 3.800000, 3.270000, 2.860000, 2.540000, 2.300000, 2.100000, 1.950000, 1.790000, 1.660000, 1.550000, 1.460000, 1.380000, 1.300000, 1.230000, 1.170000, 1.110000, 1.060000, 1.020000, 0.960000, 0.930000, 0.890000, 0.860000, 0.820000, 0.790000, 0.770000, 0.730000, 0.720000, 0.700000, 0.680000, 0.650000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.520000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054258, 675696 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.612000, -0.452000, 0.931662 ], "estimate": [ 5.612000, -0.452000, 0.931662 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.330000, 1.350000, 1.360000, 1.380000, 1.410000, 1.420000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.570000, 1.610000, 1.630000, 1.660000, 1.710000, 1.440000, 1.770000, 1.820000, 1.870000, 1.920000, 1.960000, 2.030000, 2.090000, 2.150000, 2.210000, 2.290000, 2.360000, 2.340000, 2.320000, 2.310000, 2.290000, 2.270000, 2.250000, 2.280000, 2.380000, 2.500000, 2.640000, 2.810000, 3.020000, 3.220000, 3.480000, 3.760000, 4.120000, 4.500000, 4.990000, 9.590000, 9.570000, 8.620000, 8.610000, 9.870000, 9.820000, 9.840000, 9.810000, 12.240000, 12.270000, null, 12.250000, 5.100000, 4.250000, 3.710000, 3.200000, 2.800000, 2.510000, 2.280000, 2.080000, 1.910000, 1.770000, 1.640000, 1.530000, 1.450000, 1.350000, 1.280000, 1.220000, 1.150000, 1.100000, 1.050000, 1.000000, 0.960000, 0.920000, 0.880000, 0.850000, 0.820000, 0.790000, 0.750000, 0.730000, 0.710000, 0.690000, 0.670000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.420000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054258, 679249 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.647000, -0.407000, 0.876352 ], "estimate": [ 5.647000, -0.407000, 0.876352 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.430000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.630000, 1.660000, 1.400000, 1.740000, 1.770000, 1.820000, 1.860000, 1.910000, 1.960000, 2.020000, 2.070000, 2.140000, 2.210000, 2.290000, 2.300000, 2.270000, 2.260000, 2.240000, 2.230000, 2.210000, 2.180000, 2.270000, 2.380000, 2.500000, 2.640000, 2.810000, 3.000000, 3.210000, 3.460000, 3.760000, 4.090000, 4.480000, 4.970000, 9.540000, 9.520000, 8.570000, 8.560000, 9.810000, 9.770000, 9.770000, 9.780000, 12.190000, 10.940000, null, 12.190000, 5.100000, 4.750000, 3.750000, 3.250000, 2.850000, 2.540000, 2.290000, 2.100000, 1.940000, 1.790000, 1.660000, 1.550000, 1.450000, 1.380000, 1.300000, 1.230000, 1.160000, 1.110000, 1.050000, 1.010000, 0.960000, 0.920000, 0.890000, 0.850000, 0.820000, 0.790000, 0.750000, 0.740000, 0.710000, 0.700000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.570000, 0.570000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054259, 169476 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.683000, -0.365000, 0.851770 ], "estimate": [ 5.683000, -0.365000, 0.851770 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.060000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.590000, 1.450000, 1.480000, 1.690000, 1.730000, 1.770000, 1.800000, 1.850000, 1.900000, 1.940000, 2.010000, 2.070000, 2.130000, 2.190000, 2.260000, 2.230000, 2.220000, 2.210000, 2.190000, 2.170000, 2.140000, 2.150000, 2.250000, 2.350000, 2.460000, 2.610000, 2.770000, 2.950000, 3.160000, 3.400000, 3.680000, 4.010000, 4.390000, 4.860000, 5.400000, 9.480000, 8.520000, 8.500000, 9.760000, 9.730000, 9.720000, 9.740000, 12.130000, 12.140000, 10.910000, 12.150000, 12.170000, 5.000000, 3.810000, 3.270000, 2.870000, 2.560000, 2.310000, 2.110000, 1.950000, 1.800000, 1.670000, 1.560000, 1.460000, 1.380000, 1.300000, 1.230000, 1.170000, 1.120000, 1.060000, 1.010000, 0.960000, 0.930000, 0.890000, 0.850000, 0.820000, 0.790000, 0.770000, 0.730000, 0.720000, 0.700000, 0.690000, 0.660000, 0.650000, 0.630000, 0.630000, 0.610000, 0.590000, 0.590000, 0.570000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.490000, 0.500000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054259, 186784 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.722000, -0.320000, 0.857915 ], "estimate": [ 5.722000, -0.320000, 0.857915 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.370000, 1.380000, 1.410000, 1.420000, 1.440000, 1.470000, 1.490000, 1.520000, 1.540000, 1.300000, 1.370000, 1.620000, 1.660000, 1.700000, 1.730000, 1.770000, 1.810000, 1.860000, 1.910000, 1.960000, 2.020000, 2.070000, 2.140000, 2.210000, 2.190000, 2.160000, 2.150000, 2.140000, 2.110000, 2.100000, 2.090000, 2.160000, 2.270000, 2.370000, 2.500000, 2.630000, 2.790000, 2.990000, 3.200000, 3.440000, 3.750000, 4.080000, 4.470000, 4.950000, 9.430000, 9.400000, 8.450000, 8.450000, 9.700000, 9.650000, 9.670000, 9.670000, 12.070000, 12.080000, 12.080000, 12.080000, 4.950000, 4.250000, 3.630000, 3.150000, 2.770000, 2.480000, 2.250000, 2.060000, 1.890000, 1.760000, 1.630000, 1.530000, 1.430000, 1.350000, 1.280000, 1.210000, 1.140000, 1.100000, 1.050000, 1.000000, 0.950000, 0.920000, 0.880000, 0.840000, 0.820000, 0.790000, 0.750000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.430000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054259, 278731 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.763000, -0.274000, 0.857915 ], "estimate": [ 5.763000, -0.274000, 0.857915 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.420000, 1.430000, 1.450000, 1.480000, 1.490000, 1.250000, 1.540000, 1.580000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.830000, 1.870000, 1.930000, 1.980000, 2.040000, 2.100000, 2.150000, 2.130000, 2.110000, 2.100000, 2.090000, 2.070000, 2.050000, 2.030000, 2.110000, 2.200000, 2.300000, 2.420000, 2.540000, 2.690000, 2.870000, 3.060000, 3.300000, 3.540000, 3.860000, 4.210000, 4.630000, 5.140000, 9.370000, 8.410000, 8.390000, 8.540000, 9.630000, 9.610000, 9.620000, 9.620000, 12.030000, null, 12.040000, 12.040000, 4.900000, 3.930000, 3.460000, 3.000000, 2.660000, 2.400000, 2.180000, 1.990000, 1.850000, 1.710000, 1.600000, 1.500000, 1.400000, 1.330000, 1.250000, 1.180000, 1.130000, 1.070000, 1.020000, 0.970000, 0.940000, 0.890000, 0.870000, 0.830000, 0.790000, 0.770000, 0.740000, 0.720000, 0.700000, 0.690000, 0.660000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054259, 800292 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.801000, -0.230000, 0.857915 ], "estimate": [ 5.801000, -0.230000, 0.857915 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.240000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.440000, 1.470000, 1.220000, 1.510000, 1.540000, 1.560000, 1.600000, 1.620000, 1.660000, 1.700000, 1.730000, 1.780000, 1.810000, 1.860000, 1.910000, 1.950000, 2.010000, 2.070000, 2.100000, 2.080000, 2.060000, 2.040000, 2.020000, 2.010000, 1.980000, 1.980000, 2.070000, 2.160000, 2.260000, 2.360000, 2.470000, 2.610000, 2.770000, 2.950000, 3.160000, 3.400000, 3.670000, 4.010000, 4.380000, 4.840000, 9.330000, 9.300000, 8.340000, 8.330000, 9.580000, 9.540000, 9.550000, 9.550000, 11.960000, 11.960000, 11.970000, 11.970000, 11.980000, 4.830000, 3.790000, 3.240000, 2.850000, 2.510000, 2.280000, 2.080000, 1.920000, 1.770000, 1.660000, 1.530000, 1.450000, 1.360000, 1.280000, 1.210000, 1.150000, 1.100000, 1.040000, 1.000000, 0.960000, 0.910000, 0.870000, 0.840000, 0.810000, 0.790000, 0.750000, 0.720000, 0.710000, 0.690000, 0.680000, 0.650000, 0.630000, 0.630000, 0.620000, 0.600000, 0.590000, 0.570000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.480000, 0.480000, 0.460000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000 ], "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": [ 976054259, 801409 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.838000, -0.188000, 0.857915 ], "estimate": [ 5.838000, -0.188000, 0.857915 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.220000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.590000, 1.620000, 1.640000, 1.690000, 1.720000, 1.760000, 1.790000, 1.840000, 1.890000, 1.940000, 1.990000, 2.050000, 2.050000, 2.030000, 2.010000, 1.990000, 1.970000, 1.970000, 1.930000, 1.960000, 2.040000, 2.120000, 2.220000, 2.310000, 2.430000, 2.550000, 2.700000, 2.880000, 3.070000, 3.290000, 3.560000, 3.870000, 4.210000, 4.630000, 5.140000, 9.260000, 8.290000, 8.270000, 8.530000, 9.520000, 9.500000, 9.500000, 9.510000, 11.910000, 11.920000, 11.920000, 11.930000, 4.800000, 3.860000, 3.420000, 2.990000, 2.640000, 2.360000, 2.140000, 1.970000, 1.810000, 1.690000, 1.580000, 1.470000, 1.390000, 1.300000, 1.220000, 1.170000, 1.110000, 1.060000, 1.010000, 0.960000, 0.920000, 0.880000, 0.850000, 0.830000, 0.790000, 0.760000, 0.740000, 0.710000, 0.700000, 0.680000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000 ], "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": [ 976054259, 878661 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.874000, -0.146000, 0.851770 ], "estimate": [ 5.874000, -0.146000, 0.851770 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.330000, 1.330000, 1.350000, 1.370000, 1.150000, 1.160000, 1.440000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.570000, 1.610000, 1.630000, 1.660000, 1.710000, 1.740000, 1.780000, 1.820000, 1.860000, 1.910000, 1.960000, 2.020000, 2.000000, 1.980000, 1.960000, 1.940000, 1.920000, 1.910000, 1.880000, 1.920000, 2.000000, 2.070000, 2.160000, 2.260000, 2.370000, 2.480000, 2.620000, 2.770000, 2.950000, 3.150000, 3.390000, 3.670000, 3.980000, 4.350000, 4.780000, 9.220000, 9.200000, 8.230000, 8.230000, 9.480000, 9.440000, 9.430000, 9.450000, 11.850000, 11.850000, 10.700000, 11.880000, 11.890000, 4.720000, 3.770000, 3.260000, 2.840000, 2.520000, 2.270000, 2.070000, 1.900000, 1.760000, 1.630000, 1.530000, 1.430000, 1.360000, 1.260000, 1.210000, 1.130000, 1.090000, 1.030000, 0.980000, 0.940000, 0.900000, 0.870000, 0.830000, 0.790000, 0.770000, 0.740000, 0.720000, 0.710000, 0.680000, 0.670000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.420000, 0.410000 ], "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": [ 976054260, 295086 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.913000, -0.102000, 0.845624 ], "estimate": [ 5.913000, -0.102000, 0.845624 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.320000, 1.330000, 1.340000, 1.280000, 1.380000, 1.400000, 1.410000, 1.430000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.620000, 1.640000, 1.680000, 1.710000, 1.750000, 1.800000, 1.830000, 1.870000, 1.930000, 1.980000, 1.960000, 1.940000, 1.920000, 1.890000, 1.880000, 1.870000, 1.820000, 1.860000, 1.930000, 2.010000, 2.090000, 2.170000, 2.280000, 2.400000, 2.510000, 2.650000, 2.810000, 3.010000, 3.220000, 3.460000, 3.750000, 4.070000, 4.460000, 4.920000, 9.160000, 8.570000, 8.170000, 8.170000, 9.420000, 9.390000, 9.390000, 9.390000, 11.790000, 11.790000, null, 11.810000, 11.830000, 4.670000, 3.660000, 3.140000, 2.760000, 2.450000, 2.210000, 2.010000, 1.850000, 1.720000, 1.610000, 1.510000, 1.400000, 1.330000, 1.250000, 1.180000, 1.120000, 1.060000, 1.010000, 0.960000, 0.930000, 0.890000, 0.850000, 0.820000, 0.790000, 0.750000, 0.730000, 0.710000, 0.690000, 0.680000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054260, 310868 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.953000, -0.057000, 0.833333 ], "estimate": [ 5.953000, -0.057000, 0.833333 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.090000, 1.080000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.670000, 1.710000, 1.750000, 1.780000, 1.820000, 1.860000, 1.930000, 1.910000, 1.890000, 1.880000, 1.850000, 1.830000, 1.820000, 1.780000, 1.790000, 1.850000, 1.930000, 2.000000, 2.070000, 2.170000, 2.270000, 2.370000, 2.490000, 2.620000, 2.770000, 2.950000, 3.170000, 3.400000, 3.670000, 3.980000, 4.340000, 4.790000, 9.100000, 9.070000, 8.120000, 8.120000, 9.360000, 9.330000, 9.310000, 9.330000, 11.740000, 11.720000, null, 11.740000, 11.770000, 4.610000, 3.660000, 3.250000, 2.850000, 2.520000, 2.250000, 2.050000, 1.880000, 1.750000, 1.620000, 1.520000, 1.420000, 1.330000, 1.250000, 1.190000, 1.110000, 1.060000, 1.010000, 0.970000, 0.930000, 0.880000, 0.860000, 0.810000, 0.790000, 0.760000, 0.730000, 0.710000, 0.690000, 0.670000, 0.640000, 0.630000, 0.610000, 0.610000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.470000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054260, 478801 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.993000, -0.014000, 0.821042 ], "estimate": [ 5.993000, -0.014000, 0.821042 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.250000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.410000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.790000, 1.820000, 1.860000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.800000, 1.850000, 1.930000, 2.000000, 2.070000, 2.170000, 2.270000, 2.370000, 2.490000, 2.620000, 2.770000, 2.950000, 3.160000, 3.380000, 3.660000, 3.960000, 4.330000, 4.760000, 9.060000, 9.030000, 8.060000, 8.060000, 9.320000, 9.280000, 9.260000, 9.270000, 9.350000, 11.680000, null, 11.690000, 11.710000, 4.570000, 3.680000, 3.260000, 2.850000, 2.530000, 2.250000, 2.060000, 1.890000, 1.730000, 1.610000, 1.520000, 1.410000, 1.330000, 1.250000, 1.200000, 1.120000, 1.060000, 1.010000, 0.960000, 0.920000, 0.890000, 0.850000, 0.800000, 0.780000, 0.750000, 0.720000, 0.710000, 0.700000, 0.670000, 0.650000, 0.630000, 0.610000, 0.600000, 0.600000, 0.570000, 0.560000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 188676 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.032000, 0.027000, 0.808751 ], "estimate": [ 6.032000, 0.027000, 0.808751 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.050000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.460000, 1.470000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.830000, 1.830000, 1.800000, 1.790000, 1.760000, 1.740000, 1.730000, 1.720000, 1.700000, 1.740000, 1.800000, 1.860000, 1.930000, 2.000000, 2.080000, 2.170000, 2.270000, 2.360000, 2.480000, 2.620000, 2.760000, 2.940000, 3.140000, 3.370000, 3.640000, 3.950000, 4.300000, 4.720000, 9.000000, 8.970000, 8.010000, 8.000000, 9.260000, 9.230000, 9.200000, 9.230000, 9.310000, 11.630000, 10.410000, 11.630000, 11.640000, 4.530000, 3.910000, 3.290000, 2.860000, 2.530000, 2.270000, 2.060000, 1.880000, 1.750000, 1.610000, 1.510000, 1.410000, 1.340000, 1.250000, 1.180000, 1.110000, 1.070000, 1.010000, 0.960000, 0.920000, 0.880000, 0.850000, 0.810000, 0.780000, 0.740000, 0.720000, 0.710000, 0.690000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.590000, 0.570000, 0.570000, 0.550000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.400000, 0.380000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 189784 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.071000, 0.068000, 0.796460 ], "estimate": [ 6.071000, 0.068000, 0.796460 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.050000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.400000, 1.410000, 1.430000, 1.460000, 1.480000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.630000, 1.660000, 1.710000, 1.740000, 1.780000, 1.800000, 1.780000, 1.750000, 1.730000, 1.720000, 1.690000, 1.670000, 1.660000, 1.660000, 1.720000, 1.780000, 1.850000, 1.910000, 1.980000, 2.050000, 2.130000, 2.240000, 2.330000, 2.450000, 2.580000, 2.720000, 2.880000, 3.080000, 3.300000, 3.540000, 3.840000, 4.170000, 4.570000, 8.960000, 8.930000, 7.970000, 7.960000, 8.160000, 9.210000, 9.160000, 9.180000, 9.170000, 11.570000, 11.570000, 11.580000, 11.590000, 11.610000, 4.450000, 3.440000, 2.990000, 2.620000, 2.350000, 2.110000, 1.920000, 1.780000, 1.640000, 1.530000, 1.440000, 1.340000, 1.270000, 1.200000, 1.120000, 1.070000, 1.020000, 0.970000, 0.930000, 0.880000, 0.840000, 0.820000, 0.780000, 0.750000, 0.730000, 0.710000, 0.690000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.460000, 0.440000, 0.430000, 0.430000, 0.430000, 0.410000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.410000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.390000, 0.380000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 190732 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.112000, 0.110000, 0.790315 ], "estimate": [ 6.112000, 0.110000, 0.790315 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.040000, 1.030000, 1.200000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.630000, 1.670000, 1.710000, 1.740000, 1.750000, 1.730000, 1.710000, 1.680000, 1.660000, 1.640000, 1.630000, 1.590000, 1.610000, 1.670000, 1.720000, 1.780000, 1.840000, 1.910000, 1.980000, 2.060000, 2.140000, 2.240000, 2.340000, 2.450000, 2.580000, 2.720000, 2.890000, 3.090000, 3.300000, 3.560000, 3.850000, 4.200000, 4.580000, 8.900000, 8.880000, 7.910000, 7.910000, 8.120000, 9.150000, 9.090000, 9.120000, 9.120000, 11.500000, 10.270000, 10.420000, 10.300000, 11.560000, 4.390000, 3.440000, 2.990000, 2.630000, 2.370000, 2.110000, 1.920000, 1.770000, 1.640000, 1.520000, 1.430000, 1.350000, 1.280000, 1.210000, 1.130000, 1.070000, 1.020000, 0.960000, 0.920000, 0.880000, 0.850000, 0.810000, 0.790000, 0.750000, 0.730000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.610000, 0.610000, 0.590000, 0.570000, 0.570000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 303997 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.153000, 0.150000, 0.771878 ], "estimate": [ 6.153000, 0.150000, 0.771878 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.010000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.490000, 1.520000, 1.550000, 1.580000, 1.610000, 1.630000, 1.670000, 1.710000, 1.720000, 1.690000, 1.670000, 1.640000, 1.630000, 1.610000, 1.590000, 1.560000, 1.550000, 1.610000, 1.650000, 1.700000, 1.770000, 1.830000, 1.890000, 1.960000, 2.030000, 2.120000, 2.210000, 2.300000, 2.420000, 2.540000, 2.670000, 2.830000, 3.020000, 3.220000, 3.460000, 3.730000, 4.060000, 4.430000, 8.870000, 8.840000, 8.060000, 7.860000, 7.850000, 9.100000, 9.060000, 9.050000, 9.050000, 11.460000, 11.460000, null, 11.480000, 11.490000, 4.350000, 3.760000, 3.150000, 2.760000, 2.450000, 2.210000, 2.000000, 1.830000, 1.690000, 1.570000, 1.460000, 1.380000, 1.300000, 1.230000, 1.150000, 1.100000, 1.030000, 0.970000, 0.950000, 0.890000, 0.860000, 0.830000, 0.800000, 0.760000, 0.730000, 0.710000, 0.690000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.570000, 0.570000, 0.550000, 0.540000, 0.520000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.380000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.400000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 715579 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.195000, 0.190000, 0.759587 ], "estimate": [ 6.195000, 0.190000, 0.759587 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.130000, 1.140000, 1.020000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.480000, 1.510000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.650000, 1.630000, 1.610000, 1.590000, 1.560000, 1.550000, 1.530000, 1.500000, 1.540000, 1.590000, 1.630000, 1.690000, 1.730000, 1.790000, 1.860000, 1.920000, 1.990000, 2.070000, 2.160000, 2.270000, 2.360000, 2.470000, 2.610000, 2.750000, 2.930000, 3.120000, 3.340000, 3.600000, 3.890000, 4.250000, 4.660000, 8.780000, 8.770000, 7.790000, 7.790000, 9.040000, 9.030000, 8.990000, 9.000000, 9.000000, 11.400000, 11.390000, 11.390000, 11.420000, 11.440000, 4.280000, 3.310000, 2.930000, 2.580000, 2.320000, 2.090000, 1.900000, 1.750000, 1.620000, 1.510000, 1.410000, 1.340000, 1.250000, 1.170000, 1.110000, 1.060000, 1.000000, 0.950000, 0.910000, 0.870000, 0.840000, 0.790000, 0.770000, 0.740000, 0.710000, 0.700000, 0.670000, 0.650000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 716725 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.238000, 0.231000, 0.759587 ], "estimate": [ 6.238000, 0.231000, 0.759587 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 0.980000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.210000, 1.220000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.620000, 1.640000, 1.610000, 1.600000, 1.570000, 1.550000, 1.530000, 1.500000, 1.480000, 1.470000, 1.490000, 1.530000, 1.580000, 1.620000, 1.670000, 1.730000, 1.780000, 1.850000, 1.920000, 1.990000, 2.050000, 2.150000, 2.240000, 2.340000, 2.450000, 2.570000, 2.720000, 2.890000, 3.070000, 3.290000, 3.530000, 3.830000, 4.160000, 4.550000, 8.750000, 8.730000, 7.740000, 7.730000, 7.970000, 8.990000, 8.930000, 8.950000, 8.960000, 11.350000, null, null, 11.380000, 11.380000, 4.230000, 3.400000, 3.000000, 2.650000, 2.370000, 2.140000, 1.930000, 1.770000, 1.640000, 1.520000, 1.430000, 1.350000, 1.270000, 1.200000, 1.120000, 1.060000, 1.020000, 0.960000, 0.910000, 0.870000, 0.840000, 0.800000, 0.780000, 0.740000, 0.720000, 0.700000, 0.670000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.520000, 0.510000, 0.510000, 0.510000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.390000, 0.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054261, 879716 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.280000, 0.270000, 0.747296 ], "estimate": [ 6.280000, 0.270000, 0.747296 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 0.970000, 0.930000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.570000, 1.540000, 1.530000, 1.500000, 1.480000, 1.470000, 1.450000, 1.410000, 1.450000, 1.470000, 1.510000, 1.550000, 1.610000, 1.640000, 1.700000, 1.750000, 1.820000, 1.880000, 1.940000, 2.030000, 2.100000, 2.180000, 2.280000, 2.390000, 2.510000, 2.640000, 2.790000, 2.960000, 3.170000, 3.400000, 3.670000, 3.970000, 4.330000, 8.700000, 8.670000, 8.630000, 7.680000, 7.690000, 8.930000, 8.910000, 8.880000, 8.890000, 8.980000, 11.290000, null, 11.300000, 11.320000, 11.330000, 4.160000, 3.200000, 2.840000, 2.510000, 2.250000, 2.040000, 1.850000, 1.700000, 1.580000, 1.480000, 1.380000, 1.300000, 1.220000, 1.160000, 1.100000, 1.040000, 0.990000, 0.940000, 0.900000, 0.870000, 0.820000, 0.800000, 0.770000, 0.730000, 0.710000, 0.690000, 0.660000, 0.640000, 0.640000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.420000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.400000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.380000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.390000, 0.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054262, 387349 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.322000, 0.309000, 0.735005 ], "estimate": [ 6.322000, 0.309000, 0.735005 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 0.960000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.530000, 1.550000, 1.540000, 1.510000, 1.490000, 1.470000, 1.460000, 1.430000, 1.400000, 1.370000, 1.370000, 1.420000, 1.460000, 1.490000, 1.520000, 1.570000, 1.620000, 1.670000, 1.710000, 1.780000, 1.840000, 1.900000, 1.970000, 2.050000, 2.140000, 2.230000, 2.320000, 2.440000, 2.550000, 2.700000, 2.860000, 3.030000, 3.240000, 3.490000, 3.770000, 4.110000, 4.480000, 8.650000, 8.620000, 7.640000, 7.640000, 7.760000, 8.870000, 8.840000, 8.840000, 8.850000, 11.240000, 11.260000, 10.110000, 11.250000, 11.270000, 4.140000, 4.100000, 3.120000, 2.730000, 2.410000, 2.190000, 1.970000, 1.800000, 1.670000, 1.540000, 1.440000, 1.360000, 1.280000, 1.210000, 1.130000, 1.070000, 1.020000, 0.970000, 0.930000, 0.880000, 0.850000, 0.810000, 0.790000, 0.760000, 0.730000, 0.710000, 0.680000, 0.660000, 0.640000, 0.640000, 0.620000, 0.600000, 0.570000, 0.570000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.380000, 0.370000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.390000, 0.380000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054262, 388396 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.365000, 0.346000, 0.728859 ], "estimate": [ 6.365000, 0.346000, 0.728859 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 0.910000, 0.970000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.500000, 1.500000, 1.480000, 1.460000, 1.430000, 1.410000, 1.390000, 1.370000, 1.340000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 1.490000, 1.530000, 1.580000, 1.630000, 1.670000, 1.720000, 1.780000, 1.860000, 1.910000, 1.990000, 2.060000, 2.150000, 2.240000, 2.340000, 2.450000, 2.570000, 2.720000, 2.890000, 3.070000, 3.290000, 3.530000, 3.820000, 4.150000, 8.600000, 8.570000, 8.560000, 7.580000, 7.570000, 8.830000, 8.810000, 8.770000, 8.780000, 8.780000, 11.180000, 11.170000, 11.190000, 11.190000, 11.220000, 4.070000, 4.040000, 3.010000, 2.640000, 2.360000, 2.130000, 1.950000, 1.770000, 1.640000, 1.520000, 1.420000, 1.340000, 1.260000, 1.190000, 1.120000, 1.070000, 1.010000, 0.960000, 0.930000, 0.880000, 0.850000, 0.810000, 0.790000, 0.740000, 0.720000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.590000, 0.580000, 0.570000, 0.560000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054262, 530369 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.410000, 0.386000, 0.716568 ], "estimate": [ 6.410000, 0.386000, 0.716568 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.480000, 1.470000, 1.440000, 1.420000, 1.390000, 1.360000, 1.350000, 1.330000, 1.290000, 1.280000, 1.320000, 1.340000, 1.380000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.620000, 1.660000, 1.700000, 1.760000, 1.820000, 1.890000, 1.960000, 2.040000, 2.120000, 2.210000, 2.300000, 2.420000, 2.540000, 2.670000, 2.830000, 3.010000, 3.220000, 3.450000, 3.730000, 4.040000, 4.420000, 8.530000, 8.520000, 7.520000, 7.520000, 7.570000, 8.770000, 8.720000, 8.720000, 8.730000, 11.140000, 11.140000, 9.980000, 11.140000, 11.140000, 11.160000, 4.000000, 3.050000, 2.770000, 2.450000, 2.220000, 2.010000, 1.840000, 1.680000, 1.560000, 1.460000, 1.380000, 1.300000, 1.220000, 1.150000, 1.090000, 1.040000, 0.980000, 0.930000, 0.890000, 0.860000, 0.820000, 0.800000, 0.770000, 0.740000, 0.710000, 0.700000, 0.670000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.570000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054262, 888427 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.455000, 0.425000, 0.716568 ], "estimate": [ 6.455000, 0.425000, 0.716568 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.320000, 1.340000, 1.360000, 1.370000, 1.400000, 1.420000, 1.440000, 1.420000, 1.390000, 1.350000, 1.330000, 1.310000, 1.290000, 1.270000, 1.230000, 1.230000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.430000, 1.470000, 1.490000, 1.540000, 1.590000, 1.630000, 1.690000, 1.730000, 1.790000, 1.860000, 1.920000, 2.010000, 2.070000, 2.170000, 2.260000, 2.360000, 2.480000, 2.610000, 2.750000, 2.920000, 3.120000, 3.340000, 3.600000, 3.880000, 4.250000, 8.480000, 8.450000, 7.780000, 7.460000, 7.460000, 8.700000, 8.690000, 8.640000, 8.670000, 8.670000, 11.060000, 9.920000, 11.070000, 11.090000, 11.110000, 3.950000, 3.920000, 2.920000, 2.580000, 2.310000, 2.090000, 1.910000, 1.750000, 1.610000, 1.500000, 1.400000, 1.330000, 1.250000, 1.180000, 1.110000, 1.060000, 1.000000, 0.960000, 0.910000, 0.870000, 0.840000, 0.800000, 0.780000, 0.750000, 0.720000, 0.710000, 0.670000, 0.650000, 0.640000, 0.640000, 0.610000, 0.600000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.520000, 0.510000, 0.490000, 0.500000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.390000, 0.380000, 0.390000, 0.380000, 0.380000, 0.390000, 0.380000, 0.380000, 0.370000, 0.390000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054262, 900864 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.498000, 0.462000, 0.710423 ], "estimate": [ 6.498000, 0.462000, 0.710423 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.220000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.410000, 1.370000, 1.340000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.210000, 1.220000, 1.260000, 1.290000, 1.310000, 1.350000, 1.380000, 1.420000, 1.460000, 1.480000, 1.530000, 1.570000, 1.610000, 1.660000, 1.720000, 1.770000, 1.840000, 1.910000, 1.980000, 2.050000, 2.140000, 2.240000, 2.330000, 2.440000, 2.560000, 2.700000, 2.880000, 3.050000, 3.270000, 3.520000, 3.810000, 4.150000, 8.430000, 8.410000, 8.380000, 7.420000, 7.400000, 8.660000, 8.640000, 8.600000, 8.610000, 8.610000, 11.010000, 11.010000, 11.030000, 11.050000, 11.050000, 4.060000, 3.890000, 2.930000, 2.680000, 2.400000, 2.160000, 1.960000, 1.820000, 1.660000, 1.540000, 1.440000, 1.360000, 1.270000, 1.210000, 1.130000, 1.070000, 1.030000, 0.970000, 0.930000, 0.880000, 0.850000, 0.820000, 0.790000, 0.760000, 0.730000, 0.710000, 0.680000, 0.670000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.540000, 0.540000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.380000, 0.380000, 0.380000, 0.390000, 0.390000, 0.390000, 0.400000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054263, 100461 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.540000, 0.498000, 0.704277 ], "estimate": [ 6.540000, 0.498000, 0.704277 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.320000, 1.340000, 1.370000, 1.350000, 1.320000, 1.290000, 1.260000, 1.230000, 1.220000, 1.190000, 1.160000, 1.150000, 1.180000, 1.200000, 1.230000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.480000, 1.510000, 1.550000, 1.600000, 1.650000, 1.710000, 1.750000, 1.820000, 1.870000, 1.940000, 2.020000, 2.100000, 2.180000, 2.290000, 2.400000, 2.520000, 2.640000, 2.800000, 2.970000, 3.180000, 3.420000, 3.690000, 4.010000, 8.380000, 8.360000, 8.340000, 7.370000, 7.360000, 7.460000, 8.600000, 8.560000, 8.550000, 8.560000, 10.970000, 10.970000, 10.960000, 10.970000, 10.990000, 11.000000, 3.830000, 3.820000, 2.810000, 2.490000, 2.240000, 2.030000, 1.860000, 1.720000, 1.590000, 1.480000, 1.380000, 1.310000, 1.230000, 1.170000, 1.110000, 1.050000, 0.990000, 0.950000, 0.910000, 0.860000, 0.830000, 0.800000, 0.780000, 0.740000, 0.720000, 0.700000, 0.680000, 0.670000, 0.630000, 0.630000, 0.610000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.380000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054263, 550827 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.584000, 0.535000, 0.698132 ], "estimate": [ 6.584000, 0.535000, 0.698132 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.330000, 1.340000, 1.320000, 1.280000, 1.250000, 1.220000, 1.190000, 1.180000, 1.150000, 1.110000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.230000, 1.250000, 1.290000, 1.320000, 1.340000, 1.380000, 1.420000, 1.460000, 1.490000, 1.540000, 1.580000, 1.620000, 1.680000, 1.720000, 1.780000, 1.850000, 1.910000, 1.990000, 2.060000, 2.160000, 2.250000, 2.340000, 2.450000, 2.580000, 2.720000, 2.900000, 3.090000, 3.310000, 3.560000, 3.860000, 4.200000, 8.320000, 8.300000, 7.500000, 7.300000, 7.300000, 8.550000, 8.530000, 8.490000, 8.510000, 8.510000, 10.900000, 10.930000, null, 10.920000, 10.940000, 3.880000, 3.780000, 2.820000, 2.620000, 2.370000, 2.130000, 1.950000, 1.790000, 1.660000, 1.530000, 1.430000, 1.350000, 1.270000, 1.210000, 1.130000, 1.090000, 1.020000, 0.960000, 0.930000, 0.880000, 0.850000, 0.820000, 0.790000, 0.760000, 0.730000, 0.720000, 0.690000, 0.680000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.390000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.400000, 0.400000, 0.400000, 0.400000, 0.390000, 0.400000, 0.400000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054263, 551938 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.630000, 0.573000, 0.679695 ], "estimate": [ 6.630000, 0.573000, 0.679695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.300000, 1.270000, 1.230000, 1.210000, 1.170000, 1.150000, 1.130000, 1.100000, 1.070000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.220000, 1.250000, 1.280000, 1.320000, 1.340000, 1.380000, 1.420000, 1.450000, 1.490000, 1.520000, 1.570000, 1.620000, 1.670000, 1.710000, 1.780000, 1.840000, 1.900000, 1.980000, 2.050000, 2.140000, 2.240000, 2.330000, 2.450000, 2.570000, 2.710000, 2.890000, 3.080000, 3.300000, 3.560000, 3.850000, 4.140000, 8.250000, 8.240000, 7.440000, 7.240000, 7.240000, 8.480000, 8.480000, 8.430000, 8.440000, 8.440000, 10.850000, 10.850000, 10.860000, 10.870000, 10.880000, 4.010000, 3.720000, 3.140000, 2.660000, 2.390000, 2.160000, 1.970000, 1.800000, 1.680000, 1.560000, 1.440000, 1.360000, 1.280000, 1.220000, 1.150000, 1.090000, 1.040000, 0.980000, 0.940000, 0.890000, 0.860000, 0.820000, 0.790000, 0.770000, 0.750000, 0.720000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.410000, 0.420000, 0.410000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.390000, 0.400000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054263, 786970 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.675000, 0.608000, 0.673550 ], "estimate": [ 6.675000, 0.608000, 0.673550 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.260000, 1.230000, 1.210000, 1.170000, 1.140000, 1.110000, 1.090000, 1.060000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.220000, 1.240000, 1.280000, 1.320000, 1.330000, 1.370000, 1.410000, 1.450000, 1.490000, 1.520000, 1.560000, 1.620000, 1.670000, 1.710000, 1.770000, 1.840000, 1.910000, 1.970000, 2.050000, 2.130000, 2.230000, 2.340000, 2.450000, 2.570000, 2.720000, 2.890000, 3.080000, 3.300000, 3.560000, 3.870000, 8.220000, 8.190000, 8.180000, 7.230000, 7.190000, 7.190000, 8.440000, 8.410000, 8.380000, 8.390000, 8.410000, 10.790000, 10.790000, null, 10.790000, 10.830000, 3.960000, 3.670000, 3.660000, 2.640000, 2.380000, 2.150000, 1.970000, 1.810000, 1.680000, 1.560000, 1.450000, 1.360000, 1.290000, 1.220000, 1.150000, 1.100000, 1.040000, 0.990000, 0.950000, 0.910000, 0.860000, 0.830000, 0.790000, 0.790000, 0.750000, 0.720000, 0.710000, 0.690000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.460000, 0.470000, 0.450000, 0.450000, 0.440000, 0.450000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.400000, 0.410000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.410000, 0.420000, 0.410000, 0.400000, 0.400000, 0.410000, 0.410000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054264, 248677 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.719000, 0.643000, 0.667404 ], "estimate": [ 6.719000, 0.643000, 0.667404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.230000, 1.230000, 1.200000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.120000, 1.140000, 1.160000, 1.190000, 1.210000, 1.220000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.420000, 1.470000, 1.500000, 1.540000, 1.580000, 1.630000, 1.680000, 1.740000, 1.800000, 1.860000, 1.940000, 2.020000, 2.090000, 2.180000, 2.280000, 2.390000, 2.510000, 2.640000, 2.820000, 3.000000, 3.210000, 3.450000, 3.740000, 4.040000, 8.140000, 8.130000, 8.060000, 7.130000, 7.130000, 8.370000, 8.350000, 8.320000, 8.340000, 8.340000, 10.740000, 10.730000, 10.740000, 10.760000, 10.770000, 10.750000, 3.630000, 3.610000, 2.710000, 2.500000, 2.250000, 2.060000, 1.880000, 1.750000, 1.620000, 1.520000, 1.430000, 1.340000, 1.260000, 1.210000, 1.130000, 1.080000, 1.030000, 0.980000, 0.940000, 0.900000, 0.860000, 0.840000, 0.800000, 0.780000, 0.750000, 0.730000, 0.710000, 0.690000, 0.660000, 0.640000, 0.630000, 0.630000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.500000, 0.500000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000 ], "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": [ 976054264, 280872 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.755000, 0.671000, 0.661259 ], "estimate": [ 6.755000, 0.671000, 0.661259 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.190000, 1.210000, 1.160000, 1.120000, 1.090000, 1.060000, 1.030000, 1.000000, 0.960000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.210000, 1.220000, 1.260000, 1.290000, 1.320000, 1.360000, 1.390000, 1.440000, 1.480000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.760000, 1.820000, 1.890000, 1.960000, 2.040000, 2.130000, 2.220000, 2.320000, 2.440000, 2.560000, 2.710000, 2.880000, 3.080000, 3.300000, 3.570000, 3.870000, 8.110000, 8.090000, 8.060000, 7.100000, 7.090000, 7.190000, 8.320000, 8.280000, 8.290000, 8.280000, 8.370000, 10.670000, 9.550000, 10.700000, 10.730000, 10.730000, 10.110000, 3.560000, 3.550000, 2.610000, 2.400000, 2.190000, 1.990000, 1.840000, 1.710000, 1.590000, 1.490000, 1.390000, 1.320000, 1.250000, 1.180000, 1.120000, 1.070000, 1.020000, 0.970000, 0.940000, 0.890000, 0.860000, 0.830000, 0.800000, 0.770000, 0.750000, 0.720000, 0.710000, 0.690000, 0.680000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.410000, 0.410000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054264, 282008 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.769000, 0.682000, 0.667404 ], "estimate": [ 6.769000, 0.682000, 0.667404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.150000, 1.120000, 1.080000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.940000, 0.960000, 0.980000, 0.980000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.500000, 1.550000, 1.600000, 1.640000, 1.700000, 1.760000, 1.830000, 1.890000, 1.960000, 2.050000, 2.130000, 2.230000, 2.330000, 2.450000, 2.580000, 2.730000, 2.900000, 3.110000, 3.340000, 3.610000, 3.920000, 8.080000, 8.050000, 8.040000, 7.060000, 7.050000, 8.300000, 8.280000, 8.240000, 8.260000, 8.250000, 10.670000, 10.670000, 10.670000, 10.680000, 10.700000, 10.710000, 3.840000, 3.540000, 3.530000, 2.570000, 2.380000, 2.160000, 1.980000, 1.830000, 1.690000, 1.580000, 1.490000, 1.400000, 1.310000, 1.250000, 1.200000, 1.130000, 1.070000, 1.020000, 0.970000, 0.930000, 0.890000, 0.860000, 0.830000, 0.800000, 0.780000, 0.750000, 0.730000, 0.720000, 0.700000, 0.670000, 0.650000, 0.640000, 0.620000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.570000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.510000, 0.520000, 0.510000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054264, 587277 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.763000, 0.677000, 0.673550 ], "estimate": [ 6.763000, 0.677000, 0.673550 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.070000, 1.080000, 1.080000, 1.070000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.110000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.170000, 1.130000, 1.080000, 1.060000, 1.030000, 0.990000, 0.950000, 0.940000, 0.950000, 0.970000, 0.980000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.210000, 1.230000, 1.270000, 1.310000, 1.330000, 1.370000, 1.400000, 1.450000, 1.480000, 1.520000, 1.560000, 1.620000, 1.660000, 1.720000, 1.780000, 1.850000, 1.910000, 1.990000, 2.060000, 2.160000, 2.260000, 2.360000, 2.480000, 2.620000, 2.780000, 2.960000, 3.160000, 3.410000, 3.690000, 4.030000, 8.080000, 8.050000, 7.380000, 7.070000, 7.060000, 8.290000, 8.280000, 8.250000, 8.260000, 8.270000, 10.670000, 10.680000, 9.540000, 10.680000, 10.700000, 10.720000, 3.570000, 3.540000, 3.540000, 2.520000, 2.300000, 2.100000, 1.930000, 1.780000, 1.660000, 1.550000, 1.460000, 1.370000, 1.300000, 1.230000, 1.160000, 1.100000, 1.050000, 1.000000, 0.960000, 0.920000, 0.880000, 0.860000, 0.830000, 0.800000, 0.770000, 0.740000, 0.720000, 0.710000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.590000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054264, 940727 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.766000, 0.680000, 0.673550 ], "estimate": [ 6.766000, 0.680000, 0.673550 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.180000, 1.140000, 1.090000, 1.070000, 1.040000, 1.010000, 0.980000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.310000, 1.330000, 1.370000, 1.400000, 1.450000, 1.490000, 1.520000, 1.570000, 1.620000, 1.660000, 1.720000, 1.780000, 1.840000, 1.920000, 2.000000, 2.070000, 2.160000, 2.260000, 2.360000, 2.480000, 2.620000, 2.780000, 2.960000, 3.170000, 3.420000, 3.690000, 3.980000, 8.080000, 8.050000, 7.330000, 7.080000, 7.060000, 8.300000, 8.290000, 8.260000, 8.270000, 8.270000, 10.660000, 10.670000, 9.530000, 10.700000, 10.710000, 10.710000, 3.570000, 3.550000, 3.240000, 2.520000, 2.280000, 2.090000, 1.920000, 1.770000, 1.650000, 1.540000, 1.450000, 1.360000, 1.290000, 1.220000, 1.150000, 1.110000, 1.050000, 1.000000, 0.960000, 0.910000, 0.890000, 0.850000, 0.820000, 0.790000, 0.770000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054264, 941876 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.780000, 0.690000, 0.655113 ], "estimate": [ 6.780000, 0.690000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.150000, 1.110000, 1.070000, 1.050000, 1.010000, 0.980000, 0.940000, 0.930000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.240000, 1.280000, 1.310000, 1.340000, 1.380000, 1.410000, 1.460000, 1.490000, 1.530000, 1.570000, 1.630000, 1.670000, 1.730000, 1.790000, 1.850000, 1.930000, 2.000000, 2.090000, 2.180000, 2.300000, 2.400000, 2.510000, 2.650000, 2.820000, 3.010000, 3.220000, 3.480000, 3.760000, 8.090000, 8.060000, 8.050000, 7.070000, 7.060000, 7.060000, 8.300000, 8.270000, 8.250000, 8.260000, 8.260000, 10.660000, 10.660000, 9.460000, 10.700000, 10.690000, 10.060000, 3.550000, 3.540000, 2.690000, 2.460000, 2.240000, 2.040000, 1.890000, 1.740000, 1.620000, 1.520000, 1.430000, 1.350000, 1.270000, 1.210000, 1.140000, 1.090000, 1.040000, 0.990000, 0.950000, 0.900000, 0.870000, 0.840000, 0.810000, 0.790000, 0.760000, 0.730000, 0.720000, 0.690000, 0.680000, 0.660000, 0.640000, 0.630000, 0.620000, 0.600000, 0.600000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.430000, 0.440000, 0.430000, 0.430000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.420000, 0.410000, 0.420000, 0.420000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054265, 791309 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.811000, 0.714000, 0.642822 ], "estimate": [ 6.811000, 0.714000, 0.642822 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 0.980000, 0.960000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.280000, 1.310000, 1.330000, 1.370000, 1.410000, 1.450000, 1.480000, 1.520000, 1.570000, 1.620000, 1.670000, 1.720000, 1.780000, 1.860000, 1.920000, 2.010000, 2.080000, 2.170000, 2.280000, 2.390000, 2.510000, 2.640000, 2.820000, 3.010000, 3.220000, 3.470000, 3.760000, 8.060000, 8.040000, 8.020000, 7.060000, 7.030000, 7.030000, 8.270000, 8.250000, 8.220000, 8.230000, 8.230000, 10.640000, 9.390000, 9.430000, 10.660000, 10.670000, 10.080000, 3.530000, 3.500000, 3.470000, 2.490000, 2.260000, 2.070000, 1.910000, 1.770000, 1.650000, 1.540000, 1.450000, 1.370000, 1.290000, 1.230000, 1.170000, 1.110000, 1.050000, 1.000000, 0.960000, 0.920000, 0.880000, 0.860000, 0.820000, 0.800000, 0.780000, 0.740000, 0.730000, 0.710000, 0.690000, 0.670000, 0.640000, 0.640000, 0.620000, 0.620000, 0.600000, 0.590000, 0.570000, 0.560000, 0.560000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.430000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.410000, 0.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054265, 495308 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.872000, 0.759000, 0.642822 ], "estimate": [ 6.872000, 0.759000, 0.642822 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.080000, 1.040000, 1.010000, 0.960000, 0.940000, 0.890000, 0.880000, 0.880000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.300000, 1.330000, 1.360000, 1.400000, 1.450000, 1.480000, 1.520000, 1.570000, 1.620000, 1.670000, 1.720000, 1.780000, 1.860000, 1.930000, 2.000000, 2.080000, 2.180000, 2.280000, 2.400000, 2.520000, 2.660000, 2.840000, 3.020000, 3.250000, 3.510000, 3.810000, 7.990000, 7.970000, 7.950000, 6.980000, 6.960000, 7.090000, 8.190000, 8.150000, 8.170000, 8.160000, 8.240000, 10.570000, 9.360000, 10.570000, 10.590000, 10.610000, 9.990000, 3.460000, 3.450000, 3.450000, 2.460000, 2.230000, 2.060000, 1.900000, 1.770000, 1.640000, 1.540000, 1.450000, 1.370000, 1.300000, 1.230000, 1.170000, 1.120000, 1.070000, 1.010000, 0.970000, 0.930000, 0.890000, 0.860000, 0.830000, 0.810000, 0.800000, 0.760000, 0.730000, 0.720000, 0.700000, 0.680000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.430000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054265, 511134 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.934000, 0.806000, 0.655113 ], "estimate": [ 6.934000, 0.806000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.040000, 1.000000, 0.960000, 0.900000, 0.870000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.080000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.250000, 1.290000, 1.320000, 1.350000, 1.390000, 1.430000, 1.480000, 1.510000, 1.560000, 1.610000, 1.660000, 1.710000, 1.780000, 1.840000, 1.920000, 1.990000, 2.080000, 2.160000, 2.280000, 2.390000, 2.520000, 2.660000, 2.830000, 3.030000, 3.270000, 3.530000, 7.920000, 7.890000, 7.890000, 7.850000, 6.870000, 6.860000, 8.110000, 8.100000, 8.060000, 8.080000, 8.070000, 10.480000, 10.480000, 10.480000, 10.500000, 10.500000, 10.520000, 9.910000, 3.380000, 3.370000, 3.360000, 2.400000, 2.240000, 2.060000, 1.910000, 1.770000, 1.660000, 1.550000, 1.470000, 1.380000, 1.320000, 1.260000, 1.190000, 1.130000, 1.080000, 1.030000, 0.990000, 0.960000, 0.910000, 0.880000, 0.860000, 0.820000, 0.800000, 0.780000, 0.740000, 0.730000, 0.710000, 0.700000, 0.670000, 0.660000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054265, 700652 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.979000, 0.840000, 0.642822 ], "estimate": [ 6.979000, 0.840000, 0.642822 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.050000, 0.980000, 0.920000, 0.880000, 0.840000, 0.800000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 0.990000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.180000, 1.210000, 1.230000, 1.270000, 1.300000, 1.330000, 1.370000, 1.410000, 1.450000, 1.480000, 1.530000, 1.590000, 1.630000, 1.690000, 1.750000, 1.820000, 1.900000, 1.970000, 2.050000, 2.150000, 2.250000, 2.360000, 2.480000, 2.620000, 2.790000, 2.990000, 3.220000, 3.490000, 7.870000, 7.850000, 7.820000, 7.790000, 6.810000, 6.800000, 8.060000, 8.040000, 8.010000, 8.030000, 8.020000, 10.440000, 10.430000, 9.290000, 10.440000, 10.450000, 10.460000, 9.840000, 3.590000, 3.310000, 3.300000, 2.820000, 2.320000, 2.120000, 1.960000, 1.840000, 1.710000, 1.610000, 1.520000, 1.430000, 1.360000, 1.300000, 1.230000, 1.190000, 1.120000, 1.060000, 1.020000, 0.970000, 0.940000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.770000, 0.750000, 0.720000, 0.710000, 0.700000, 0.690000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 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": [ 976054266, 871610 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.015000, 0.867000, 0.624385 ], "estimate": [ 7.015000, 0.867000, 0.624385 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.050000, 0.990000, 0.910000, 0.860000, 0.800000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.310000, 1.330000, 1.370000, 1.410000, 1.450000, 1.480000, 1.540000, 1.590000, 1.630000, 1.700000, 1.760000, 1.830000, 1.910000, 1.980000, 2.060000, 2.160000, 2.260000, 2.380000, 2.500000, 2.660000, 2.840000, 3.040000, 3.280000, 3.550000, 7.800000, 7.790000, 7.760000, 6.820000, 6.760000, 6.760000, 8.000000, 8.000000, 7.970000, 7.980000, 7.980000, 10.390000, null, null, 10.380000, 10.410000, 10.420000, 9.800000, 3.290000, 3.280000, 3.270000, 2.490000, 2.250000, 2.070000, 1.930000, 1.800000, 1.680000, 1.600000, 1.500000, 1.420000, 1.350000, 1.280000, 1.220000, 1.170000, 1.120000, 1.060000, 1.020000, 0.980000, 0.930000, 0.900000, 0.880000, 0.850000, 0.820000, 0.800000, 0.780000, 0.750000, 0.730000, 0.720000, 0.700000, 0.680000, 0.670000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.550000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.520000, 0.510000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054266, 883900 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.054000, 0.895000, 0.630531 ], "estimate": [ 7.054000, 0.895000, 0.630531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 0.990000, 0.910000, 0.840000, 0.800000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.910000, 0.920000, 0.940000, 0.950000, 0.980000, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.190000, 1.220000, 1.240000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.470000, 1.510000, 1.560000, 1.610000, 1.670000, 1.730000, 1.780000, 1.860000, 1.940000, 2.020000, 2.110000, 2.210000, 2.310000, 2.440000, 2.590000, 2.760000, 2.950000, 3.170000, 3.430000, 7.780000, 7.750000, 7.730000, 7.700000, 6.730000, 6.710000, 7.980000, 7.960000, 7.930000, 7.950000, 7.940000, 8.010000, 10.350000, 9.110000, 10.360000, 10.370000, 10.380000, 9.760000, 9.780000, 3.250000, 3.240000, 3.260000, 2.280000, 2.150000, 1.990000, 1.840000, 1.730000, 1.630000, 1.530000, 1.450000, 1.390000, 1.320000, 1.260000, 1.200000, 1.140000, 1.090000, 1.040000, 0.990000, 0.960000, 0.930000, 0.890000, 0.870000, 0.840000, 0.810000, 0.790000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.570000, 0.570000, 0.550000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.540000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 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": [ 976054266, 279466 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.106000, 0.933000, 0.636676 ], "estimate": [ 7.106000, 0.933000, 0.636676 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.010000, 1.020000, 1.010000, 1.020000, 1.020000, 1.020000, 0.910000, 0.800000, 0.750000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.190000, 1.220000, 1.240000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.470000, 1.510000, 1.570000, 1.620000, 1.670000, 1.730000, 1.790000, 1.870000, 1.940000, 2.030000, 2.120000, 2.230000, 2.330000, 2.460000, 2.620000, 2.810000, 3.000000, 3.240000, 3.520000, 7.710000, 7.680000, 7.660000, 6.680000, 6.660000, 6.660000, 7.910000, 7.880000, 7.870000, 7.880000, 7.880000, 10.290000, 10.280000, 9.080000, 10.300000, 10.310000, 10.330000, 9.710000, 3.470000, 3.180000, 3.170000, 3.200000, 2.220000, 2.120000, 1.980000, 1.840000, 1.720000, 1.620000, 1.540000, 1.450000, 1.390000, 1.320000, 1.260000, 1.210000, 1.150000, 1.100000, 1.060000, 1.010000, 0.960000, 0.940000, 0.900000, 0.870000, 0.850000, 0.820000, 0.800000, 0.780000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000 ], "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": [ 976054266, 634531 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.160000, 0.973000, 0.642822 ], "estimate": [ 7.160000, 0.973000, 0.642822 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 0.770000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.930000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.260000, 1.280000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.630000, 1.700000, 1.750000, 1.830000, 1.900000, 1.990000, 2.060000, 2.160000, 2.280000, 2.410000, 2.540000, 2.710000, 2.900000, 3.130000, 3.380000, 7.650000, 7.630000, 7.610000, 6.830000, 6.600000, 6.590000, 7.850000, 7.840000, 7.800000, 7.820000, 7.810000, 7.890000, 10.210000, null, 10.240000, 10.230000, 10.250000, 9.640000, 9.650000, 3.120000, 3.130000, 3.110000, 3.120000, 2.160000, 2.050000, 1.910000, 1.790000, 1.680000, 1.580000, 1.500000, 1.420000, 1.360000, 1.300000, 1.230000, 1.180000, 1.130000, 1.090000, 1.040000, 1.010000, 0.960000, 0.930000, 0.900000, 0.870000, 0.840000, 0.820000, 0.800000, 0.780000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054266, 730759 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.209000, 1.010000, 0.655113 ], "estimate": [ 7.209000, 1.010000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 1.000000, 0.990000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.080000, 1.110000, 1.140000, 1.150000, 1.180000, 1.210000, 1.240000, 1.280000, 1.320000, 1.350000, 1.380000, 1.420000, 1.470000, 1.520000, 1.570000, 1.620000, 1.690000, 1.750000, 1.810000, 1.890000, 1.960000, 2.040000, 2.150000, 2.250000, 2.380000, 2.520000, 2.690000, 2.880000, 3.090000, 3.340000, 7.590000, 7.560000, 7.540000, 6.890000, 6.550000, 6.520000, 7.800000, 7.770000, 7.730000, 7.760000, 7.750000, 7.820000, 10.150000, 8.970000, null, 10.170000, 10.190000, 9.590000, 9.600000, 3.310000, 3.060000, 3.050000, 3.080000, 2.350000, 2.070000, 1.940000, 1.810000, 1.700000, 1.610000, 1.520000, 1.450000, 1.390000, 1.320000, 1.250000, 1.210000, 1.150000, 1.100000, 1.060000, 1.020000, 0.980000, 0.950000, 0.930000, 0.890000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.750000, 0.720000, 0.720000, 0.700000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054267, 287534 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.249000, 1.041000, 0.661259 ], "estimate": [ 7.249000, 1.041000, 0.661259 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.000000, 0.980000, 0.710000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.410000, 1.450000, 1.480000, 1.540000, 1.590000, 1.650000, 1.710000, 1.770000, 1.840000, 1.910000, 2.000000, 2.090000, 2.190000, 2.300000, 2.430000, 2.590000, 2.770000, 2.960000, 3.200000, 7.540000, 7.530000, 7.510000, 7.490000, 6.500000, 6.480000, 6.480000, 7.730000, 7.700000, 7.700000, 7.720000, 7.710000, 10.110000, 8.930000, 8.900000, 9.010000, 10.140000, 10.160000, 9.540000, 9.560000, 3.020000, 3.010000, 3.010000, 3.030000, 2.090000, 2.020000, 1.870000, 1.770000, 1.660000, 1.570000, 1.490000, 1.410000, 1.350000, 1.290000, 1.230000, 1.170000, 1.120000, 1.080000, 1.050000, 1.000000, 0.970000, 0.940000, 0.910000, 0.870000, 0.840000, 0.830000, 0.800000, 0.770000, 0.760000, 0.730000, 0.730000, 0.710000, 0.700000, 0.690000, 0.670000, 0.650000, 0.650000, 0.640000, 0.640000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054267, 340881 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.288000, 1.072000, 0.667404 ], "estimate": [ 7.288000, 1.072000, 0.667404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.070000, 1.100000, 1.130000, 1.150000, 1.180000, 1.210000, 1.230000, 1.280000, 1.320000, 1.340000, 1.390000, 1.420000, 1.470000, 1.520000, 1.560000, 1.620000, 1.690000, 1.740000, 1.810000, 1.880000, 1.970000, 2.060000, 2.150000, 2.260000, 2.390000, 2.530000, 2.700000, 2.880000, 3.130000, 3.350000, 7.470000, 7.470000, 7.440000, 6.460000, 6.440000, 6.440000, 7.690000, 7.670000, 7.650000, 7.670000, 7.650000, 8.960000, 10.060000, 8.830000, 8.970000, 8.790000, 10.110000, 9.490000, 9.490000, 3.270000, 2.970000, 2.960000, 2.980000, 2.940000, 2.010000, 1.930000, 1.800000, 1.690000, 1.610000, 1.530000, 1.440000, 1.390000, 1.320000, 1.250000, 1.200000, 1.150000, 1.100000, 1.060000, 1.010000, 0.980000, 0.960000, 0.930000, 0.890000, 0.870000, 0.840000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054267, 341971 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.335000, 1.108000, 0.679695 ], "estimate": [ 7.335000, 1.108000, 0.679695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.910000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.270000, 1.300000, 1.330000, 1.370000, 1.410000, 1.460000, 1.500000, 1.550000, 1.610000, 1.660000, 1.720000, 1.790000, 1.870000, 1.930000, 2.030000, 2.120000, 2.230000, 2.350000, 2.480000, 2.640000, 2.840000, 3.050000, 3.310000, 7.440000, 7.420000, 7.400000, 6.540000, 6.390000, 6.380000, 7.650000, 7.620000, 7.590000, 7.610000, 7.610000, 7.640000, 10.010000, 8.790000, 8.860000, 10.030000, 10.050000, 9.530000, 9.450000, 9.470000, 2.930000, 2.920000, 2.910000, 2.940000, 2.350000, 1.950000, 1.830000, 1.710000, 1.620000, 1.540000, 1.470000, 1.390000, 1.330000, 1.270000, 1.220000, 1.150000, 1.120000, 1.070000, 1.030000, 0.990000, 0.960000, 0.930000, 0.900000, 0.860000, 0.850000, 0.820000, 0.800000, 0.790000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054267, 479751 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.387000, 1.150000, 0.679695 ], "estimate": [ 7.387000, 1.150000, 0.679695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.180000, 1.210000, 1.240000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.480000, 1.520000, 1.580000, 1.620000, 1.690000, 1.750000, 1.820000, 1.890000, 1.980000, 2.060000, 2.170000, 2.280000, 2.410000, 2.560000, 2.720000, 2.930000, 3.160000, 7.390000, 7.370000, 7.350000, 7.320000, 6.340000, 6.320000, 6.320000, 7.570000, 7.540000, 7.530000, 7.540000, 7.540000, 9.940000, 9.960000, 8.730000, 9.960000, 9.970000, 9.990000, 9.380000, 9.380000, 9.410000, 2.850000, 2.850000, 2.850000, 2.870000, 2.800000, 1.900000, 1.780000, 1.690000, 1.600000, 1.510000, 1.440000, 1.380000, 1.310000, 1.250000, 1.200000, 1.150000, 1.100000, 1.050000, 1.010000, 0.970000, 0.940000, 0.920000, 0.890000, 0.870000, 0.850000, 0.820000, 0.800000, 0.770000, 0.750000, 0.720000, 0.720000, 0.710000, 0.700000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054267, 931269 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.434000, 1.188000, 0.673550 ], "estimate": [ 7.434000, 1.188000, 0.673550 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.910000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.070000, 1.100000, 1.120000, 1.150000, 1.170000, 1.210000, 1.230000, 1.270000, 1.310000, 1.340000, 1.390000, 1.430000, 1.470000, 1.510000, 1.560000, 1.620000, 1.680000, 1.750000, 1.810000, 1.880000, 1.970000, 2.060000, 2.150000, 2.270000, 2.400000, 2.550000, 2.710000, 2.920000, 3.150000, 7.340000, 7.310000, 7.290000, 7.270000, 6.280000, 6.260000, 6.260000, 7.510000, 7.480000, 7.470000, 7.480000, 7.470000, 9.880000, 9.880000, null, 9.900000, 9.920000, 9.930000, 9.310000, 9.320000, 9.340000, 2.800000, 2.800000, 2.790000, 2.820000, 2.760000, 1.840000, 1.800000, 1.690000, 1.610000, 1.520000, 1.440000, 1.370000, 1.320000, 1.260000, 1.210000, 1.150000, 1.110000, 1.060000, 1.030000, 0.980000, 0.960000, 0.920000, 0.900000, 0.880000, 0.850000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.600000, 0.600000, 0.580000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.550000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054267, 932288 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.476000, 1.221000, 0.667404 ], "estimate": [ 7.476000, 1.221000, 0.667404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.380000, 1.420000, 1.460000, 1.510000, 1.550000, 1.600000, 1.670000, 1.730000, 1.790000, 1.870000, 1.950000, 2.040000, 2.140000, 2.250000, 2.380000, 2.520000, 2.700000, 2.880000, 3.130000, 7.280000, 7.260000, 7.230000, 7.220000, 6.220000, 6.210000, 6.210000, 7.450000, 7.430000, 7.420000, 7.430000, 7.420000, 9.850000, 9.830000, 8.580000, 9.860000, 9.840000, 9.880000, 9.270000, 9.260000, 9.300000, 2.960000, 2.740000, 2.740000, 2.750000, 2.710000, 2.700000, 1.800000, 1.720000, 1.620000, 1.530000, 1.460000, 1.390000, 1.330000, 1.280000, 1.220000, 1.170000, 1.120000, 1.080000, 1.040000, 0.990000, 0.960000, 0.930000, 0.910000, 0.880000, 0.850000, 0.820000, 0.800000, 0.780000, 0.770000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.660000, 0.650000, 0.650000, 0.630000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.520000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054268, 130658 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.515000, 1.252000, 0.667404 ], "estimate": [ 7.515000, 1.252000, 0.667404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.990000, 1.000000, 1.030000, 1.050000, 1.080000, 1.090000, 1.110000, 1.130000, 1.160000, 1.200000, 1.220000, 1.260000, 1.300000, 1.330000, 1.380000, 1.410000, 1.460000, 1.510000, 1.550000, 1.610000, 1.660000, 1.720000, 1.790000, 1.870000, 1.940000, 2.040000, 2.140000, 2.250000, 2.370000, 2.530000, 2.690000, 2.880000, 3.090000, 7.230000, 7.210000, 7.190000, 7.180000, 6.180000, 6.180000, 6.160000, 7.420000, 7.390000, 7.360000, 7.380000, 7.390000, 9.790000, 9.790000, 8.580000, 9.820000, 9.820000, 9.840000, 9.230000, 9.220000, 9.240000, 2.960000, 2.700000, 2.700000, 2.700000, 2.710000, 2.670000, 1.760000, 1.710000, 1.630000, 1.530000, 1.460000, 1.390000, 1.340000, 1.270000, 1.230000, 1.160000, 1.120000, 1.070000, 1.040000, 1.000000, 0.970000, 0.930000, 0.900000, 0.870000, 0.860000, 0.830000, 0.800000, 0.790000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.650000, 0.660000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054268, 549870 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.561000, 1.288000, 0.655113 ], "estimate": [ 7.561000, 1.288000, 0.655113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.410000, 1.440000, 1.480000, 1.540000, 1.600000, 1.650000, 1.710000, 1.770000, 1.840000, 1.920000, 2.020000, 2.110000, 2.230000, 2.340000, 2.480000, 2.640000, 2.850000, 3.030000, 7.180000, 7.160000, 7.130000, 7.120000, 6.120000, 6.110000, 6.100000, 7.350000, 7.340000, 7.320000, 7.330000, 7.330000, 9.730000, 9.740000, 8.520000, 8.640000, 9.770000, 9.780000, 9.500000, 9.160000, 9.180000, 9.430000, 2.650000, 2.650000, 2.640000, 2.670000, 2.610000, 2.610000, 1.690000, 1.640000, 1.560000, 1.480000, 1.410000, 1.350000, 1.290000, 1.230000, 1.180000, 1.130000, 1.080000, 1.050000, 1.010000, 0.970000, 0.940000, 0.920000, 0.890000, 0.860000, 0.840000, 0.820000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.590000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000 ], "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": [ 976054268, 551051 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.614000, 1.328000, 0.648968 ], "estimate": [ 7.614000, 1.328000, 0.648968 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.180000, 1.210000, 1.240000, 1.280000, 1.320000, 1.350000, 1.380000, 1.430000, 1.470000, 1.520000, 1.580000, 1.640000, 1.690000, 1.770000, 1.830000, 1.910000, 2.000000, 2.080000, 2.190000, 2.310000, 2.440000, 2.620000, 2.790000, 10.020000, 7.120000, 7.110000, 7.080000, 7.060000, 6.060000, 6.060000, 6.060000, 7.300000, 7.280000, 7.260000, 7.270000, 7.270000, 7.320000, 9.690000, 8.440000, 8.480000, 8.410000, 9.710000, 9.720000, 9.110000, 9.130000, 9.150000, 2.790000, 2.590000, 2.580000, 2.590000, 2.610000, 2.560000, 2.540000, 1.640000, 1.580000, 1.500000, 1.430000, 1.380000, 1.310000, 1.250000, 1.200000, 1.140000, 1.110000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.890000, 0.870000, 0.850000, 0.830000, 0.800000, 0.790000, 0.760000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.680000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.550000, 0.530000, 0.540000, 0.540000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000 ], "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": [ 976054268, 787359 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.663000, 1.365000, 0.636676 ], "estimate": [ 7.663000, 1.365000, 0.636676 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.690000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.910000, 0.930000, 0.950000, 0.970000, 0.970000, 0.990000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.410000, 1.450000, 1.480000, 1.540000, 1.590000, 1.650000, 1.720000, 1.780000, 1.850000, 1.940000, 2.030000, 2.130000, 2.250000, 2.370000, 2.520000, 2.690000, 2.890000, 7.070000, 7.060000, 7.030000, 7.020000, 6.290000, 6.010000, 5.990000, 6.220000, 7.240000, 7.200000, 7.200000, 7.210000, 7.210000, 9.620000, 9.620000, 8.390000, 8.500000, 8.340000, 9.670000, 9.050000, 9.050000, 9.070000, 9.740000, 2.590000, 2.530000, 2.520000, 2.540000, 2.540000, 2.500000, 2.500000, 1.570000, 1.540000, 1.470000, 1.410000, 1.340000, 1.290000, 1.230000, 1.190000, 1.130000, 1.080000, 1.050000, 1.000000, 0.980000, 0.950000, 0.920000, 0.900000, 0.870000, 0.840000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000 ], "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": [ 976054269, 130193 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.706000, 1.396000, 0.630531 ], "estimate": [ 7.706000, 1.396000, 0.630531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.030000, 1.050000, 1.080000, 1.090000, 1.120000, 1.140000, 1.170000, 1.190000, 1.230000, 1.260000, 1.310000, 1.330000, 1.380000, 1.420000, 1.460000, 1.510000, 1.570000, 1.620000, 1.690000, 1.740000, 1.830000, 1.900000, 1.980000, 2.070000, 2.180000, 2.300000, 2.440000, 2.610000, 2.780000, 7.100000, 7.010000, 7.000000, 6.970000, 6.950000, 5.960000, 5.950000, 5.940000, 7.180000, 7.160000, 7.160000, 7.170000, 7.150000, 7.230000, 9.560000, 8.330000, 8.340000, 8.400000, 9.610000, 9.620000, 9.000000, 9.010000, 9.040000, 2.780000, 2.480000, 2.480000, 2.480000, 2.510000, 2.440000, 2.450000, 2.450000, 1.530000, 1.510000, 1.440000, 1.380000, 1.320000, 1.260000, 1.220000, 1.170000, 1.120000, 1.070000, 1.030000, 1.000000, 0.970000, 0.940000, 0.910000, 0.880000, 0.860000, 0.840000, 0.810000, 0.800000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000 ], "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": [ 976054269, 131374 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.749000, 1.427000, 0.618240 ], "estimate": [ 7.749000, 1.427000, 0.618240 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 0.980000, 1.000000, 1.030000, 1.060000, 1.080000, 1.090000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.470000, 1.520000, 1.590000, 1.640000, 1.700000, 1.770000, 1.830000, 1.920000, 2.020000, 2.110000, 2.230000, 2.360000, 2.500000, 2.670000, 9.860000, 6.980000, 6.950000, 6.920000, 6.910000, 6.030000, 5.900000, 5.880000, 7.150000, 7.130000, 7.100000, 7.110000, 7.110000, 7.110000, 9.510000, 9.510000, 8.270000, 8.400000, 9.540000, 9.560000, 8.960000, 8.950000, 8.960000, 9.610000, 2.670000, 2.430000, 2.430000, 2.420000, 2.450000, 2.410000, 2.400000, 2.400000, 1.530000, 1.490000, 1.420000, 1.360000, 1.300000, 1.240000, 1.200000, 1.150000, 1.100000, 1.060000, 1.020000, 1.000000, 0.960000, 0.940000, 0.910000, 0.880000, 0.850000, 0.830000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.700000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000 ], "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": [ 976054269, 279669 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.798000, 1.461000, 0.605949 ], "estimate": [ 7.798000, 1.461000, 0.605949 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.010000, 1.030000, 1.060000, 1.080000, 1.100000, 1.130000, 1.150000, 1.180000, 1.210000, 1.250000, 1.290000, 1.330000, 1.360000, 1.400000, 1.440000, 1.490000, 1.550000, 1.610000, 1.670000, 1.730000, 1.800000, 1.880000, 1.960000, 2.060000, 2.160000, 2.290000, 2.430000, 2.580000, 2.790000, 6.930000, 6.910000, 6.890000, 6.870000, 6.840000, 5.840000, 5.830000, 5.830000, 7.070000, 7.050000, 7.040000, 7.070000, 7.050000, 7.090000, 9.470000, 9.470000, 9.470000, 9.490000, 9.500000, 9.520000, 8.880000, 8.910000, 8.930000, 8.980000, 2.590000, 2.390000, 2.390000, 2.380000, 2.410000, 2.350000, 2.350000, 2.350000, 1.700000, 1.440000, 1.400000, 1.340000, 1.280000, 1.230000, 1.180000, 1.130000, 1.080000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.830000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000 ], "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": [ 976054269, 659158 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.851000, 1.497000, 0.593658 ], "estimate": [ 7.851000, 1.497000, 0.593658 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.080000, 1.100000, 1.120000, 1.160000, 1.190000, 1.220000, 1.250000, 1.290000, 1.330000, 1.370000, 1.420000, 1.460000, 1.500000, 1.560000, 1.610000, 1.680000, 1.740000, 1.810000, 1.910000, 1.980000, 2.080000, 2.190000, 2.330000, 2.470000, 2.630000, 9.750000, 6.850000, 6.820000, 6.810000, 6.780000, 5.810000, 5.770000, 5.760000, 7.020000, 7.000000, 6.980000, 7.000000, 6.980000, 6.980000, 9.380000, 9.390000, 9.400000, 9.420000, 9.430000, 9.450000, 8.950000, 8.830000, 8.860000, 9.230000, 8.910000, 2.520000, 2.320000, 2.320000, 2.310000, 2.350000, 2.290000, 2.280000, 2.290000, 2.300000, 1.420000, 1.380000, 1.330000, 1.270000, 1.230000, 1.190000, 1.130000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.900000, 0.870000, 0.860000, 0.830000, 0.820000, 0.800000, 0.780000, 0.760000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.530000, 0.540000, 0.530000, 0.530000, 0.540000, 0.520000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054269, 711081 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.900000, 1.529000, 0.587512 ], "estimate": [ 7.900000, 1.529000, 0.587512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.090000, 1.110000, 1.130000, 1.160000, 1.190000, 1.220000, 1.270000, 1.310000, 1.330000, 1.380000, 1.430000, 1.470000, 1.520000, 1.580000, 1.640000, 1.700000, 1.760000, 1.840000, 1.920000, 2.020000, 2.140000, 2.260000, 2.390000, 2.540000, 9.690000, 6.800000, 6.780000, 6.760000, 6.750000, 6.670000, 5.720000, 5.710000, 5.710000, 6.950000, 6.930000, 6.930000, 6.940000, 6.930000, 6.970000, 9.340000, 9.350000, 9.360000, 9.370000, 9.380000, 9.400000, 8.780000, 8.780000, 8.810000, 8.880000, 8.870000, 2.410000, 2.260000, 2.260000, 2.260000, 2.300000, 2.230000, 2.240000, 2.240000, 2.250000, 1.640000, 1.330000, 1.300000, 1.260000, 1.200000, 1.160000, 1.120000, 1.080000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.740000, 0.730000, 0.730000, 0.720000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054269, 900593 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.944000, 1.558000, 0.581367 ], "estimate": [ 7.944000, 1.558000, 0.581367 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.970000, 1.000000, 1.030000, 1.050000, 1.080000, 1.090000, 1.120000, 1.150000, 1.180000, 1.220000, 1.250000, 1.290000, 1.320000, 1.360000, 1.420000, 1.460000, 1.510000, 1.570000, 1.620000, 1.690000, 1.760000, 1.830000, 1.910000, 2.010000, 2.120000, 2.240000, 2.370000, 2.540000, 9.640000, 6.750000, 6.730000, 6.710000, 6.680000, 5.970000, 5.670000, 5.650000, 5.720000, 6.890000, 6.860000, 6.880000, 6.880000, 6.880000, 6.920000, 9.280000, 9.290000, 8.100000, 9.310000, 9.320000, 9.350000, 8.740000, 8.740000, 8.760000, 8.860000, 8.820000, 2.440000, 2.220000, 2.210000, 2.210000, 2.220000, 2.240000, 2.180000, 2.180000, 2.190000, 2.200000, 2.190000, 1.280000, 1.260000, 1.220000, 1.170000, 1.130000, 1.090000, 1.050000, 1.020000, 0.980000, 0.970000, 0.930000, 0.910000, 0.890000, 0.860000, 0.850000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.670000, 0.670000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054270, 465953 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.990000, 1.589000, 0.575221 ], "estimate": [ 7.990000, 1.589000, 0.575221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.210000, 1.230000, 1.280000, 1.320000, 1.350000, 1.400000, 1.440000, 1.490000, 1.550000, 1.600000, 1.680000, 1.740000, 1.810000, 1.890000, 1.980000, 2.090000, 2.220000, 2.340000, 2.490000, 9.560000, 6.700000, 6.670000, 6.660000, 6.640000, 6.070000, 5.600000, 5.590000, 5.590000, 6.840000, 6.810000, 6.830000, 6.830000, 6.840000, 6.830000, 9.230000, null, 8.020000, null, 9.270000, 9.290000, 8.680000, 8.690000, 8.710000, 9.370000, 8.770000, 2.460000, 2.220000, 2.160000, 2.170000, 2.160000, 2.200000, 2.140000, 2.140000, 2.150000, 2.160000, 2.160000, 2.160000, 1.250000, 1.240000, 1.180000, 1.130000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.810000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "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, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054270, 467111 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.040999, 1.621000, 0.569076 ], "estimate": [ 8.040999, 1.621000, 0.569076 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.910000, 0.940000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.070000, 1.090000, 1.120000, 1.150000, 1.180000, 1.220000, 1.250000, 1.290000, 1.320000, 1.370000, 1.430000, 1.470000, 1.520000, 1.580000, 1.640000, 1.700000, 1.780000, 1.850000, 1.950000, 2.050000, 2.160000, 2.290000, 2.430000, 9.510000, 6.640000, 6.620000, 6.600000, 6.580000, 6.560000, 5.560000, 5.540000, 5.530000, 6.760000, 6.750000, 6.760000, 6.770000, 6.770000, 6.770000, 9.170000, 9.180000, 7.950000, 8.010000, 9.220000, 9.230000, 8.610000, 8.620000, 8.650000, 9.260000, 8.710000, 8.730000, 2.320000, 2.130000, 2.110000, 2.110000, 2.120000, 2.150000, 2.070000, 2.090000, 2.100000, 2.110000, 2.120000, 2.120000, 1.340000, 1.190000, 1.140000, 1.110000, 1.070000, 1.040000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.800000, 0.810000, 0.790000, 0.770000, 0.760000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000 ], "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": [ 976054270, 480187 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.092999, 1.654000, 0.562930 ], "estimate": [ 8.092999, 1.654000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.970000, 0.980000, 1.010000, 1.040000, 1.050000, 1.070000, 1.100000, 1.130000, 1.160000, 1.200000, 1.230000, 1.260000, 1.310000, 1.350000, 1.400000, 1.450000, 1.500000, 1.560000, 1.610000, 1.680000, 1.760000, 1.830000, 1.900000, 2.010000, 2.110000, 2.240000, 2.380000, 9.460000, 6.580000, 6.570000, 6.540000, 6.520000, 6.510000, 5.510000, 5.480000, 5.470000, 6.710000, 6.700000, 6.690000, 6.720000, 6.710000, 6.720000, 9.110000, 9.120000, 7.890000, 9.150000, 9.160000, 9.170000, 9.000000, 8.560000, 8.590000, 8.610000, 8.650000, 8.670000, 8.690000, 2.240000, 2.060000, 2.060000, 2.060000, 2.070000, 2.100000, 2.030000, 2.040000, 2.050000, 2.060000, 2.060000, 2.070000, 2.080000, 1.170000, 1.140000, 1.100000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.880000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000 ], "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": [ 976054270, 930977 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.142000, 1.685000, 0.562930 ], "estimate": [ 8.142000, 1.685000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.960000, 0.970000, 1.000000, 1.020000, 1.050000, 1.070000, 1.090000, 1.120000, 1.160000, 1.190000, 1.220000, 1.250000, 1.310000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.600000, 1.670000, 1.740000, 1.820000, 1.900000, 2.000000, 2.120000, 2.240000, 9.420000, 9.380000, 6.520000, 6.510000, 6.480000, 6.460000, 6.440000, 5.430000, 5.410000, 5.410000, 6.650000, 6.630000, 6.640000, 6.650000, 6.640000, 6.650000, 9.060000, 9.060000, 7.860000, null, 9.090000, 9.120000, 8.560000, 8.500000, 8.520000, 8.590000, 8.600000, 8.610000, 8.630000, 2.220000, 2.020000, 1.990000, 2.000000, 2.000000, 2.030000, 2.030000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 1.380000, 1.090000, 1.100000, 1.030000, 1.000000, 0.970000, 0.960000, 0.920000, 0.910000, 0.870000, 0.870000, 0.860000, 0.830000, 0.810000, 0.810000, 0.790000, 0.780000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.600000, 0.610000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.560000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054270, 932093 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.188000, 1.714000, 0.562930 ], "estimate": [ 8.188000, 1.714000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.070000, 1.090000, 1.120000, 1.150000, 1.180000, 1.220000, 1.250000, 1.300000, 1.340000, 1.380000, 1.430000, 1.480000, 1.530000, 1.600000, 1.670000, 1.730000, 1.820000, 1.900000, 2.000000, 2.120000, 2.250000, 9.370000, 9.330000, 6.470000, 6.450000, 6.430000, 6.410000, 5.580000, 5.370000, 5.350000, 5.350000, 6.590000, 6.580000, 6.610000, 6.610000, 6.600000, 6.600000, 9.010000, 9.020000, 7.810000, null, 9.050000, 9.060000, 8.470000, 8.460000, 8.490000, 8.690000, 8.550000, 8.570000, 8.580000, 2.230000, 2.100000, 1.960000, 1.960000, 1.960000, 1.970000, 2.000000, 1.930000, 1.940000, 1.950000, 1.960000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 1.080000, 1.050000, 1.020000, 0.970000, 0.960000, 0.930000, 0.910000, 0.900000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054271, 110610 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.237000, 1.745000, 0.562930 ], "estimate": [ 8.237000, 1.745000, 0.562930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.620000, 0.610000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.890000, 0.900000, 0.920000, 0.940000, 0.970000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.140000, 1.180000, 1.210000, 1.250000, 1.290000, 1.330000, 1.370000, 1.420000, 1.470000, 1.530000, 1.600000, 1.660000, 1.740000, 1.820000, 1.900000, 2.010000, 2.110000, 2.260000, 9.300000, 6.490000, 6.410000, 6.380000, 6.360000, 6.340000, 5.370000, 5.330000, 5.300000, 5.430000, 6.540000, 6.530000, 6.550000, 6.540000, 6.540000, 6.550000, 8.950000, 8.960000, 7.810000, null, 9.000000, 9.020000, 8.400000, 8.410000, 8.420000, 8.670000, 8.500000, 8.510000, 8.540000, 9.230000, 2.100000, 1.930000, 1.910000, 1.910000, 1.910000, 1.940000, 1.940000, 1.890000, 1.900000, 1.910000, 1.910000, 1.910000, 1.930000, 1.940000, 1.950000, 1.960000, 1.450000, 1.010000, 1.010000, 0.980000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.760000, 0.740000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054271, 495363 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.288000, 1.777000, 0.569076 ], "estimate": [ 8.288000, 1.777000, 0.569076 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.770000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.970000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.150000, 1.180000, 1.220000, 1.250000, 1.300000, 1.340000, 1.380000, 1.430000, 1.480000, 1.540000, 1.590000, 1.680000, 1.750000, 1.820000, 1.910000, 2.020000, 2.130000, 9.280000, 9.240000, 6.370000, 6.330000, 6.330000, 6.300000, 6.280000, 5.260000, 5.250000, 5.240000, 6.490000, 6.480000, 6.460000, 6.500000, 6.490000, 6.490000, 6.550000, 8.910000, 8.920000, 7.700000, 8.930000, 8.950000, 8.970000, 8.340000, 8.350000, 8.380000, 9.050000, 8.450000, 8.470000, 8.500000, 9.200000, 2.060000, 1.890000, 1.850000, 1.850000, 1.850000, 1.860000, 1.890000, 1.840000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.890000, 1.900000, 1.910000, 1.910000, 1.930000, 0.990000, 0.960000, 0.980000, 0.920000, 0.910000, 0.870000, 0.870000, 0.840000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.730000, 0.730000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.580000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054271, 496590 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.337000, 1.808000, 0.569076 ], "estimate": [ 8.337000, 1.808000, 0.569076 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.840000, 0.840000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.980000, 1.000000, 1.030000, 1.050000, 1.080000, 1.110000, 1.150000, 1.180000, 1.220000, 1.250000, 1.300000, 1.330000, 1.380000, 1.440000, 1.490000, 1.540000, 1.590000, 1.680000, 1.750000, 1.820000, 1.920000, 2.020000, 2.170000, 9.210000, 9.160000, 6.300000, 6.280000, 6.250000, 6.230000, 6.210000, 5.210000, 5.200000, 5.190000, 6.420000, 6.420000, 6.420000, 6.440000, 6.420000, 6.420000, 8.840000, 8.830000, 7.690000, 7.630000, 7.670000, 8.890000, 8.900000, 8.290000, 8.300000, 8.320000, 9.000000, 8.390000, 8.410000, 8.430000, 9.130000, 2.040000, 1.940000, 1.800000, 1.800000, 1.800000, 1.800000, 1.820000, 1.840000, 1.790000, 1.800000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.860000, 1.870000, 1.890000, 1.900000, 0.950000, 0.920000, 0.920000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.640000, 0.620000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054271, 680377 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.382000, 1.837000, 0.575221 ], "estimate": [ 8.382000, 1.837000, 0.575221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.780000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.850000, 0.880000, 0.900000, 0.910000, 0.940000, 0.960000, 0.990000, 1.000000, 1.030000, 1.050000, 1.080000, 1.120000, 1.140000, 1.180000, 1.210000, 1.250000, 1.300000, 1.330000, 1.380000, 1.440000, 1.480000, 1.540000, 1.600000, 1.690000, 1.760000, 1.840000, 1.930000, 2.040000, 9.190000, 9.150000, 6.320000, 6.250000, 6.220000, 6.200000, 6.190000, 5.290000, 5.150000, 5.140000, 5.130000, 6.370000, 6.350000, 6.380000, 6.370000, 6.380000, 6.390000, 8.800000, 8.800000, 7.660000, null, 8.850000, 8.850000, 8.860000, 8.240000, 8.250000, 8.270000, 8.560000, 8.340000, 8.360000, 8.390000, 9.100000, 5.560000, 1.940000, 1.770000, 1.760000, 1.760000, 1.760000, 1.770000, 1.790000, 1.760000, 1.750000, 1.760000, 1.760000, 1.780000, 1.780000, 1.790000, 1.800000, 1.820000, 1.830000, 1.830000, 1.850000, 1.870000, 1.870000, 0.900000, 0.880000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.810000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054272, 133254 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.431000, 1.869000, 0.569076 ], "estimate": [ 8.431000, 1.869000, 0.569076 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.890000, 0.900000, 0.930000, 0.950000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.100000, 1.140000, 1.170000, 1.210000, 1.230000, 1.280000, 1.320000, 1.370000, 1.430000, 1.470000, 1.530000, 1.590000, 1.680000, 1.740000, 1.820000, 1.910000, 2.030000, 9.130000, 9.090000, 6.230000, 6.190000, 6.160000, 6.140000, 6.120000, 5.170000, 5.110000, 5.080000, 5.080000, 6.320000, 6.290000, 6.320000, 6.320000, 6.320000, 6.310000, 8.750000, 8.740000, 7.510000, null, 7.670000, 8.790000, 8.810000, 8.170000, 8.200000, 8.220000, 8.860000, 8.280000, 8.310000, 8.320000, 9.030000, 9.080000, 1.940000, 1.840000, 1.710000, 1.700000, 1.700000, 1.710000, 1.720000, 1.740000, 1.700000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.760000, 1.760000, 1.780000, 1.790000, 1.810000, 1.820000, 1.840000, 1.850000, 0.950000, 0.850000, 0.850000, 0.860000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054272, 134477 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.482000, 1.901000, 0.556785 ], "estimate": [ 8.482000, 1.901000, 0.556785 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.830000, 0.830000, 0.850000, 0.870000, 0.900000, 0.910000, 0.930000, 0.960000, 0.980000, 1.000000, 1.030000, 1.060000, 1.080000, 1.120000, 1.150000, 1.180000, 1.220000, 1.260000, 1.310000, 1.340000, 1.400000, 1.450000, 1.500000, 1.570000, 1.630000, 1.700000, 1.780000, 1.870000, 1.960000, 9.080000, 9.050000, 9.010000, 6.140000, 6.120000, 6.100000, 6.070000, 6.060000, 5.050000, 5.030000, 5.030000, 6.270000, 6.250000, 6.260000, 6.280000, 6.260000, 6.260000, 6.320000, 7.660000, 7.450000, 7.470000, 8.710000, 8.730000, 8.750000, 8.120000, 8.140000, 8.160000, 8.350000, 8.240000, 8.240000, 8.270000, 8.960000, 9.010000, 5.380000, 1.880000, 1.800000, 1.670000, 1.650000, 1.660000, 1.660000, 1.660000, 1.690000, 1.690000, 1.650000, 1.660000, 1.660000, 1.670000, 1.690000, 1.700000, 1.700000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.800000, 1.800000, 1.830000, 1.840000, 0.910000, 0.820000, 0.810000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000 ], "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": [ 976054272, 279934 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.533000, 1.932000, 0.550639 ], "estimate": [ 8.533000, 1.932000, 0.550639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.710000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.830000, 0.850000, 0.880000, 0.900000, 0.910000, 0.940000, 0.960000, 0.980000, 1.000000, 1.030000, 1.070000, 1.090000, 1.120000, 1.160000, 1.200000, 1.220000, 1.270000, 1.320000, 1.360000, 1.410000, 1.470000, 1.520000, 1.590000, 1.650000, 1.730000, 1.820000, 1.910000, 9.050000, 8.990000, 8.950000, 6.080000, 6.060000, 6.040000, 6.030000, 6.010000, 4.970000, 5.000000, 4.950000, 5.020000, 6.200000, 6.190000, 6.210000, 6.210000, 6.210000, 6.220000, 8.620000, 7.590000, 7.380000, null, 8.670000, 8.670000, 8.680000, 8.060000, 8.090000, 8.110000, 8.800000, 8.180000, 8.200000, 8.210000, 8.940000, 8.970000, 5.230000, 1.820000, 1.760000, 1.620000, 1.600000, 1.600000, 1.610000, 1.610000, 1.630000, 1.650000, 1.600000, 1.600000, 1.610000, 1.630000, 1.640000, 1.640000, 1.660000, 1.660000, 1.680000, 1.690000, 1.700000, 1.720000, 1.740000, 1.760000, 1.760000, 1.790000, 1.800000, 1.830000, 1.830000, 0.790000, 0.780000, 0.770000, 0.790000, 0.780000, 0.760000, 0.750000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054272, 635570 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.580000, 1.960000, 0.544493 ], "estimate": [ 8.580000, 1.960000, 0.544493 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.830000, 0.830000, 0.840000, 0.860000, 0.890000, 0.900000, 0.920000, 0.950000, 0.960000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.140000, 1.170000, 1.220000, 1.250000, 1.290000, 1.330000, 1.390000, 1.450000, 1.490000, 1.560000, 1.620000, 1.690000, 1.780000, 1.890000, 9.000000, 8.970000, 8.920000, 6.050000, 6.030000, 6.000000, 5.980000, 5.960000, 4.950000, 4.950000, 4.910000, 4.920000, 6.150000, 6.130000, 6.160000, 6.160000, 6.160000, 6.160000, 8.590000, 8.560000, null, 7.330000, 7.440000, 8.620000, 8.640000, 8.020000, 8.030000, 8.050000, 8.720000, 8.130000, 8.150000, 8.170000, 8.870000, 8.920000, 5.310000, 4.610000, 1.800000, 1.710000, 1.620000, 1.560000, 1.550000, 1.560000, 1.560000, 1.590000, 1.600000, 1.590000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.720000, 1.730000, 1.750000, 1.760000, 1.780000, 1.800000, 1.830000, 1.840000, 0.810000, 0.760000, 0.740000, 0.760000, 0.760000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054272, 680721 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.628000, 1.989000, 0.532203 ], "estimate": [ 8.628000, 1.989000, 0.532203 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.890000, 0.900000, 0.920000, 0.950000, 0.960000, 1.000000, 1.020000, 1.050000, 1.070000, 1.110000, 1.150000, 1.180000, 1.210000, 1.250000, 1.310000, 1.340000, 1.400000, 1.440000, 1.500000, 1.570000, 1.640000, 1.720000, 1.800000, 8.970000, 8.930000, 8.890000, 8.850000, 5.970000, 5.950000, 5.930000, 5.920000, 5.900000, 4.900000, 4.880000, 4.840000, 6.100000, 6.090000, 6.080000, 6.120000, 6.100000, 6.100000, 6.110000, 8.530000, 7.490000, 7.280000, 8.550000, 8.570000, 8.580000, 8.590000, 7.970000, 8.000000, 8.010000, 8.640000, 8.070000, 8.100000, 8.120000, 8.840000, 8.870000, 5.210000, 4.510000, 1.810000, 1.690000, 1.620000, 1.530000, 1.500000, 1.520000, 1.520000, 1.520000, 1.550000, 1.560000, 1.510000, 1.520000, 1.520000, 1.530000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.650000, 1.670000, 1.680000, 1.710000, 1.730000, 1.750000, 1.760000, 1.790000, 1.820000, 1.840000, 1.880000, 0.810000, 0.720000, 0.710000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054273, 302672 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.677999, 2.019000, 0.532203 ], "estimate": [ 8.677999, 2.019000, 0.532203 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.890000, 0.900000, 0.930000, 0.950000, 0.970000, 0.990000, 1.020000, 1.050000, 1.080000, 1.120000, 1.160000, 1.190000, 1.220000, 1.270000, 1.320000, 1.360000, 1.420000, 1.470000, 1.530000, 1.600000, 1.680000, 1.740000, 8.930000, 8.890000, 8.840000, 8.810000, 5.930000, 5.910000, 5.890000, 5.870000, 5.850000, 4.800000, 4.830000, 4.800000, 4.960000, 6.040000, 6.040000, 6.060000, 6.060000, 6.050000, 6.050000, 8.460000, 8.470000, null, 7.230000, 7.330000, 8.520000, 8.530000, 7.920000, 7.930000, 7.950000, 8.230000, 8.010000, 8.030000, 8.060000, 8.770000, 8.800000, 8.850000, 5.060000, 4.350000, 4.290000, 1.650000, 1.600000, 1.490000, 1.470000, 1.470000, 1.480000, 1.470000, 1.490000, 1.520000, 1.520000, 1.470000, 1.490000, 1.500000, 1.500000, 1.520000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.640000, 1.650000, 1.660000, 1.680000, 1.710000, 1.730000, 1.750000, 1.770000, 1.800000, 1.830000, 1.850000, 1.880000, 1.910000, 0.780000, 0.700000, 0.690000, 0.710000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054273, 361053 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.732000, 2.050000, 0.526057 ], "estimate": [ 8.732000, 2.050000, 0.526057 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.830000, 0.840000, 0.870000, 0.890000, 0.910000, 0.940000, 0.960000, 0.970000, 1.000000, 1.030000, 1.070000, 1.090000, 1.130000, 1.170000, 1.210000, 1.240000, 1.290000, 1.330000, 1.390000, 1.440000, 1.490000, 1.570000, 1.630000, 1.690000, 8.880000, 8.840000, 8.780000, 8.750000, 5.870000, 5.860000, 5.830000, 5.810000, 5.790000, 4.780000, 4.770000, 4.740000, 4.750000, 5.980000, 5.980000, 6.000000, 6.000000, 5.990000, 5.990000, 6.050000, 8.410000, 7.210000, 7.220000, 7.240000, 7.150000, 8.470000, 8.490000, 7.870000, 7.890000, 7.910000, 8.000000, 7.980000, 8.000000, 8.030000, 8.750000, 8.780000, 5.120000, 4.440000, 4.250000, 4.260000, 1.620000, 1.550000, 1.500000, 1.420000, 1.410000, 1.420000, 1.420000, 1.440000, 1.470000, 1.480000, 1.450000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.610000, 1.640000, 1.650000, 1.680000, 1.700000, 1.720000, 1.750000, 1.780000, 1.810000, 1.830000, 1.870000, 1.890000, 1.920000, 2.770000, 0.720000, 0.680000, 0.670000, 0.670000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054273, 362058 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.781000, 2.078000, 0.513766 ], "estimate": [ 8.781000, 2.078000, 0.513766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.810000, 0.820000, 0.830000, 0.840000, 0.870000, 0.890000, 0.900000, 0.930000, 0.960000, 0.970000, 1.000000, 1.030000, 1.070000, 1.090000, 1.130000, 1.160000, 1.210000, 1.240000, 1.300000, 1.330000, 1.390000, 1.440000, 1.500000, 1.580000, 1.640000, 8.860000, 8.820000, 8.770000, 8.730000, 8.690000, 5.810000, 5.790000, 5.780000, 5.760000, 5.740000, 4.700000, 4.720000, 4.680000, 4.950000, 5.930000, 5.930000, 5.950000, 5.940000, 5.950000, 5.940000, 8.350000, 8.360000, 7.130000, 7.120000, 7.160000, 8.410000, 8.430000, 7.810000, 7.820000, 7.850000, 7.910000, 7.920000, 7.940000, 7.950000, 8.240000, 8.700000, 8.750000, 5.050000, 4.390000, 4.190000, 4.200000, 1.620000, 1.550000, 1.490000, 1.400000, 1.370000, 1.370000, 1.380000, 1.380000, 1.390000, 1.420000, 1.440000, 1.400000, 1.390000, 1.410000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.750000, 1.770000, 1.810000, 1.830000, 1.870000, 1.900000, 2.770000, 2.860000, 2.960000, 2.360000, 0.720000, 0.670000, 0.660000, 0.660000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054273, 440647 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.829000, 2.105000, 0.507620 ], "estimate": [ 8.829000, 2.105000, 0.507620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.920000, 0.940000, 0.970000, 0.980000, 1.010000, 1.050000, 1.080000, 1.110000, 1.150000, 1.180000, 1.220000, 1.270000, 1.310000, 1.370000, 1.420000, 1.480000, 1.550000, 1.570000, 8.820000, 8.760000, 8.720000, 8.680000, 8.640000, 5.770000, 5.750000, 5.730000, 5.710000, 5.690000, 4.650000, 4.670000, 4.640000, 4.750000, 5.870000, 5.880000, 5.910000, 5.900000, 5.900000, 5.900000, 5.960000, 8.310000, null, 7.150000, 7.140000, 8.360000, 8.380000, 7.980000, 7.780000, 7.780000, 7.820000, 7.910000, 7.880000, 7.900000, 7.930000, 8.650000, 8.700000, 5.070000, 4.690000, 4.210000, 4.150000, 4.170000, 1.570000, 1.510000, 1.460000, 1.400000, 1.340000, 1.330000, 1.350000, 1.350000, 1.360000, 1.380000, 1.390000, 1.400000, 1.360000, 1.360000, 1.380000, 1.390000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.650000, 1.680000, 1.710000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.940000, 2.840000, 2.940000, 2.360000, 3.150000, 3.270000, 3.400000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.650000, 0.650000, 0.640000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054273, 892763 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.881000, 2.133000, 0.495329 ], "estimate": [ 8.881000, 2.133000, 0.495329 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.860000, 0.880000, 0.900000, 0.930000, 0.940000, 0.960000, 0.990000, 1.030000, 1.060000, 1.080000, 1.120000, 1.160000, 1.200000, 1.240000, 1.290000, 1.340000, 1.390000, 1.450000, 1.500000, 1.570000, 8.770000, 8.730000, 8.680000, 8.640000, 8.600000, 5.720000, 5.700000, 5.680000, 5.660000, 5.640000, 4.630000, 4.640000, 4.580000, 4.590000, 5.830000, 5.840000, 5.840000, 5.850000, 5.840000, 5.840000, 5.850000, 8.260000, 8.260000, 7.020000, 7.030000, 8.300000, 8.320000, 8.330000, 7.720000, 7.740000, 7.750000, 8.440000, 7.830000, 7.850000, 7.880000, 8.580000, 8.620000, 8.670000, 4.950000, 4.310000, 4.120000, 4.120000, 4.150000, 1.570000, 1.480000, 1.420000, 1.370000, 1.330000, 1.290000, 1.280000, 1.300000, 1.300000, 1.320000, 1.350000, 1.360000, 1.370000, 1.320000, 1.330000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.660000, 1.690000, 1.730000, 1.750000, 1.780000, 1.820000, 1.850000, 2.780000, 2.900000, 2.990000, 2.340000, 3.230000, 3.390000, 3.510000, 3.670000, 2.950000, 3.650000, 0.650000, 0.650000, 0.640000, 0.650000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054274, 107449 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.906000, 2.147000, 0.501475 ], "estimate": [ 8.906000, 2.147000, 0.501475 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.660000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.750000, 0.770000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.870000, 0.890000, 0.910000, 0.940000, 0.960000, 0.980000, 1.010000, 1.040000, 1.070000, 1.110000, 1.150000, 1.190000, 1.230000, 1.270000, 1.320000, 1.380000, 1.440000, 1.490000, 8.670000, 8.720000, 8.660000, 8.620000, 8.580000, 8.540000, 5.670000, 5.640000, 5.620000, 5.600000, 5.590000, 4.570000, 4.570000, 4.530000, 4.530000, 5.780000, 5.780000, 5.790000, 5.800000, 5.790000, 5.790000, 5.800000, 8.210000, 7.120000, 6.970000, 6.970000, 7.060000, 8.270000, 8.280000, 7.660000, 7.680000, 7.690000, 8.380000, 7.780000, 7.790000, 7.820000, 8.520000, 8.580000, 8.620000, 4.930000, 4.310000, 4.090000, 4.060000, 4.100000, 4.130000, 1.530000, 1.440000, 1.390000, 1.340000, 1.300000, 1.240000, 1.240000, 1.250000, 1.260000, 1.260000, 1.290000, 1.320000, 1.330000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.350000, 1.370000, 1.390000, 1.390000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.680000, 1.720000, 1.740000, 1.780000, 1.820000, 1.860000, 2.880000, 2.990000, 2.330000, 3.240000, 3.390000, 3.540000, 3.770000, 2.940000, 3.640000, 4.020000, 4.140000, 4.150000, 0.660000, 0.640000, 0.640000, 0.640000, 0.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054274, 467457 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.984000, 2.189000, 0.489184 ], "estimate": [ 8.984000, 2.189000, 0.489184 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.810000, 0.830000, 0.830000, 0.860000, 0.890000, 0.910000, 0.920000, 0.950000, 0.970000, 1.010000, 1.040000, 1.070000, 1.110000, 1.150000, 1.190000, 1.220000, 1.270000, 1.320000, 1.380000, 1.430000, 8.390000, 8.700000, 8.650000, 8.600000, 8.550000, 8.510000, 5.680000, 5.600000, 5.580000, 5.570000, 5.550000, 5.530000, 4.490000, 4.500000, 4.480000, 4.610000, 5.730000, 5.730000, 5.750000, 5.730000, 5.730000, 5.730000, 5.770000, 8.140000, 8.150000, 6.910000, 6.960000, 8.200000, 8.220000, 8.220000, 7.610000, 7.630000, 7.650000, 8.310000, 7.710000, 7.740000, 7.770000, 8.490000, 8.530000, 8.570000, 4.880000, 4.360000, 4.060000, 4.010000, 4.040000, 4.080000, 4.110000, 1.480000, 1.390000, 1.350000, 1.310000, 1.260000, 1.210000, 1.200000, 1.200000, 1.220000, 1.220000, 1.240000, 1.280000, 1.270000, 1.290000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.310000, 1.320000, 1.350000, 1.350000, 1.380000, 1.380000, 1.410000, 1.440000, 1.460000, 1.480000, 1.510000, 1.530000, 1.550000, 1.590000, 1.620000, 1.640000, 1.680000, 1.710000, 1.750000, 1.790000, 1.830000, 2.890000, 3.010000, 2.310000, 3.280000, 3.420000, 3.590000, 3.790000, 3.020000, 3.790000, 3.980000, 4.150000, 4.130000, 4.120000, 3.960000, 3.980000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054274, 468703 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.009000, 2.202000, 0.489184 ], "estimate": [ 9.009000, 2.202000, 0.489184 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.840000, 0.860000, 0.880000, 0.900000, 0.930000, 0.950000, 0.970000, 1.010000, 1.040000, 1.070000, 1.110000, 1.140000, 1.190000, 1.220000, 1.280000, 1.330000, 1.380000, 8.130000, 8.480000, 8.620000, 8.560000, 8.510000, 8.480000, 8.430000, 5.550000, 5.540000, 5.520000, 5.510000, 5.470000, 4.610000, 4.430000, 4.430000, 4.410000, 5.670000, 5.670000, 5.680000, 5.690000, 5.670000, 5.670000, 5.670000, 8.100000, 8.090000, null, 6.890000, null, 8.150000, 8.160000, 7.710000, 7.560000, 7.580000, 7.600000, 8.280000, 7.670000, 7.710000, 7.720000, 8.440000, 8.480000, 8.540000, 4.830000, 4.270000, 4.030000, 3.940000, 3.980000, 4.020000, 4.050000, 4.010000, 1.390000, 1.340000, 1.300000, 1.250000, 1.220000, 1.190000, 1.150000, 1.150000, 1.170000, 1.180000, 1.180000, 1.220000, 1.240000, 1.240000, 1.210000, 1.210000, 1.220000, 1.240000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.600000, 1.640000, 1.660000, 1.710000, 1.750000, 1.790000, 1.960000, 3.030000, 2.300000, 3.350000, 3.470000, 3.700000, 3.280000, 3.610000, 4.010000, 4.140000, 4.130000, 3.980000, 3.980000, 4.000000 ], "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, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054274, 469534 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.060000, 2.229000, 0.483038 ], "estimate": [ 9.060000, 2.229000, 0.483038 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.510000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.770000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.900000, 0.920000, 0.940000, 0.960000, 1.000000, 1.030000, 1.070000, 1.100000, 1.130000, 1.180000, 1.210000, 1.260000, 1.310000, 1.360000, 8.130000, 8.520000, 8.550000, 8.500000, 8.460000, 8.410000, 8.380000, 5.500000, 5.490000, 5.460000, 5.450000, 5.430000, 4.440000, 4.380000, 4.370000, 4.360000, 5.610000, 5.610000, 5.620000, 5.630000, 5.620000, 5.630000, 5.630000, 8.030000, 6.990000, null, 6.820000, 6.890000, 8.090000, 8.120000, 7.620000, 7